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Add missing global fields to mjmModel.

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PiperOrigin-RevId: 610415124
Change-Id: I07f284804bf73cb67703597973b50b8c00ea8deb
This commit is contained in:
Alessio Quaglino
2024-02-26 08:24:10 -08:00
committed by Copybara-Service
parent 8679c9fc59
commit 1f2d673c7b
10 changed files with 42 additions and 22 deletions
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src/user/user_model.cc
+8 -2
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@@ -84,8 +84,8 @@ static void copyvec(T1* dest, T2* src, int n) {
// constructor
mjCModel::mjCModel() {
mjm_defaultModel(spec);
comment.clear();
modelfiledir.clear();
spec_comment_.clear();
spec_modelfiledir_.clear();
spec_meshdir_.clear();
spec_texturedir_.clear();
spec_modelname_ = "MuJoCo Model";
@@ -177,6 +177,8 @@ mjCModel::mjCModel() {
void mjCModel::PointToLocal() {
spec.element = (mjElement)this;
spec.comment = (mjString)&spec_comment_;
spec.modelfiledir = (mjString)&spec_modelfiledir_;
spec.modelname = (mjString)&spec_modelname_;
spec.meshdir = (mjString)&spec_meshdir_;
spec.texturedir = (mjString)&spec_texturedir_;
@@ -186,9 +188,13 @@ void mjCModel::PointToLocal() {
void mjCModel::CopyFromSpec() {
*static_cast<mjmModel*>(this) = spec;
comment_ = spec_comment_;
modelfiledir_ = spec_modelfiledir_;
modelname_ = spec_modelname_;
meshdir_ = spec_meshdir_;
texturedir_ = spec_texturedir_;
comment = (mjString)&comment_;
modelfiledir = (mjString)&modelfiledir_;
modelname = (mjString)&modelname_;
meshdir = (mjString)&meshdir_;
texturedir = (mjString)&texturedir_;