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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;