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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/xml/xml_native_writer.cc
+3 -3
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@@ -715,7 +715,7 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
// write tendon
void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def) {
bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->type == mjWRAP_JOINT);
bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->Type() == mjWRAP_JOINT);
// regular
if (!writingdefaults) {
@@ -1886,14 +1886,14 @@ void mjXWriter::Tendon(XMLElement* root) {
continue;
}
XMLElement* elem = InsertEnd(section,
tendon->GetWrap(0)->type == mjWRAP_JOINT ? "fixed" : "spatial");
tendon->GetWrap(0)->Type() == mjWRAP_JOINT ? "fixed" : "spatial");
OneTendon(elem, tendon, model->def_map[tendon->classname]);
// write wraps
XMLElement* wrapelem;
for (int j=0; j < tendon->NumWraps(); j++) {
const mjCWrap* wrap = tendon->GetWrap(j);
switch (wrap->type) {
switch (wrap->Type()) {
case mjWRAP_JOINT:
wrapelem = InsertEnd(elem, "joint");
WriteAttrTxt(wrapelem, "joint", wrap->obj->name);