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Add mjmSkin to C API.

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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
This commit is contained in:
Alessio Quaglino
2024-02-15 05:07:51 -08:00
committed by Copybara-Service
parent bafe490ea8
commit 6f958bc404
13 changed files with 630 additions and 420 deletions
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src/user/user_model.cc
+22 -22
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@@ -1044,12 +1044,12 @@ void mjCModel::SetSizes(void) {
// skin counts
for (int i=0; i<nskin; i++) {
nskinvert += skins[i]->vert.size()/3;
nskintexvert += skins[i]->texcoord.size()/2;
nskinface += skins[i]->face.size()/3;
nskinvert += skins[i]->get_vert().size()/3;
nskintexvert += skins[i]->get_texcoord().size()/2;
nskinface += skins[i]->get_face().size()/3;
nskinbone += skins[i]->bodyid.size();
for (int j=0; j<skins[i]->bodyid.size(); j++) {
nskinbonevert += skins[i]->vertid[j].size();
nskinbonevert += skins[i]->get_vertid()[j].size();
}
}
@@ -2094,25 +2094,25 @@ void mjCModel::CopyObjects(mjModel* m) {
copyvec(m->skin_rgba+4*i, psk->rgba, 4);
m->skin_inflate[i] = psk->inflate;
m->skin_vertadr[i] = vert_adr;
m->skin_vertnum[i] = psk->vert.size()/3;
m->skin_texcoordadr[i] = (!psk->texcoord.empty() ? texcoord_adr : -1);
m->skin_vertnum[i] = psk->get_vert().size()/3;
m->skin_texcoordadr[i] = (!psk->get_texcoord().empty() ? texcoord_adr : -1);
m->skin_faceadr[i] = face_adr;
m->skin_facenum[i] = psk->face.size()/3;
m->skin_facenum[i] = psk->get_face().size()/3;
m->skin_boneadr[i] = bone_adr;
m->skin_bonenum[i] = psk->bodyid.size();
// copy mesh data
memcpy(m->skin_vert + 3*vert_adr, psk->vert.data(), psk->vert.size()*sizeof(float));
if (!psk->texcoord.empty())
memcpy(m->skin_texcoord + 2*texcoord_adr, psk->texcoord.data(),
psk->texcoord.size()*sizeof(float));
memcpy(m->skin_face + 3*face_adr, psk->face.data(), psk->face.size()*sizeof(int));
memcpy(m->skin_vert + 3*vert_adr, psk->get_vert().data(), psk->get_vert().size()*sizeof(float));
if (!psk->get_texcoord().empty())
memcpy(m->skin_texcoord + 2*texcoord_adr, psk->get_texcoord().data(),
psk->get_texcoord().size()*sizeof(float));
memcpy(m->skin_face + 3*face_adr, psk->get_face().data(), psk->get_face().size()*sizeof(int));
// copy bind poses and body ids
memcpy(m->skin_bonebindpos+3*bone_adr, psk->bindpos.data(),
psk->bindpos.size()*sizeof(float));
memcpy(m->skin_bonebindquat+4*bone_adr, psk->bindquat.data(),
psk->bindquat.size()*sizeof(float));
memcpy(m->skin_bonebindpos+3*bone_adr, psk->get_bindpos().data(),
psk->get_bindpos().size()*sizeof(float));
memcpy(m->skin_bonebindquat+4*bone_adr, psk->get_bindquat().data(),
psk->get_bindquat().size()*sizeof(float));
memcpy(m->skin_bonebodyid+bone_adr, psk->bodyid.data(),
psk->bodyid.size()*sizeof(int));
@@ -2120,13 +2120,13 @@ void mjCModel::CopyObjects(mjModel* m) {
for (int j=0; j<m->skin_bonenum[i]; j++) {
// set fields
m->skin_bonevertadr[bone_adr+j] = bonevert_adr;
m->skin_bonevertnum[bone_adr+j] = (int)psk->vertid[j].size();
m->skin_bonevertnum[bone_adr+j] = (int)psk->get_vertid()[j].size();
// copy data
memcpy(m->skin_bonevertid+bonevert_adr, psk->vertid[j].data(),
psk->vertid[j].size()*sizeof(int));
memcpy(m->skin_bonevertweight+bonevert_adr, psk->vertweight[j].data(),
psk->vertid[j].size()*sizeof(float));
memcpy(m->skin_bonevertid+bonevert_adr, psk->get_vertid()[j].data(),
psk->get_vertid()[j].size()*sizeof(int));
memcpy(m->skin_bonevertweight+bonevert_adr, psk->get_vertweight()[j].data(),
psk->get_vertid()[j].size()*sizeof(float));
// advance counter
bonevert_adr += m->skin_bonevertnum[bone_adr+j];
@@ -2134,7 +2134,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// advance mesh and bone counters
vert_adr += m->skin_vertnum[i];
texcoord_adr += psk->texcoord.size()/2;
texcoord_adr += psk->get_texcoord().size()/2;
face_adr += m->skin_facenum[i];
bone_adr += m->skin_bonenum[i];
}