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Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219.

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PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
This commit is contained in:
Alessio Quaglino
2023-11-27 02:24:06 -08:00
committed by Copybara-Service
parent e33adaca9c
commit 8010aad7be
6 changed files with 12 additions and 1 deletions
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doc/changelog.rst
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@@ -28,6 +28,7 @@ Bug fixes
^^^^^^^^^ ^^^^^^^^^
- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped. - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
Before this fix such actuators could lead to non-conservation of momentum. Before this fix such actuators could lead to non-conservation of momentum.
- Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
Version 3.0.1 (November 15, 2023) Version 3.0.1 (November 15, 2023)
--------------------------------- ---------------------------------
doc/includes/references.h
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@@ -2235,6 +2235,7 @@ struct mjvSceneState_ {
int* flex_vertadr; int* flex_vertadr;
int* flex_vertnum; int* flex_vertnum;
int* flex_elem; int* flex_elem;
int* flex_elemlayer;
int* flex_elemadr; int* flex_elemadr;
int* flex_elemnum; int* flex_elemnum;
int* flex_elemdataadr; int* flex_elemdataadr;
include/mujoco/mjvisualize.h
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@@ -507,6 +507,7 @@ struct mjvSceneState_ {
int* flex_vertadr; int* flex_vertadr;
int* flex_vertnum; int* flex_vertnum;
int* flex_elem; int* flex_elem;
int* flex_elemlayer;
int* flex_elemadr; int* flex_elemadr;
int* flex_elemnum; int* flex_elemnum;
int* flex_elemdataadr; int* flex_elemdataadr;
include/mujoco/mjxmacro.h
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@@ -334,7 +334,7 @@
X ( int, flex_vertbodyid, nflexvert, 1 ) \ X ( int, flex_vertbodyid, nflexvert, 1 ) \
X ( int, flex_edge, nflexedge, 2 ) \ X ( int, flex_edge, nflexedge, 2 ) \
XMJV( int, flex_elem, nflexelemdata, 1 ) \ XMJV( int, flex_elem, nflexelemdata, 1 ) \
X ( int, flex_elemlayer, nflexelem, 1 ) \ XMJV( int, flex_elemlayer, nflexelem, 1 ) \
XMJV( int, flex_shell, nflexshelldata,1 ) \ XMJV( int, flex_shell, nflexshelldata,1 ) \
X ( int, flex_evpair, nflexevpair, 2 ) \ X ( int, flex_evpair, nflexevpair, 2 ) \
X ( mjtNum, flex_vert, nflexvert, 3 ) \ X ( mjtNum, flex_vert, nflexvert, 3 ) \
introspect/structs.py
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@@ -6741,6 +6741,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc='', doc='',
), ),
StructFieldDecl(
name='flex_elemlayer',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl( StructFieldDecl(
name='flex_elemadr', name='flex_elemadr',
type=PointerType( type=PointerType(
unity/Runtime/Bindings/MjBindings.cs
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@@ -6152,6 +6152,7 @@ public unsafe struct model {
public int* flex_vertadr; public int* flex_vertadr;
public int* flex_vertnum; public int* flex_vertnum;
public int* flex_elem; public int* flex_elem;
public int* flex_elemlayer;
public int* flex_elemadr; public int* flex_elemadr;
public int* flex_elemnum; public int* flex_elemnum;
public int* flex_elemdataadr; public int* flex_elemdataadr;