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Add mjmBodyPair to C API.

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PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
This commit is contained in:
Alessio Quaglino
2024-02-14 08:39:01 -08:00
committed by Copybara-Service
parent c9e7586499
commit 80a986c0f5
7 changed files with 95 additions and 31 deletions
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src/xml/xml_native_reader.cc
+12 -5
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@@ -3424,13 +3424,20 @@ void mjXReader::Contact(XMLElement* section) {
// body pair to exclude
else if (name=="exclude") {
mjCBodyPair* pexclude = model->AddExclude();
GetXMLPos(elem, pexclude);
mjmExclude* pexclude = mjm_addExclude(model);
string exname, exbody1, exbody2;
// write error info
mjm_setString(pexclude->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
// read name and body names
ReadAttrTxt(elem, "name", pexclude->name);
ReadAttrTxt(elem, "body1", pexclude->bodyname1, true);
ReadAttrTxt(elem, "body2", pexclude->bodyname2, true);
if (ReadAttrTxt(elem, "name", exname)) {
mjm_setString(pexclude->name, exname.c_str());
}
ReadAttrTxt(elem, "body1", exbody1, true);
mjm_setString(pexclude->bodyname1, exbody1.c_str());
ReadAttrTxt(elem, "body2", exbody2, true);
mjm_setString(pexclude->bodyname2, exbody2.c_str());
}
// advance to next element