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Add mjmGeom to C API.

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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
This commit is contained in:
Alessio Quaglino
2024-02-08 06:51:44 -08:00
committed by Copybara-Service
parent 3baab3784a
commit 1fe258fb60
14 changed files with 384 additions and 276 deletions
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src/xml/xml_native_writer.cc
+8 -8
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@@ -342,7 +342,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
if (mjGEOMINFO[pgeom->type]) {
WriteAttr(elem, "size", mjGEOMINFO[pgeom->type], pgeom->size, def->geom.size);
}
if (mjuu_defined(pgeom->_mass)) {
if (mjuu_defined(pgeom->mass)) {
mass = pgeom->GetVolume() * def->geom.density;
}
@@ -389,11 +389,11 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttr(elem, "margin", 1, &pgeom->margin, &def->geom.margin);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
WriteAttrKey(elem, "fluidshape", fluid_map, 2, pgeom->fluid_switch, def->geom.fluid_switch);
WriteAttrKey(elem, "fluidshape", fluid_map, 2, pgeom->fluid_ellipsoid, def->geom.fluid_ellipsoid);
WriteAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, def->geom.fluid_coefs);
WriteAttrKey(elem, "shellinertia", meshtype_map, 2, pgeom->typeinertia, def->geom.typeinertia);
if (mjuu_defined(pgeom->_mass)) {
WriteAttr(elem, "mass", 1, &pgeom->mass, &mass);
if (mjuu_defined(pgeom->mass)) {
WriteAttr(elem, "mass", 1, &pgeom->mass_, &mass);
} else {
WriteAttr(elem, "density", 1, &pgeom->density, &def->geom.density);
}
@@ -404,17 +404,17 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// hfield and mesh attributes
if (pgeom->type==mjGEOM_HFIELD) {
WriteAttrTxt(elem, "hfield", pgeom->hfieldname);
WriteAttrTxt(elem, "hfield", pgeom->get_hfieldname());
}
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
WriteAttrTxt(elem, "mesh", pgeom->meshname);
WriteAttrTxt(elem, "mesh", pgeom->get_meshname());
}
// userdata
if (writingdefaults) {
WriteVector(elem, "user", pgeom->userdata);
WriteVector(elem, "user", pgeom->get_userdata());
} else {
WriteVector(elem, "user", pgeom->userdata, def->geom.userdata);
WriteVector(elem, "user", pgeom->get_userdata(), def->geom.get_userdata());
}
// write plugin