chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move fullinertia from mjCAlternative to mjCBody.

Browse Source 
PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
This commit is contained in:
Alessio Quaglino
2024-02-06 04:42:02 -08:00
committed by Copybara-Service
parent 01439f28b3
commit 737342bdfe
10 changed files with 82 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_base.cc
+6 -5
View File
@@ -51,14 +51,15 @@ void mjXBase::SetModel(mjCModel* _model) {
// read alternative orientation specification
void mjXBase::ReadAlternative(XMLElement* elem, mjmOrientation& alt) {
int mjXBase::ReadAlternative(XMLElement* elem, mjmOrientation& alt) {
string text;
int read = (int)(elem->Attribute("quat") != 0) +
(ReadAttr(elem, "axisangle", 4, alt.axisangle, text) ? 1 : 0) +
(ReadAttr(elem, "xyaxes", 6, alt.xyaxes, text) ? 1 : 0) +
(ReadAttr(elem, "zaxis", 3, alt.zaxis, text) ? 1 : 0) +
(ReadAttr(elem, "euler", 3, alt.euler, text) ? 1 : 0) +
(ReadAttr(elem, "fullinertia", 6, alt.fullinertia, text) ? 1 : 0);
if (read > 1)
throw mjXError(elem, "multiple orientation specifiers for the same field are not allowed");
(ReadAttr(elem, "euler", 3, alt.euler, text) ? 1 : 0);
if (read > 1) {
throw mjXError(elem, "multiple orientation specifiers are not allowed");
}
return read;
}