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Allow more than 1 activation state per actuator, but only for dyntype user.

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Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
This commit is contained in:
Yuval Tassa
2022-11-07 01:42:18 -08:00
committed by Copybara-Service
parent 0514010928
commit 36b30e4500
20 changed files with 271 additions and 37 deletions
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src/engine/engine_vis_visualize.c
+2 -2
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@@ -776,7 +776,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->actuator_group[i]))]) {
// determine extended range
mjtNum rng[3] = {-1, 0, +1};
mjtNum rmin = -1, rmax = 1, act;
mjtNum rmin = -1, rmax = 1, act = 0;
if (m->actuator_ctrllimited[i]) {
rmin = m->actuator_ctrlrange[2*i];
rmax = m->actuator_ctrlrange[2*i+1];
@@ -808,7 +808,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// clamp act to extended range
if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
act = mju_clip(d->act[m->actuator_actadr[i]], rng[0], rng[2]);
act = mju_clip(d->act[m->actuator_actadr[i] + m->actuator_actnum[i] - 1], rng[0], rng[2]);
} else {
act = mju_clip(d->ctrl[i], rng[0], rng[2]);
}