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

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

Browse Source 
Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.

PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
This commit is contained in:
Alessio Quaglino
2025-05-30 17:16:20 -07:00
committed by Copybara-Service
parent 072c872deb
commit 84ad22a590
18 changed files with 139 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_api.cc
+3 -2
View File
@@ -230,7 +230,8 @@ mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int er
// save spec to XML file, return 0 on success, -1 otherwise
int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz) {
std::string result = WriteXML(NULL, s, error, error_sz);
// cast to mjSpec since WriteXML can in principle perform mj_copyBack (not here)
std::string result = WriteXML(NULL, (mjSpec*)s, error, error_sz);
if (result.empty()) {
return -1;
}
@@ -247,7 +248,7 @@ int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz)
// save spec to XML string, return 0 on success, -1 on failure
// if length of the output buffer is too small, returns the required size
int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz) {
std::string result = WriteXML(NULL, s, error, error_sz);
std::string result = WriteXML(NULL, (mjSpec*)s, error, error_sz);
if (result.empty()) {
return -1;
} else if (result.size() >= xml_sz) {