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Move mjCWrap type to mjsWrap.

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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
This commit is contained in:
Sam Haves
2025-10-20 16:27:59 -07:00
committed by Copybara-Service
parent 88ac02dad3
commit 59f14485e0
8 changed files with 111 additions and 27 deletions
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src/user/user_model.cc
+3 -3
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@@ -120,7 +120,7 @@ bool IsNullPose(const T pos[3], const T quat[4]) {
// get body id from wrap object
int GetBodyIdFromWrap(const mjCWrap* wrap) {
if (!wrap || !wrap->obj) return -1;
switch (wrap->type) {
switch (wrap->Type()) {
case mjWRAP_SITE:
return static_cast<mjCSite*>(wrap->obj)->Body()->id;
case mjWRAP_CYLINDER:
@@ -3606,10 +3606,10 @@ void mjCModel::CopyObjects(mjModel* m) {
// set wraps
for (int j=0; j < (int)pte->path.size(); j++) {
m->wrap_type[adr+j] = pte->path[j]->type;
m->wrap_type[adr+j] = pte->path[j]->Type();
m->wrap_objid[adr+j] = pte->path[j]->obj ? pte->path[j]->obj->id : -1;
m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->prm;
if (pte->path[j]->type == mjWRAP_SPHERE || pte->path[j]->type == mjWRAP_CYLINDER) {
if (pte->path[j]->Type() == mjWRAP_SPHERE || pte->path[j]->Type() == mjWRAP_CYLINDER) {
m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->sideid;
}
}