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Add visualisation groups to skins.

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PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
This commit is contained in:
Alessio Quaglino
2022-07-01 04:56:46 -07:00
committed by Copybara-Service
parent 040deb161f
commit 2d0995b47c
19 changed files with 256 additions and 115 deletions
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src/xml/xml_native_reader.cc
+12 -3
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@@ -22,6 +22,7 @@
#include <vector>
#include <mujoco/mjmodel.h>
#include <mujoco/mjvisualize.h>
#include "engine/engine_macro.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
@@ -165,8 +166,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"hfield", "*", "5", "name", "file", "nrow", "ncol", "size"},
{"mesh", "*", "11", "name", "class", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal"},
{"skin", "*", "8", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"},
{"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"},
@@ -210,7 +211,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction",
"material", "rgba", "width"},
{"skin", "?", "5", "texcoord", "material", "rgba", "inflate", "subgrid"},
{"skin", "?", "6", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
{"geom", "?", "17", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "rgba", "friction", "mass",
"density", "solmix", "solref", "solimp", "margin", "gap"},
@@ -983,6 +984,10 @@ void mjXReader::OneSkin(XMLElement* elem, mjCSkin* pskin) {
ReadAttrTxt(elem, "name", pskin->name);
ReadAttrTxt(elem, "file", pskin->file);
ReadAttrTxt(elem, "material", pskin->material);
ReadAttrInt(elem, "group", &pskin->group);
if (pskin->group<0 || pskin->group>=mjNGROUP) {
throw mjXError(elem, "skin group must be between 0 and 5");
}
ReadAttr(elem, "rgba", 4, pskin->rgba, text);
ReadAttr(elem, "inflate", 1, &pskin->inflate, text);
@@ -1617,6 +1622,10 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttr(eskin, "rgba", 4, comp.skinrgba, text);
ReadAttr(eskin, "inflate", 1, &comp.skininflate, text);
ReadAttrInt(eskin, "subgrid", &comp.skinsubgrid);
ReadAttrInt(eskin, "group", &comp.skingroup, 0);
if (comp.skingroup<0 || comp.skingroup>=mjNGROUP) {
throw mjXError(eskin, "skin group must be between 0 and 5");
}
}
// set type-specific defaults