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

Add sleep related data structures

Browse Source 
PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
2025-11-06 12:09:59 -08:00
committed by Copybara-Service
parent 3080e3424f
commit 252a0d73df
37 changed files with 1907 additions and 186 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+10
View File
@@ -995,6 +995,7 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttr(section, "ls_tolerance", 1, &model->option.ls_tolerance, &opt.ls_tolerance);
WriteAttr(section, "noslip_tolerance", 1, &model->option.noslip_tolerance, &opt.noslip_tolerance);
WriteAttr(section, "ccd_tolerance", 1, &model->option.ccd_tolerance, &opt.ccd_tolerance);
WriteAttr(section, "sleep_tolerance", 1, &model->option.sleep_tolerance, &opt.sleep_tolerance);
WriteAttr(section, "gravity", 3, model->option.gravity, opt.gravity);
WriteAttr(section, "wind", 3, model->option.wind, opt.wind);
WriteAttr(section, "magnetic", 3, model->option.magnetic, opt.magnetic);
@@ -1067,6 +1068,7 @@ void mjXWriter::Option(XMLElement* root) {
WRITEENBL("fwdinv", mjENBL_FWDINV)
WRITEENBL("invdiscrete", mjENBL_INVDISCRETE)
WRITEENBL("multiccd", mjENBL_MULTICCD)
WRITEENBL("sleep", mjENBL_SLEEP)
#undef WRITEENBL
}
@@ -1644,6 +1646,14 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_vi
if (body->gravcomp) {
WriteAttr(elem, "gravcomp", 1, &body->gravcomp);
}
// sleep policy
if (body->sleep != mjSLEEP_AUTO &&
body->sleep != mjSLEEP_AUTO_NEVER &&
body->sleep != mjSLEEP_AUTO_ALLOWED) {
WriteAttrKey(elem, "sleep", bodysleep_map, bodysleep_sz, body->sleep);
}
// userdata
WriteVector(elem, "user", body->get_userdata());