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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/xml/xml_native_reader.cc
+28 -22
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@@ -33,6 +33,7 @@
#include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "user/user_api.h"
#include "user/user_composite.h"
#include "user/user_flexcomp.h"
#include "user/user_model.h"
@@ -1563,34 +1564,39 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
// site element parser
void mjXReader::OneSite(XMLElement* elem, mjCSite* site) {
void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
int n;
string text;
mjmSite* psite = &site->spec;
string text, name, classname;
std::vector<double> userdata;
std::string material;
// read attributes
ReadAttrTxt(elem, "name", site->name);
ReadAttrTxt(elem, "class", site->classname);
ReadAttrTxt(elem, "name", name);
ReadAttrTxt(elem, "class", classname);
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
psite->type = (mjtGeom)n;
site.type = (mjtGeom)n;
}
ReadAttr(elem, "size", 3, psite->size, text, false, false);
ReadAttrInt(elem, "group", &psite->group);
ReadAttr(elem, "pos", 3, psite->pos, text);
ReadQuat(elem, "quat", psite->quat, text);
ReadAttr(elem, "size", 3, site.size, text, false, false);
ReadAttrInt(elem, "group", &site.group);
ReadAttr(elem, "pos", 3, site.pos, text);
ReadQuat(elem, "quat", site.quat, text);
ReadAttrTxt(elem, "material", material);
ReadAttr(elem, "rgba", 4, psite->rgba, text);
ReadAttr(elem, "fromto", 6, psite->fromto, text);
ReadAlternative(elem, psite->alt);
ReadAttr(elem, "rgba", 4, site.rgba, text);
ReadAttr(elem, "fromto", 6, site.fromto, text);
ReadAlternative(elem, site.alt);
ReadVector(elem, "user", userdata, text);
// set variable-size attributes
site->set_userdata(userdata);
site->set_material(material);
// set strings
mjm_setString(site.name, name.c_str());
mjm_setString(site.classname, classname.c_str());
mjm_setString(site.material, material.c_str());
GetXMLPos(elem, site);
// set pointers
mjm_setDouble(site.userdata, userdata.data(), userdata.size());
// set info
mjm_setString(site.info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2177,7 +2183,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttrInt(esite, "group", &dsite.group);
ReadAttrTxt(esite, "material", material);
ReadAttr(esite, "rgba", 4, dsite.rgba, text);
comp.def[0].site.set_material(material);
mjm_setString(dsite.material, material.c_str());
}
// joint
@@ -2487,7 +2493,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
else if (name=="geom") OneGeom(elem, &def->geom);
// read site
else if (name=="site") OneSite(elem, &def->site);
else if (name=="site") OneSite(elem, def->site.spec);
// read camera
else if (name=="camera") OneCamera(elem, &def->camera);
@@ -3061,9 +3067,9 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// site sub-element
else if (name=="site") {
// create site and parse
mjCSite* psite = pbody->AddSite(def);
OneSite(elem, psite);
psite->SetFrame(frame);
mjmSite* site = mjm_addSite(pbody, def);
OneSite(elem, *site);
mjm_setFrame(site, frame);
}
// camera sub-element