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

Move mjCSite attributes to mjmSite struct.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+23 -11
View File
@@ -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)",