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Simulate: Use new cmake system fix build errors introduced with rebase

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This commit is contained in:
Levi Burner
2022-05-24 12:11:27 -04:00
parent 033ca81db6
commit 1d4461fce6
13 changed files with 774 additions and 54 deletions
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simulate/simulate.cc
+3 -3
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@@ -521,7 +521,7 @@ void makephysics(mj::Simulate* simulate, int oldstate) {
mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", oldstate, nullptr, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(m->opt.integrator), "Euler\nRK4\nimplicit"},
{mjITEM_SELECT, "Integrator", 2, &(simulate->m->opt.integrator), "Euler\nRK4\nimplicit"},
{mjITEM_SELECT, "Collision", 2, &(simulate->m->opt.collision), "All\nPair\nDynamic"},
{mjITEM_SELECT, "Cone", 2, &(simulate->m->opt.cone), "Pyramidal\nElliptic"},
{mjITEM_SELECT, "Jacobian", 2, &(simulate->m->opt.jacobian), "Dense\nSparse\nAuto"},
@@ -1058,7 +1058,7 @@ void uiEvent(mjuiState* state) {
case 0: // Save xml
{
const std::string path = getSavePath("mjmodel.xml");
if (!path.empty() && !mj_saveLastXML(path.c_str(), m, err, 200)) {
if (!path.empty() && !mj_saveLastXML(path.c_str(), simulate->m, err, 200)) {
std::printf("Save XML error: %s", err);
}
}
@@ -1068,7 +1068,7 @@ void uiEvent(mjuiState* state) {
{
const std::string path = getSavePath("mjmodel.mjb");
if (!path.empty()) {
mj_saveModel(m, path.c_str(), NULL, 0);
mj_saveModel(simulate->m, path.c_str(), NULL, 0);
}
}
break;