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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/xml/xml_native_reader.cc
+8 -6
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@@ -39,7 +39,6 @@
#include "user/user_api.h"
#include "user/user_composite.h"
#include "user/user_flexcomp.h"
#include "user/user_model.h"
#include "user/user_util.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
@@ -805,7 +804,10 @@ void mjXReader::Parse(XMLElement* root) {
}
// get model name
ReadAttrTxt(root, "model", model->modelname);
string modelname;
if (ReadAttrTxt(root, "model", modelname)) {
mjm_setString(model->spec.modelname, modelname.c_str());
}
// get comment
if (root->FirstChild() && root->FirstChild()->ToComment()) {
@@ -823,12 +825,12 @@ void mjXReader::Parse(XMLElement* root) {
for (XMLElement* section = FirstChildElement(root, "option"); section;
section = NextSiblingElement(section, "option")) {
Option(section, &model->option);
Option(section, &model->spec.option);
}
for (XMLElement* section = FirstChildElement(root, "size"); section;
section = NextSiblingElement(section, "size")) {
Size(section, model);
Size(section, &model->spec);
}
//------------------ parse MJCF-specific sections
@@ -1096,7 +1098,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
// size section parser
void mjXReader::Size(XMLElement* section, mjCModel* mod) {
void mjXReader::Size(XMLElement* section, mjmModel* mod) {
// read memory bytes
{
constexpr char err_msg[] =
@@ -2936,7 +2938,7 @@ void mjXReader::Custom(XMLElement* section) {
void mjXReader::Visual(XMLElement* section) {
string text, name;
XMLElement* elem;
mjVisual* vis = &model->visual;
mjVisual* vis = &model->spec.visual;
// iterate over child elements
elem = FirstChildElement(section);