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Add mjmMaterial and mjmFrame to C API.

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PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
This commit is contained in:
Alessio Quaglino
2024-02-12 02:55:00 -08:00
committed by Copybara-Service
parent 4b8363de6d
commit 4e5b194e88
9 changed files with 192 additions and 54 deletions
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src/xml/xml_native_reader.cc
+20 -11
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@@ -1441,14 +1441,20 @@ void mjXReader::OneSkin(XMLElement* elem, mjCSkin* pskin) {
// material element parser
void mjXReader::OneMaterial(XMLElement* elem, mjCMaterial* pmat) {
string text;
void mjXReader::OneMaterial(XMLElement* elem, mjmMaterial* pmat) {
string text, name, classname, texture;
int n;
// read attributes
ReadAttrTxt(elem, "name", pmat->name);
ReadAttrTxt(elem, "class", pmat->classname);
ReadAttrTxt(elem, "texture", pmat->texture);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pmat->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pmat->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "texture", texture)) {
mjm_setString(pmat->texture, texture.c_str());
}
if (MapValue(elem, "texuniform", &n, bool_map, 2)) {
pmat->texuniform = (n==1);
}
@@ -1459,7 +1465,9 @@ void mjXReader::OneMaterial(XMLElement* elem, mjCMaterial* pmat) {
ReadAttr(elem, "reflectance", 1, &pmat->reflectance, text);
ReadAttr(elem, "rgba", 4, pmat->rgba, text);
GetXMLPos(elem, pmat);
// write error info
mjm_setString(pmat->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2580,7 +2588,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
if (name=="mesh") OneMesh(elem, &def->mesh);
// read material
else if (name=="material") OneMaterial(elem, &def->material);
else if (name=="material") OneMaterial(elem, &def->material.spec);
// read joint
else if (name=="joint") OneJoint(elem, &def->joint.spec);
@@ -2626,6 +2634,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
mjm_finalize(def->camera.spec.element);
mjm_finalize(def->light.spec.element);
mjm_finalize(def->actuator.spec.element);
mjm_finalize(def->material.spec.element);
mjm_finalize(def->equality.spec.element);
mjm_finalize(def->tendon.spec.element);
@@ -3019,7 +3028,7 @@ void mjXReader::Asset(XMLElement* section) {
// material sub-element
else if (name=="material") {
// create material and parse
mjCMaterial* pmat = model->AddMaterial(def);
mjmMaterial* pmat = mjm_addMaterial(model, def);
OneMaterial(elem, pmat);
}
@@ -3089,7 +3098,7 @@ void mjXReader::Asset(XMLElement* section) {
// body/world section parser; recursive
void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
string text, name;
XMLElement* elem;
int n;
@@ -3220,8 +3229,8 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
// frame sub-element
else if (name=="frame") {
mjCFrame* pframe = (mjCFrame*)mjm_addFrame(pbody, frame);
GetXMLPos(elem, pframe);
mjmFrame* pframe = mjm_addFrame(pbody, frame);
mjm_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
ReadAttr(elem, "pos", 3, pframe->pos, text);
ReadQuat(elem, "quat", pframe->quat, text);