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Remember compiler options during attach.

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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
This commit is contained in:
Alessio Quaglino
2024-10-24 08:29:03 -07:00
committed by Copybara-Service
parent 1043633cc3
commit 159f23e6b4
24 changed files with 302 additions and 204 deletions
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src/user/user_flexcomp.cc
+4 -3
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@@ -98,8 +98,9 @@ mjCFlexcomp::mjCFlexcomp(void) {
// make flexcomp object
bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
mjCModel* model = static_cast<mjCBody*>(body->element)->model;
mjsCompiler* compiler = static_cast<mjCBody*>(body->element)->compiler;
mjsFlex* dflex = def.spec.flex;
bool radial = (type == mjFCOMPTYPE_BOX ||
@@ -147,7 +148,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
}
// compute orientation
const char* alterr = mjs_resolveOrientation(quat, model->spec.degree, model->spec.eulerseq, &alt);
const char* alterr = mjs_resolveOrientation(quat, compiler->degree, compiler->eulerseq, &alt);
if (alterr) {
return comperr(error, alterr, error_sz);
}