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Print contacting geom names, if non-empty, in mj_printData output.

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PiperOrigin-RevId: 502340142
Change-Id: I6359a1ea8fb515e13cb434e31d9592b9d6ce9181
This commit is contained in:
Yuval Tassa
2023-01-16 03:07:45 -08:00
committed by Copybara-Service
parent f3c966796f
commit 6e02c19ebb
1 changed files with 14 additions and 2 deletions
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src/engine/engine_print.c
+14 -2
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@@ -941,8 +941,20 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// contact
fprintf(fp, "CONTACT\n");
for (int i=0; i<d->ncon; i++) {
fprintf(fp, " %d:\n dim %d\n geom %d %d\n",
i, d->contact[i].dim, d->contact[i].geom1, d->contact[i].geom2);
fprintf(fp, " %d:\n dim %d\n geom ", i, d->contact[i].dim);
const char* geom1 = mj_id2name(m, mjOBJ_GEOM, d->contact[i].geom1);
if (geom1) {
fprintf(fp, "%s ", geom1);
} else {
fprintf(fp, "%d ", d->contact[i].geom1);
}
const char* geom2 = mj_id2name(m, mjOBJ_GEOM, d->contact[i].geom2);
if (geom2) {
if (geom1) fprintf(fp, " "); // two spaces between two names
fprintf(fp, "%s\n", geom2);
} else {
fprintf(fp, "%d\n", d->contact[i].geom2);
}
fprintf(fp, " exclude %d\n efc_address %d\n",
d->contact[i].exclude, d->contact[i].efc_address);
printVector(" solref ", d->contact[i].solref, mjNREF, fp, float_format);