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Replace meshid and hfieldid with mjCMesh and mjCHField pointers in mjCGeom.

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PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
This commit is contained in:
Alessio Quaglino
2024-01-10 09:55:58 -08:00
committed by Copybara-Service
parent 42515033a7
commit 889353dfa8
6 changed files with 57 additions and 58 deletions
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src/user/user_model.cc
+14 -14
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@@ -667,22 +667,22 @@ void mjCModel::IndexAssets(void) {
}
// find mesh by name
if (!pgeom->mesh.empty()) {
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->mesh);
if (!pgeom->meshname.empty()) {
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->meshname);
if (m) {
pgeom->meshid = m->id;
pgeom->mesh = (mjCMesh*)m;
} else {
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->mesh.c_str(), i);
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->meshname.c_str(), i);
}
}
// find hfield by name
if (!pgeom->hfield.empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfield);
if (!pgeom->hfieldname.empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfieldname);
if (m) {
pgeom->hfieldid = m->id;
pgeom->hfield = (mjCHField*)m;
} else {
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfield.c_str(), i);
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfieldname.c_str(), i);
}
}
}
@@ -1515,10 +1515,10 @@ void mjCModel::CopyTree(mjModel* m) {
m->geom_conaffinity[gid] = pg->conaffinity;
m->geom_condim[gid] = pg->condim;
m->geom_bodyid[gid] = pg->body->id;
if (pg->meshid>=0) {
m->geom_dataid[gid] = pg->meshid;
} else if (pg->hfieldid>=0) {
m->geom_dataid[gid] = pg->hfieldid;
if (pg->mesh) {
m->geom_dataid[gid] = pg->mesh->id;
} else if (pg->hfield) {
m->geom_dataid[gid] = pg->hfield->id;
} else {
m->geom_dataid[gid] = -1;
}
@@ -2710,9 +2710,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// mark meshes that need convex hull
for (int i=0; i<geoms.size(); i++) {
if (geoms[i]->meshid>=0 && geoms[i]->type==mjGEOM_MESH &&
if (geoms[i]->mesh && geoms[i]->type==mjGEOM_MESH &&
(geoms[i]->contype || geoms[i]->conaffinity)) {
meshes[geoms[i]->meshid]->set_needhull(true);
geoms[i]->mesh->set_needhull(true);
}
}