chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjmEquality, mjmTendon and mjmWrap to C API.

Browse Source 
PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
This commit is contained in:
Alessio Quaglino
2024-02-10 03:29:22 -08:00
committed by Copybara-Service
parent 4ad1dc4b84
commit 1bd6a32af2
11 changed files with 423 additions and 175 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+4 -4
View File
@@ -2022,7 +2022,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// find equality constraint referencing this flex
m->flex_edgeequality[i] = 0;
for (int k=0; k<(int)equalities.size(); k++) {
if (equalities[k]->type==mjEQ_FLEX && equalities[k]->name1==pfl->name) {
if (equalities[k]->type==mjEQ_FLEX && equalities[k]->name1_==pfl->name) {
m->flex_edgeequality[i] = 1;
break;
}
@@ -2251,7 +2251,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tendon_frictionloss[i] = (mjtNum)pte->frictionloss;
m->tendon_lengthspring[2*i] = (mjtNum)pte->springlength[0];
m->tendon_lengthspring[2*i+1] = (mjtNum)pte->springlength[1];
copyvec(m->tendon_user+nuser_tendon*i, pte->userdata.data(), nuser_tendon);
copyvec(m->tendon_user+nuser_tendon*i, pte->get_userdata().data(), nuser_tendon);
copyvec(m->tendon_rgba+4*i, pte->rgba, 4);
// set wraps
@@ -2914,7 +2914,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_tendon == -1) {
nuser_tendon = 0;
for (int i=0; i<tendons.size(); i++) {
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->userdata.size());
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->spec_userdata_.size());
}
}
if (nuser_actuator == -1) {
@@ -3480,7 +3480,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
tendons[i]->frictionloss = (double)m->tendon_frictionloss[i];
if (nuser_tendon) {
copyvec(tendons[i]->userdata.data(), m->tendon_user + nuser_tendon*i, nuser_tendon);
copyvec(tendons[i]->userdata_.data(), m->tendon_user + nuser_tendon*i, nuser_tendon);
}
}