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Add compiler C API for mjmSite.

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PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
This commit is contained in:
Alessio Quaglino
2024-02-06 01:50:01 -08:00
committed by Copybara-Service
parent f763254a00
commit 3b2dd06c54
13 changed files with 342 additions and 73 deletions
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src/user/user_objects.cc
+24 -8
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@@ -43,6 +43,7 @@
#include "engine/engine_util_solve.h"
#include "engine/engine_util_spatial.h"
#include "engine/engine_vfs.h"
#include "user/user_api.h"
#include "user/user_model.h"
#include "user/user_util.h"
@@ -1931,25 +1932,35 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
spec.group = 0;
mjuu_setvec(spec.quat, 1, 0, 0, 0);
mjuu_setvec(spec.pos, 0, 0, 0);
spec.material = nullptr;
spec_material_.clear();
spec.rgba[0] = spec.rgba[1] = spec.rgba[2] = 0.5f;
spec.rgba[3] = 1.0f;
spec.fromto[0] = mjNAN;
spec.userdata = nullptr;
spec_userdata_.clear();
spec.alt.axisangle[0] = spec.alt.xyaxes[0] = spec.alt.zaxis[0] =
spec.alt.euler[0] = spec.alt.fullinertia[0] = mjNAN;
// clear internal variables
body = 0;
matid = -1;
// initialize private attributes
CopyFromSpec();
// reset to default if given
if (_def) {
_def->site.CopyFromSpec();
*this = _def->site;
}
// point to local, not to default
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
spec.userdata = (mjDouble)&spec_userdata_;
// initialize private attributes in case object won't be compiled
CopyFromSpec();
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
@@ -1961,8 +1972,13 @@ void mjCSite::CopyFromSpec() {
*static_cast<mjmSite*>(this) = spec;
userdata_ = spec_userdata_;
material_ = spec_material_;
userdata = userdata_.data();
material = material_.data();
userdata = (mjDouble)&userdata_;
material = (mjString)&material_;
mju_copy4(alt_.axisangle, alt.axisangle);
mju_copy(alt_.xyaxes, alt.xyaxes, 6);
mju_copy3(alt_.zaxis, alt.zaxis);
mju_copy3(alt_.euler, alt.euler);
mju_copy(alt_.fullinertia, alt.fullinertia, 6);
}
@@ -2034,7 +2050,7 @@ void mjCSite::Compile(void) {
// alternative orientation
else {
const char* err = alt.Set(quat, 0, model->degree, model->euler);
const char* err = alt_.Set(quat, 0, model->degree, model->euler);
if (err) {
throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
}