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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/xml/xml_native_reader.cc
+19 -19
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@@ -972,19 +972,19 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
// top-level attributes
if (MapValue(section, "autolimits", &n, bool_map, 2)) {
spec->autolimits = (n==1);
spec->compiler.autolimits = (n==1);
}
ReadAttr(section, "boundmass", 1, &spec->boundmass, text);
ReadAttr(section, "boundinertia", 1, &spec->boundinertia, text);
ReadAttr(section, "settotalmass", 1, &spec->settotalmass, text);
ReadAttr(section, "boundmass", 1, &spec->compiler.boundmass, text);
ReadAttr(section, "boundinertia", 1, &spec->compiler.boundinertia, text);
ReadAttr(section, "settotalmass", 1, &spec->compiler.settotalmass, text);
if (MapValue(section, "balanceinertia", &n, bool_map, 2)) {
spec->balanceinertia = (n==1);
spec->compiler.balanceinertia = (n==1);
}
if (MapValue(section, "strippath", &n, bool_map, 2)) {
spec->strippath = (n==1);
}
if (MapValue(section, "fitaabb", &n, bool_map, 2)) {
spec->fitaabb = (n==1);
spec->compiler.fitaabb = (n==1);
}
if (MapValue(section, "coordinate", &n, coordinate_map, 2)) {
if (n==1) {
@@ -993,13 +993,13 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
}
}
if (MapValue(section, "angle", &n, angle_map, 2)) {
spec->degree = (n==1);
spec->compiler.degree = (n==1);
}
if (ReadAttrTxt(section, "eulerseq", text)) {
if (text.size()!=3) {
throw mjXError(section, "euler format must have length 3");
}
memcpy(spec->eulerseq, text.c_str(), 3);
memcpy(spec->compiler.eulerseq, text.c_str(), 3);
}
if (ReadAttrTxt(section, "assetdir", text)) {
mjs_setString(spec->meshdir, text.c_str());
@@ -1014,27 +1014,27 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
mjs_setString(spec->texturedir, texturedir.c_str());
}
if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
spec->discardvisual = (n==1);
spec->compiler.discardvisual = (n==1);
}
if (MapValue(section, "convexhull", &n, bool_map, 2)) {
spec->convexhull = (n==1);
spec->compiler.convexhull = (n==1);
}
if (MapValue(section, "usethread", &n, bool_map, 2)) {
spec->usethread = (n==1);
spec->compiler.usethread = (n==1);
}
if (MapValue(section, "fusestatic", &n, bool_map, 2)) {
spec->fusestatic = (n==1);
spec->compiler.fusestatic = (n==1);
}
MapValue(section, "inertiafromgeom", &spec->inertiafromgeom, TFAuto_map, 3);
ReadAttr(section, "inertiagrouprange", 2, spec->inertiagrouprange, text);
MapValue(section, "inertiafromgeom", &spec->compiler.inertiafromgeom, TFAuto_map, 3);
ReadAttr(section, "inertiagrouprange", 2, spec->compiler.inertiagrouprange, text);
if (MapValue(section, "alignfree", &n, bool_map, 2)) {
spec->alignfree = (n==1);
spec->compiler.alignfree = (n==1);
}
// lengthrange subelement
XMLElement* elem = FindSubElem(section, "lengthrange");
if (elem) {
mjLROpt* opt = &(spec->LRopt);
mjLROpt* opt = &(spec->compiler.LRopt);
// flags
MapValue(elem, "mode", &opt->mode, lrmode_map, lrmode_sz);
@@ -2759,7 +2759,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
// make flexcomp
char error[200];
bool res = fcomp.Make(spec, body, error, 200);
bool res = fcomp.Make(body, error, 200);
// throw error
if (!res) {
@@ -3575,7 +3575,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
alt.type = mjORIENTATION_EULER;
mjuu_copyvec(alt.euler, euler, 3);
double rotation[4] = {1, 0, 0, 0};
mjs_resolveOrientation(rotation, spec->degree, spec->eulerseq, &alt);
mjs_resolveOrientation(rotation, spec->compiler.degree, spec->compiler.eulerseq, &alt);
// read childdef
mjsDefault* childdef = 0;
@@ -3610,7 +3610,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
alt.euler[0] = i*euler[0];
alt.euler[1] = i*euler[1];
alt.euler[2] = i*euler[2];
mjs_resolveOrientation(quat, spec->degree, spec->eulerseq, &alt);
mjs_resolveOrientation(quat, spec->compiler.degree, spec->compiler.eulerseq, &alt);
mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]);
// process suffix