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Move mjCSite attributes to mjmSite struct.

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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
This commit is contained in:
Alessio Quaglino
2024-01-31 08:06:50 -08:00
committed by Copybara-Service
parent fae1f3e56d
commit 7a98038e88
6 changed files with 58 additions and 35 deletions
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src/user/user_composite.cc
+5 -5
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@@ -137,7 +137,7 @@ void mjCComposite::SetDefault(void) {
// set all deafult groups to 3
for (int i=0; i<mjNCOMPKINDS; i++) {
def[i].geom.group = 3;
def[i].site.group = 3;
def[i].site.spec.group = 3;
def[i].tendon.group = 3;
}
@@ -480,7 +480,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
// add site
mjCSite* s = b->AddSite(def);
s->def = body->def;
s->type = mjGEOM_SPHERE;
s->spec.type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
s->name = txt;
@@ -607,7 +607,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjCBody* body, char* error, int err
// add site
mjCSite* s = b->AddSite(def);
s->def = body->def;
s->type = mjGEOM_SPHERE;
s->spec.type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix, iy);
s->name = txt;
@@ -871,8 +871,8 @@ mjCBody* mjCComposite::AddCableBody(mjCModel* model, mjCBody* body, int ix, mjtN
mjCSite* site = body->AddSite(def);
site->def = body->def;
site->name = txt_site;
mjuu_setvec(site->pos, last ? length : 0, 0, 0);
mjuu_setvec(site->quat, 1, 0, 0, 0);
mjuu_setvec(site->spec.pos, last ? length : 0, 0, 0);
mjuu_setvec(site->spec.quat, 1, 0, 0, 0);
}
return body;
src/user/user_model.cc
+3 -2
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@@ -651,7 +651,7 @@ void mjCModel::MakeLists(mjCBody* body) {
// delete material with given name or all materials if the name is omitted
template <class T>
static void DeleteMaterial(std::vector<T*>& list, std::string_view name = "") {
void mjCModel::DeleteMaterial(std::vector<T*>& list, std::string_view name) {
for (T* plist : list) {
if (name.empty() || plist->material == name) {
plist->material.clear();
@@ -660,6 +660,7 @@ static void DeleteMaterial(std::vector<T*>& list, std::string_view name = "") {
}
// delete texture with given name or all textures if the name is omitted
template <class T>
static void DeleteTexture(std::vector<T*>& list, std::string_view name = "") {
@@ -2900,7 +2901,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_site == -1) {
nuser_site = 0;
for (int i=0; i<sites.size(); i++) {
nuser_site = mjMAX(nuser_site, sites[i]->userdata.size());
nuser_site = mjMAX(nuser_site, sites[i]->spec.userdata.size());
}
}
if (nuser_cam == -1) {
src/user/user_model.h
+4
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@@ -18,6 +18,7 @@
#include <functional>
#include <map>
#include <string>
#include <string_view>
#include <utility>
#include <vector>
@@ -192,6 +193,9 @@ class mjCModel {
template<class T> // if asset name is missing, set to filename
void SetDefaultNames(std::vector<T*>& assets);
template <class T> // delete material from object
void DeleteMaterial(std::vector<T*>& list, std::string_view name = "");
//------------------------ compile phases
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
void IndexAssets(bool discard); // convert asset names into indices
src/user/user_objects.cc
+23 -11
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@@ -1926,24 +1926,28 @@ void mjCGeom::Compile(void) {
// initialize default site
mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set defaults
type = mjGEOM_SPHERE;
mjuu_setvec(size, 0.005, 0.005, 0.005);
group = 0;
mjuu_setvec(quat, 1, 0, 0, 0);
mjuu_setvec(pos, 0, 0, 0);
material.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
fromto[0] = mjNAN;
userdata.clear();
spec.type = mjGEOM_SPHERE;
mjuu_setvec(spec.size, 0.005, 0.005, 0.005);
spec.group = 0;
mjuu_setvec(spec.quat, 1, 0, 0, 0);
mjuu_setvec(spec.pos, 0, 0, 0);
spec.material.clear();
spec.rgba[0] = spec.rgba[1] = spec.rgba[2] = 0.5f;
spec.rgba[3] = 1.0f;
spec.fromto[0] = mjNAN;
spec.userdata.clear();
// clear internal variables
material.clear();
spec.material.clear();
body = 0;
matid = -1;
// initialize private attributes
CopyFromSpec();
// reset to default if given
if (_def) {
_def->site.CopyFromSpec();
*this = _def->site;
}
@@ -1954,8 +1958,16 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
void mjCSite::CopyFromSpec() {
*static_cast<mjmSite*>(this) = spec;
}
// compiler
void mjCSite::Compile(void) {
CopyFromSpec();
// resize userdata
if (userdata.size() > model->nuser_site) {
throw mjCError(this, "user has more values than nuser_site in site '%s' (id = %d)",
src/user/user_objects.h
+13 -9
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@@ -455,15 +455,7 @@ class mjCGeom : public mjCBase {
//------------------------- class mjCSite ----------------------------------------------------------
// Describes a site on a body
class mjCSite : public mjCBase {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
friend class mjXWriter;
friend class mjXURDF;
public:
// variables set by user
typedef struct _mjmSite {
mjtGeom type; // geom type for rendering
int group; // group id, used for visualization
double size[3]; // geom size for rendering
@@ -474,11 +466,23 @@ class mjCSite : public mjCBase {
float rgba[4]; // rgba when material is omitted
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
mjCAlternative alt; // alternative orientation specification
} mjmSite;
class mjCSite : public mjCBase, private mjmSite {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
friend class mjXWriter;
friend class mjXURDF;
public:
mjmSite spec; // variables set by user
// variables computed by 'compile' and 'mjCBody::addSite'
private:
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
void CopyFromSpec(); // copy spec into attributes
mjCBody* body; // site's body
int matid; // material id for rendering
src/xml/xml_native_reader.cc
+10 -8
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@@ -1563,13 +1563,14 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
// site element parser
void mjXReader::OneSite(XMLElement* elem, mjCSite* psite) {
void mjXReader::OneSite(XMLElement* elem, mjCSite* site) {
int n;
string text;
mjmSite* psite = &site->spec;
// read attributes
ReadAttrTxt(elem, "name", psite->name);
ReadAttrTxt(elem, "class", psite->classname);
ReadAttrTxt(elem, "name", site->name);
ReadAttrTxt(elem, "class", site->classname);
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
psite->type = (mjtGeom)n;
}
@@ -1585,7 +1586,7 @@ void mjXReader::OneSite(XMLElement* elem, mjCSite* psite) {
// read userdata
ReadVector(elem, "user", psite->userdata, text);
GetXMLPos(elem, psite);
GetXMLPos(elem, site);
}
@@ -2166,10 +2167,11 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
// site
XMLElement* esite = elem->FirstChildElement("site");
if (esite) {
ReadAttr(esite, "size", 3, comp.def[0].site.size, text, false, false);
ReadAttrInt(esite, "group", &comp.def[0].site.group);
ReadAttrTxt(esite, "material", comp.def[0].site.material);
ReadAttr(esite, "rgba", 4, comp.def[0].site.rgba, text);
mjmSite& dsite = comp.def[0].site.spec;
ReadAttr(esite, "size", 3, dsite.size, text, false, false);
ReadAttrInt(esite, "group", &dsite.group);
ReadAttrTxt(esite, "material", dsite.material);
ReadAttr(esite, "rgba", 4, dsite.rgba, text);
}
// joint