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Add mocap state to SaveState/RestoreState and attached keyframes.

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PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
This commit is contained in:
Alessio Quaglino
2024-08-14 10:41:40 -07:00
committed by Copybara-Service
parent 5927b3d4d9
commit 4c64e6f036
8 changed files with 264 additions and 67 deletions
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src/user/user_api.cc
+4 -2
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@@ -93,15 +93,17 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
// recompile spec into existing model and data while preserving the state
void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
std::string state_name = "state";
mjtNum time = 0;
if (d) {
time = d->time;
modelC->SaveState(d->qpos, d->qvel, d->act, d->ctrl);
modelC->SaveState(state_name, d->qpos, d->qvel, d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
}
modelC->Compile(vfs, &m);
if (d) {
modelC->MakeData(m, &d);
modelC->RestoreState(m->qpos0, d->qpos, d->qvel, d->act, d->ctrl);
modelC->RestoreState(state_name, m->qpos0, m->body_pos, m->body_quat, d->qpos, d->qvel,
d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
d->time = time;
}
}