Remove mjCPlugin from xml_native_reader.

PiperOrigin-RevId: 608546883 Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
2024-02-20 03:45:42 -08:00
parent b56d4bf8a5
commit 78dc5aee9f
13 changed files with 93 additions and 80 deletions
@@ -397,6 +397,12 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
  double bodymass = mass/npnt;
  double bodyinertia = bodymass*(2.0*inertiabox*inertiabox)/3.0;

+  // overwrite plugin name
+  if (plugin.active && plugin_instance_name.empty()) {
+    plugin_instance_name = "flexcomp_" + name;
+    ((mjCPlugin*)plugin.instance)->name = plugin_instance_name;
+  }
+
  // create bodies, construct flex vert and vertbody
  for (int i=0; i<npnt; i++) {
    // not used: skip