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Add engine settings to mjmModel.

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PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
This commit is contained in:
Alessio Quaglino
2024-02-21 02:24:53 -08:00
committed by Copybara-Service
parent a4a621f6e3
commit 7edacd39cd
8 changed files with 70 additions and 56 deletions
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src/user/user_model.cc
+7 -23
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@@ -88,6 +88,7 @@ mjCModel::mjCModel() {
modelfiledir.clear();
spec_meshdir_.clear();
spec_texturedir_.clear();
spec_modelname_ = "MuJoCo Model";
//------------------------ auto-computed statistics
#ifndef MEMORY_SANITIZER
@@ -99,28 +100,8 @@ mjCModel::mjCModel() {
center_auto[0] = center_auto[1] = center_auto[2] = 0;
#endif
//------------------------ engine data
modelname = "MuJoCo Model";
mj_defaultOption(&option);
mj_defaultVisual(&visual);
memory = -1;
nemax = 0;
njmax = -1;
nconmax = -1;
nstack = -1;
nuserdata = 0;
nkey = 0;
nmocap = 0;
nplugin = 0;
nuser_body = -1;
nuser_jnt = -1;
nuser_geom = -1;
nuser_site = -1;
nuser_cam = -1;
nuser_tendon = -1;
nuser_actuator = -1;
nuser_sensor = -1;
//------------------------ private variables
cameras.clear();
lights.clear();
@@ -196,6 +177,7 @@ mjCModel::mjCModel() {
void mjCModel::PointToLocal() {
spec.element = (mjElement)this;
spec.modelname = (mjString)&spec_modelname_;
spec.meshdir = (mjString)&spec_meshdir_;
spec.texturedir = (mjString)&spec_texturedir_;
}
@@ -204,8 +186,10 @@ void mjCModel::PointToLocal() {
void mjCModel::CopyFromSpec() {
*static_cast<mjmModel*>(this) = spec;
modelname_ = spec_modelname_;
meshdir_ = spec_meshdir_;
texturedir_ = spec_texturedir_;
modelname = (mjString)&modelname_;
meshdir = (mjString)&meshdir_;
texturedir = (mjString)&texturedir_;
}
@@ -1072,7 +1056,7 @@ void mjCModel::SetSizes(void) {
for (int i=0; i<nplugin; i++) npluginattr += (int)plugins[i]->flattened_attributes.size();
// nnames
nnames = (int)modelname.size() + 1;
nnames = (int)modelname_.size() + 1;
for (int i=0; i<nbody; i++) nnames += (int)bodies[i]->name.length() + 1;
for (int i=0; i<njnt; i++) nnames += (int)joints[i]->name.length() + 1;
for (int i=0; i<ngeom; i++) nnames += (int)geoms[i]->name.length() + 1;
@@ -1351,9 +1335,9 @@ static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int*
// copy names, compute name addresses
void mjCModel::CopyNames(mjModel* m) {
// start with model name
int adr = (int)modelname.size()+1;
int adr = (int)modelname_.size()+1;
int* map_adr = m->names_map;
mju_strncpy(m->names, modelname.c_str(), m->nnames);
mju_strncpy(m->names, modelname_.c_str(), m->nnames);
memset(m->names_map, -1, sizeof(int) * m->nnames_map);
// process all lists