chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove box, cylinder and ellipsoid composite types.

Browse Source 
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This commit is contained in:
Alessio Quaglino
2024-11-02 11:13:16 -07:00
committed by Copybara-Service
parent ebe60b9ad5
commit 831d9881d3
12 changed files with 54 additions and 547 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_composite.h
-11
View File
@@ -31,9 +31,6 @@ typedef enum _mjtCompType {
mjCOMPTYPE_ROPE,
mjCOMPTYPE_LOOP,
mjCOMPTYPE_CLOTH,
mjCOMPTYPE_BOX,
mjCOMPTYPE_CYLINDER,
mjCOMPTYPE_ELLIPSOID,
mjNCOMPTYPES
} mjtCompType;
@@ -75,7 +72,6 @@ class mjCComposite {
bool MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeBox(mjCModel* model, mjsBody* body, char* error, int error_sz);
void MakeShear(mjCModel* model);
void MakeSkin2(mjCModel* model, mjtNum inflate);
@@ -85,13 +81,6 @@ class mjCComposite {
void MakeCableBones(mjCModel* model, mjsSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
void MakeSkin3(mjCModel* model);
void MakeSkin3Box(mjsSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
void MakeSkin3Smooth(mjsSkin* skin, int c0, int c1, int side,
const std::map<std::string, int>& vmap, const char* format);
void BoxProject(double* pos);
// common properties
std::string prefix; // name prefix
mjtCompType type; // composite type