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Add edge ids to flex elements in mjModel.

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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
This commit is contained in:
Alessio Quaglino
2024-09-16 06:56:09 -07:00
committed by Copybara-Service
parent 9d73211757
commit 31abd7900a
18 changed files with 84 additions and 131 deletions
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src/engine/engine_io.c
+6 -3
View File
@@ -461,7 +461,7 @@ void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int njnt, int ngeom, int nsite, int ncam,
int nlight, int nflex, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
@@ -507,6 +507,7 @@ void mj_makeModel(mjModel** dest,
m->nflexedge = nflexedge;
m->nflexelem = nflexelem;
m->nflexelemdata = nflexelemdata;
m->nflexelemedge = nflexelemedge;
m->nflexshelldata = nflexshelldata;
m->nflexevpair = nflexevpair;
m->nflextexcoord = nflextexcoord;
@@ -634,7 +635,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
src->ncam, src->nlight, src->nflex, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexshelldata,
src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
@@ -795,7 +796,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63]);
ints[63], ints[64]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_warning("Corrupted model, wrong size parameters");
mj_deleteModel(m);
@@ -2097,9 +2098,11 @@ const char* mj_validateReferences(const mjModel* m) {
X(flex_evpairadr, nflex, nflexevpair , m->flex_evpairnum ) \
X(flex_texcoordadr, nflex, nflextexcoord , 0 ) \
X(flex_elemdataadr, nflex, nflexelemdata , 0 ) \
X(flex_elemedgeadr, nflex, nflexelemedge , 0 ) \
X(flex_shelldataadr, nflex, nflexshelldata, 0 ) \
X(flex_edge, nflexedge*2, nflexvert , 0 ) \
X(flex_elem, nflexelemdata, nflexvert , 0 ) \
X(flex_elemedge, nflexelemedge, nflexedge , 0 ) \
X(flex_shell, nflexshelldata, nflexvert , 0 ) \
X(flex_bvhadr, nflex, nbvh , m->flex_bvhnum ) \
X(skin_matid, nskin, nmat , 0 ) \
src/engine/engine_io.h
+4 -4
View File
@@ -54,10 +54,10 @@ void mj_defaultStatistic(mjStatistic* stat);
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexshelldata, int nflexevpair,
int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int nflexedge, int nflexelem, int nflexelemdata, int nflexelemedge, int nflexshelldata,
int nflexevpair, int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal,
int nmeshtexcoord, int nmeshface, int nmeshgraph, int nskin, int nskinvert, int nskintexvert,
int nskinface, int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata,