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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/xml/xml_native_writer.cc
+12 -12
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@@ -205,44 +205,44 @@ void mjXWriter::OneSkin(XMLElement* elem, mjCSkin* pskin) {
// write attributes
WriteAttrTxt(elem, "name", pskin->name);
WriteAttrTxt(elem, "file", pskin->file);
WriteAttrTxt(elem, "file", pskin->get_file());
WriteAttrTxt(elem, "material", pskin->get_material());
WriteAttrInt(elem, "group", pskin->group, 0);
WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.geom.rgba);
WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero);
// write data if no file
if (pskin->file.empty()) {
if (pskin->get_file().empty()) {
// mesh vert
Vector2String(text, pskin->vert);
Vector2String(text, pskin->get_vert());
WriteAttrTxt(elem, "vertex", text);
// mesh texcoord
if (!pskin->texcoord.empty()) {
Vector2String(text, pskin->texcoord);
if (!pskin->get_texcoord().empty()) {
Vector2String(text, pskin->get_texcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// mesh face
Vector2String(text, pskin->face);
Vector2String(text, pskin->get_face());
WriteAttrTxt(elem, "face", text);
// bones
for (size_t i=0; i<pskin->bodyname.size(); i++) {
for (size_t i=0; i<pskin->get_bodyname().size(); i++) {
// make bone
XMLElement* bone = InsertEnd(elem, "bone");
// write attributes
WriteAttrTxt(bone, "body", pskin->bodyname[i]);
WriteAttr(bone, "bindpos", 3, pskin->bindpos.data()+3*i);
WriteAttr(bone, "bindquat", 4, pskin->bindquat.data()+4*i);
WriteAttrTxt(bone, "body", pskin->get_bodyname()[i]);
WriteAttr(bone, "bindpos", 3, pskin->get_bindpos().data()+3*i);
WriteAttr(bone, "bindquat", 4, pskin->get_bindquat().data()+4*i);
// write vertid
Vector2String(text, pskin->vertid[i]);
Vector2String(text, pskin->get_vertid()[i]);
WriteAttrTxt(bone, "vertid", text);
// write vertweight
Vector2String(text, pskin->vertweight[i]);
Vector2String(text, pskin->get_vertweight()[i]);
WriteAttrTxt(bone, "vertweight", text);
}
}