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Canonicalize mjVisual macros to include type and dimension.

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PiperOrigin-RevId: 928506110
Change-Id: If5d031f9d87892f13486ae9ccde23c16131212de
This commit is contained in:
Yuval Tassa
2026-06-08 05:30:15 -07:00
committed by Copybara-Service
parent da5500c202
commit 6c33e16bf1
5 changed files with 132 additions and 137 deletions
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src/engine/engine_print.c
+7 -8
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@@ -633,7 +633,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
fprintf(fp, "VISUAL\n");
fprintf(fp, " GLOBAL\n");
#define X(type, name) \
#define X(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
const char* format = \
@@ -646,7 +646,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
#undef X
fprintf(fp, " QUALITY\n");
#define X(name) \
#define X(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, INT_FORMAT, m->vis.quality.name); \
fprintf(fp, "\n");
@@ -680,7 +680,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
#undef X
fprintf(fp, " MAP\n");
#define X(name) \
#define X(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, float_format, m->vis.map.name); \
fprintf(fp, "\n");
@@ -689,7 +689,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
#undef X
fprintf(fp, " SCALE\n");
#define X(name) \
#define X(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, float_format, m->vis.scale.name); \
fprintf(fp, "\n");
@@ -698,17 +698,16 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
#undef X
fprintf(fp, " RGBA\n");
#define X(name) \
#define XVEC(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
for (int i = 0; i < 4; i++) { \
for (int i = 0; i < sz; i++) { \
fprintf(fp, float_format, m->vis.rgba.name[i]); \
} \
} \
fprintf(fp, "\n");
MJVISUAL_RGBA_FIELDS
#undef X
#undef XVEC
fprintf(fp, "\n");
// total mass