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Refactor numerical parsing in XML.

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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
This commit is contained in:
Kyle Bayes
2024-07-19 05:40:54 -07:00
committed by Copybara-Service
parent e92af73cbf
commit 8a8a44a4db
13 changed files with 378 additions and 314 deletions
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src/user/user_composite.cc
+20 -20
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@@ -36,12 +36,11 @@
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_util.h"
#include "xml/xml_util.h"
namespace {
namespace mju = ::mujoco::util;
using std::vector;
using std::string;
using mujoco::user::VectorToString;
using mujoco::user::StringToVector;
} // namespace
// strncpy with 0, return false
@@ -418,12 +417,12 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
}
}
}
mjXUtil::Vector2String(userface, face);
userface = VectorToString(face);
} else {
dim = 2; // can only load a surface for now
face = mjXUtil::String2Vector<int>(userface);
face = StringToVector<int>(userface);
for (int i=0; i<face.size(); face[i++]--) {};
mjXUtil::Vector2String(userface, face);
userface = VectorToString(face);
}
// compute volume
@@ -438,7 +437,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
}
}
if (!userface.empty()) {
face = mjXUtil::String2Vector<int>(userface);
face = StringToVector<int>(userface);
for (int j=0; j<face.size()/3; j++) {
double area[3];
double edge1[3];
@@ -1307,7 +1306,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
// copy skin from existing mesh
if (type==mjCOMPTYPE_PARTICLE && username.empty()) {
std::vector<int> skinface;
skinface = mjXUtil::String2Vector<int>(userface);
skinface = StringToVector<int>(userface);
int nvert = uservert.size()/3;
for (int j=0; j<2; j++) {
@@ -2034,9 +2033,9 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
// add skin to 3D
void mjCComposite::MakeSkin3(mjCModel* model) {
int vcnt = 0;
std::map<string, int> vmap;
std::map<std::string, int> vmap;
char txt[100], cnt0[10], cnt1[10], cnt2[10];
string fmt;
std::string fmt;
// string counts
mju::sprintf_arr(cnt0, "%d", count[0]-1);
@@ -2056,17 +2055,17 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
if (type==mjCOMPTYPE_BOX || type==mjCOMPTYPE_PARTICLE) {
// z-faces
MakeSkin3Box(skin, count[0], count[1], 1, vcnt, "%sB%d_%d_0");
fmt = "%sB%d_%d_" + string(cnt2);
fmt = "%sB%d_%d_" + std::string(cnt2);
MakeSkin3Box(skin, count[0], count[1], 0, vcnt, fmt.c_str());
// y-faces
MakeSkin3Box(skin, count[0], count[2], 0, vcnt, "%sB%d_0_%d");
fmt = "%sB%d_" + string(cnt1) + "_%d";
fmt = "%sB%d_" + std::string(cnt1) + "_%d";
MakeSkin3Box(skin, count[0], count[2], 1, vcnt, fmt.c_str());
// x-faces
MakeSkin3Box(skin, count[1], count[2], 1, vcnt, "%sB0_%d_%d");
fmt = "%sB" + string(cnt0) + "_%d_%d";
fmt = "%sB" + std::string(cnt0) + "_%d_%d";
MakeSkin3Box(skin, count[1], count[2], 0, vcnt, fmt.c_str());
}
@@ -2112,17 +2111,17 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
// y-faces
MakeSkin3Smooth(skin, count[0], count[2], 0, vmap, "%sB%d_0_%d");
fmt = "%sB%d_" + string(cnt1) + "_%d";
fmt = "%sB%d_" + std::string(cnt1) + "_%d";
MakeSkin3Smooth(skin, count[0], count[2], 1, vmap, fmt.c_str());
// x-faces
MakeSkin3Smooth(skin, count[1], count[2], 1, vmap, "%sB0_%d_%d");
fmt = "%sB" + string(cnt0) + "_%d_%d";
fmt = "%sB" + std::string(cnt0) + "_%d_%d";
MakeSkin3Smooth(skin, count[1], count[2], 0, vmap, fmt.c_str());
// z-faces, boxy-type
MakeSkin3Box(skin, count[0], count[1], 1, vcnt, "%sB%d_%d_0");
fmt = "%sB%d_%d_" + string(cnt2);
fmt = "%sB%d_%d_" + std::string(cnt2);
MakeSkin3Box(skin, count[0], count[1], 0, vcnt, fmt.c_str());
}
@@ -2172,17 +2171,17 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
// z-faces
MakeSkin3Smooth(skin, count[0], count[1], 1, vmap, "%sB%d_%d_0");
fmt = "%sB%d_%d_" + string(cnt2);
fmt = "%sB%d_%d_" + std::string(cnt2);
MakeSkin3Smooth(skin, count[0], count[1], 0, vmap, fmt.c_str());
// y-faces
MakeSkin3Smooth(skin, count[0], count[2], 0, vmap, "%sB%d_0_%d");
fmt = "%sB%d_" + string(cnt1) + "_%d";
fmt = "%sB%d_" + std::string(cnt1) + "_%d";
MakeSkin3Smooth(skin, count[0], count[2], 1, vmap, fmt.c_str());
// x-faces
MakeSkin3Smooth(skin, count[1], count[2], 1, vmap, "%sB0_%d_%d");
fmt = "%sB" + string(cnt0) + "_%d_%d";
fmt = "%sB" + std::string(cnt0) + "_%d_%d";
MakeSkin3Smooth(skin, count[1], count[2], 0, vmap, fmt.c_str());
}
@@ -2248,7 +2247,8 @@ void mjCComposite::MakeSkin3Box(mjsSkin* skin, int c0, int c1, int side,
// make one face of 3D skin, smooth
void mjCComposite::MakeSkin3Smooth(mjsSkin* skin, int c0, int c1, int side,
const std::map<string, int>& vmap, const char* format) {
const std::map<std::string, int>& vmap,
const char* format) {
char txt00[100], txt01[100], txt10[100], txt11[100];
// loop over bodies/vertices of specified face