chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 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/xml/xml_native_reader.cc
+10 -8
View File
@@ -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