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Improve printing of geom/geom contacts.

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PiperOrigin-RevId: 625338796
Change-Id: I89267c3512c0ab28c0e1d35c571fd4d4bafa9b43
This commit is contained in:
Yuval Tassa
2024-04-16 08:24:00 -07:00
committed by Copybara-Service
parent 961124ab0b
commit 7c86a02a80
1 changed files with 25 additions and 5 deletions
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src/engine/engine_print.c
+25 -5
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@@ -1033,11 +1033,31 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
fprintf(fp, "CONTACT\n");
for (int i=0; i < d->ncon; i++) {
fprintf(fp, " %d:\n dim %d\n", i, d->contact[i].dim);
fprintf(fp, " gfev %d %d %d %d : %d %d %d %d\n",
d->contact[i].geom[0], d->contact[i].flex[0],
d->contact[i].elem[0], d->contact[i].vert[0],
d->contact[i].geom[1], d->contact[i].flex[1],
d->contact[i].elem[1], d->contact[i].vert[1]);
int g1 = d->contact[i].geom[0];
int g2 = d->contact[i].geom[1];
// special case for geom-geom contacts
if (g1 > -1 && g2 > -1) {
fprintf(fp, " geoms ");
const char* geom1 = mj_id2name(m, mjOBJ_GEOM, g1);
const char* geom2 = mj_id2name(m, mjOBJ_GEOM, g2);
if (geom1) {
fprintf(fp, "%s : ", geom1);
} else {
fprintf(fp, "%d : ", g1);
}
if (geom2) {
fprintf(fp, "%s\n", geom2);
} else {
fprintf(fp, "%d\n", g2);
}
} else {
fprintf(fp, " gfev %d %d %d %d : %d %d %d %d\n",
d->contact[i].geom[0], d->contact[i].flex[0],
d->contact[i].elem[0], d->contact[i].vert[0],
d->contact[i].geom[1], d->contact[i].flex[1],
d->contact[i].elem[1], d->contact[i].vert[1]);
}
fprintf(fp, " exclude %d\n efc_address %d\n",
d->contact[i].exclude, d->contact[i].efc_address);
printVector(" solref ", d->contact[i].solref, mjNREF, fp, float_format);