Refactor MJMODEL_POINTERS into category-specific macros.
PiperOrigin-RevId: 802089588 Change-Id: Id3443f88e8243c5167a23b6e42eb32a32f88e8d3
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8d884585dd
commit
7a93e22514
+47
-44
@@ -587,15 +587,17 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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// values used by MJMODEL_POINTERS macro
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MJMODEL_POINTERS_PREAMBLE(m)
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// object_class points to the integer size identifying the class of arrays currently being printed
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// used to organise the printout into category groups
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// note that comparison is based on the integer address, not its value
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// touch unused sizes to avoid unused variable warning
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(void)nq;
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(void)nv;
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(void)na;
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(void)nu;
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(void)nmocap;
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const int* object_class;
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#define X(type, name, num, sz) \
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if (&m->num == object_class && strncmp(#name, "name_", 5) && \
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strncmp(#name, "M_", 2) && strncmp(#name, "B_", 2) && \
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strncmp(#name, "D_", 2) && sz > 0) { \
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if (&m->num == object_class && sz > 0) { \
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const char* format = _Generic(*m->name, \
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double: float_format, \
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float: float_format, \
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@@ -612,92 +614,93 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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fprintf(fp, "\n"); \
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} \
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}
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#define XNV X
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// bodies
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object_class = &m->nbody;
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for (int i=0; i < m->nbody; i++) {
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fprintf(fp, "\nBODY %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_bodyadr[i]);
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object_class = &m->nbody;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_BODY
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}
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if (m->nbody) fprintf(fp, "\n");
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// joints
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object_class = &m->njnt;
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for (int i=0; i < m->njnt; i++) {
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fprintf(fp, "\nJOINT %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_jntadr[i]);
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object_class = &m->njnt;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_JOINT
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}
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if (m->njnt) fprintf(fp, "\n");
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// dofs
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object_class = &m->nv;
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for (int i=0; i < m->nv; i++) {
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fprintf(fp, "\nDOF %d:\n", i);
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object_class = &m->nv;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_DOF
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}
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if (m->nv) fprintf(fp, "\n");
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// geoms
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object_class = &m->ngeom;
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for (int i=0; i < m->ngeom; i++) {
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fprintf(fp, "\nGEOM %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_geomadr[i]);
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object_class = &m->ngeom;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_GEOM
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}
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if (m->ngeom) fprintf(fp, "\n");
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// sites
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object_class = &m->nsite;
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for (int i=0; i < m->nsite; i++) {
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fprintf(fp, "\nSITE %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_siteadr[i]);
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object_class = &m->nsite;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_SITE
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}
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if (m->nsite) fprintf(fp, "\n");
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// cameras
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object_class = &m->ncam;
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for (int i=0; i < m->ncam; i++) {
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fprintf(fp, "\nCAMERA %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_camadr[i]);
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object_class = &m->ncam;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_CAMERA
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}
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if (m->ncam) fprintf(fp, "\n");
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// lights
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object_class = &m->nlight;
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for (int i=0; i < m->nlight; i++) {
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fprintf(fp, "\nLIGHT %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_lightadr[i]);
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object_class = &m->nlight;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_LIGHT
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}
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if (m->nlight) fprintf(fp, "\n");
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// flexes
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object_class = &m->nflex;
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for (int i=0; i < m->nflex; i++) {
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fprintf(fp, "\nFLEX %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_flexadr[i]);
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object_class = &m->nflex;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_FLEX
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}
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if (m->nflex) fprintf(fp, "\n");
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// meshes
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object_class = &m->nmesh;
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for (int i=0; i < m->nmesh; i++) {
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fprintf(fp, "\nMESH %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_meshadr[i]);
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object_class = &m->nmesh;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_MESH
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if (m->mesh_graphadr[i] >= 0) {
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fprintf(fp, " " NAME_FORMAT, "qhull face");
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fprintf(fp, " %d\n", m->mesh_graph[m->mesh_graphadr[i]+1]);
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@@ -708,82 +711,82 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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if (m->nmesh) fprintf(fp, "\n");
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// skins
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object_class = &m->nskin;
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for (int i=0; i < m->nskin; i++) {
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fprintf(fp, "\nSKIN %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_skinadr[i]);
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object_class = &m->nskin;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_SKIN
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}
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if (m->nskin) fprintf(fp, "\n");
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// hfields
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object_class = &m->nhfield;
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for (int i=0; i < m->nhfield; i++) {
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fprintf(fp, "\nHEIGHTFIELD %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_hfieldadr[i]);
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object_class = &m->nhfield;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_HFIELD
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}
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if (m->nhfield) fprintf(fp, "\n");
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// textures
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object_class = &m->ntex;
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for (int i=0; i < m->ntex; i++) {
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fprintf(fp, "\nTEXTURE %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_texadr[i]);
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object_class = &m->ntex;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_TEXTURE
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}
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if (m->ntex) fprintf(fp, "\n");
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// materials
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object_class = &m->nmat;
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for (int i=0; i < m->nmat; i++) {
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fprintf(fp, "\nMATERIAL %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_matadr[i]);
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object_class = &m->nmat;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_MATERIAL
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}
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if (m->nmat) fprintf(fp, "\n");
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// pairs
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object_class = &m->npair;
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for (int i=0; i < m->npair; i++) {
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fprintf(fp, "\nPAIR %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_pairadr[i]);
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object_class = &m->npair;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_PAIR
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}
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if (m->npair) fprintf(fp, "\n");
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// excludes
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object_class = &m->nexclude;
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for (int i=0; i < m->nexclude; i++) {
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fprintf(fp, "\nEXCLUDE %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_excludeadr[i]);
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object_class = &m->nexclude;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_EXCLUDE
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}
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if (m->nexclude) fprintf(fp, "\n");
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// equality constraints
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object_class = &m->neq;
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for (int i=0; i < m->neq; i++) {
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fprintf(fp, "\nEQUALITY %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_eqadr[i]);
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object_class = &m->neq;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_EQUALITY
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}
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if (m->neq) fprintf(fp, "\n");
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// tendons
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object_class = &m->ntendon;
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for (int i=0; i < m->ntendon; i++) {
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fprintf(fp, "\nTENDON %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_tendonadr[i]);
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object_class = &m->ntendon;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_TENDON
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fprintf(fp, " path\n");
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fprintf(fp, " type objid prm\n");
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for (int j=0; j < m->tendon_num[i]; j++) {
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@@ -797,22 +800,22 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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if (m->ntendon) fprintf(fp, "\n");
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// actuators
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object_class = &m->nu;
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for (int i=0; i < m->nu; i++) {
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fprintf(fp, "\nACTUATOR %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_actuatoradr[i]);
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object_class = &m->nu;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_ACTUATOR
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}
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if (m->nu) fprintf(fp, "\n");
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// sensors
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object_class = &m->nsensor;
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for (int i=0; i < m->nsensor; i++) {
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fprintf(fp, "\nSENSOR %d:\n", i);
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fprintf(fp, " " NAME_FORMAT, "name");
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fprintf(fp, " %s\n", m->names + m->name_sensoradr[i]);
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object_class = &m->nsensor;
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MJMODEL_POINTERS
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MJMODEL_POINTERS_SENSOR
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}
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if (m->nsensor) fprintf(fp, "\n");
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