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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/xml/xml_native_writer.cc
+3 -3
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@@ -347,7 +347,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// mesh geom
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
mjCMesh* pmesh = model->meshes[pgeom->meshid];
mjCMesh* pmesh = pgeom->mesh;
// write pos/quat if there is a difference
if (!SameVector(pgeom->pos, pmesh->GetPosPtr(pgeom->typeinertia), 3) ||
@@ -403,10 +403,10 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// hfield and mesh attributes
if (pgeom->type==mjGEOM_HFIELD) {
WriteAttrTxt(elem, "hfield", pgeom->hfield);
WriteAttrTxt(elem, "hfield", pgeom->hfieldname);
}
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
WriteAttrTxt(elem, "mesh", pgeom->mesh);
WriteAttrTxt(elem, "mesh", pgeom->meshname);
}
// userdata