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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/xml/xml_native_reader.cc
+51 -46
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@@ -1317,17 +1317,17 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* pflex) {
if (ReadAttrTxt(elem, "body", text, true)) {
mjs_setStringVec(pflex->vertbody, text.c_str());
}
if (ReadAttrTxt(elem, "vertex", text)) {
std::vector<double> vert = String2Vector<double>(text);
mjs_setDouble(pflex->vert, vert.data(), vert.size());
auto vert = ReadAttrVec<double>(elem, "vertex");
if (vert.has_value()) {
mjs_setDouble(pflex->vert, vert->data(), vert->size());
}
if (ReadAttrTxt(elem, "element", text, true)) {
std::vector<int> elem = String2Vector<int>(text);
mjs_setInt(pflex->elem, elem.data(), elem.size());
auto element = ReadAttrVec<int>(elem, "element", true);
if (element.has_value()) {
mjs_setInt(pflex->elem, element->data(), element->size());
}
if (ReadAttrTxt(elem, "texcoord", text)) {
std::vector<float> texcoord = String2Vector<float>(text);
mjs_setFloat(pflex->texcoord, texcoord.data(), texcoord.size());
auto texcoord = ReadAttrVec<float>(elem, "texcoord");
if (texcoord.has_value()) {
mjs_setFloat(pflex->texcoord, texcoord->data(), texcoord->size());
}
// contact subelement
@@ -1459,21 +1459,21 @@ void mjXReader::OneSkin(XMLElement* elem, mjsSkin* pskin) {
ReadAttr(elem, "inflate", 1, &pskin->inflate, text);
// read vertex data
if (ReadAttrTxt(elem, "vertex", text)) {
std::vector<float> vert = String2Vector<float>(text);
mjs_setFloat(pskin->vert, vert.data(), vert.size());
auto vertex = ReadAttrVec<float>(elem, "vertex");
if (vertex.has_value()) {
mjs_setFloat(pskin->vert, vertex->data(), vertex->size());
}
// read texcoord data
if (ReadAttrTxt(elem, "texcoord", text)) {
std::vector<float> texcoord = String2Vector<float>(text);
mjs_setFloat(pskin->texcoord, texcoord.data(), texcoord.size());
auto texcoord = ReadAttrVec<float>(elem, "texcoord");
if (texcoord.has_value()) {
mjs_setFloat(pskin->texcoord, texcoord->data(), texcoord->size());
}
// read user face data
if (ReadAttrTxt(elem, "face", text)) {
std::vector<int> face = String2Vector<int>(text);
mjs_setInt(pskin->face, face.data(), face.size());
auto face = ReadAttrVec<int>(elem, "face");
if (face.has_value()) {
mjs_setInt(pskin->face, face->data(), face->size());
}
// read bones
@@ -1500,14 +1500,16 @@ void mjXReader::OneSkin(XMLElement* elem, mjsSkin* pskin) {
bindquat.push_back(data[3]);
// read vertid
ReadAttrTxt(bone, "vertid", text, true);
vector<int> tempid = String2Vector<int>(text);
mjs_appendIntVec(pskin->vertid, tempid.data(), tempid.size());
auto tempid = ReadAttrVec<int>(bone, "vertid", true);
if (tempid.has_value()) {
mjs_appendIntVec(pskin->vertid, tempid->data(), tempid->size());
}
// read vertweight
ReadAttrTxt(bone, "vertweight", text, true);
vector<float> tempweight = String2Vector<float>(text);
mjs_appendFloatVec(pskin->vertweight, tempweight.data(), tempweight.size());
auto tempweight = ReadAttrVec<float>(bone, "vertweight", true);
if (tempweight.has_value()) {
mjs_appendFloatVec(pskin->vertweight, tempweight->data(), tempweight->size());
}
// advance to next bone
bone = NextSiblingElement(bone, "bone");
@@ -2287,8 +2289,9 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* pbody, mjsDefault* def)
ReadAttrTxt(elem, "curve", curves);
ReadAttrTxt(elem, "initial", comp.initial);
ReadAttr(elem, "size", 3, comp.size, text, false, false);
if (ReadAttrTxt(elem, "vertex", text)) {
comp.uservert = String2Vector<float>(text);
auto uservert = ReadAttrVec<float>(elem, "vertex");
if (uservert.has_value()) {
comp.uservert = std::move(uservert.value());
}
// shell
@@ -2530,14 +2533,17 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* pbody) {
if (MapValue(elem, "rigid", &n, bool_map, 2)) {
fcomp.rigid = (n==1);
}
if (ReadAttrTxt(elem, "point", text)){
fcomp.point = String2Vector<double>(text);
auto point = ReadAttrVec<double>(elem, "point");
if (point.has_value()) {
fcomp.point = std::move(point.value());
}
if (ReadAttrTxt(elem, "element", text)){
fcomp.element = String2Vector<int>(text);
auto element = ReadAttrVec<int>(elem, "element");
if (element.has_value()) {
fcomp.element = std::move(element.value());
}
if (ReadAttrTxt(elem, "texcoord", text)) {
fcomp.texcoord = String2Vector<float>(text);
auto texcoord = ReadAttrVec<float>(elem, "texcoord");
if (texcoord.has_value()) {
fcomp.texcoord = std::move(texcoord.value());
}
// edge
@@ -2575,23 +2581,22 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* pbody) {
// pin
XMLElement* epin = FirstChildElement(elem, "pin");
while (epin) {
// accumulate id, coord, range
if (ReadAttrTxt(epin, "id", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pinid.insert(fcomp.pinid.end(), v.begin(), v.end());
auto id = ReadAttrVec<int>(epin, "id");
if (id.has_value()) {
fcomp.pinid.insert(fcomp.pinid.end(), id->begin(), id->end());
}
if (ReadAttrTxt(epin, "range", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pinrange.insert(fcomp.pinrange.end(), v.begin(), v.end());
auto range = ReadAttrVec<int>(epin, "range");
if (range.has_value()) {
fcomp.pinrange.insert(fcomp.pinrange.end(), range->begin(), range->end());
}
if (ReadAttrTxt(epin, "grid", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pingrid.insert(fcomp.pingrid.end(), v.begin(), v.end());
auto grid = ReadAttrVec<int>(epin, "grid");
if (grid.has_value()) {
fcomp.pingrid.insert(fcomp.pingrid.end(), grid->begin(), grid->end());
}
if (ReadAttrTxt(epin, "gridrange", text)) {
vector<int> v = String2Vector<int>(text);
fcomp.pingridrange.insert(fcomp.pingridrange.end(), v.begin(), v.end());
auto gridrange = ReadAttrVec<int>(epin, "gridrange");
if (gridrange.has_value()) {
fcomp.pingridrange.insert(fcomp.pingridrange.end(),
gridrange->begin(), gridrange->end());
}
// advance