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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_writer.cc
+14 -13
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@@ -44,6 +44,7 @@ using std::string;
using tinyxml2::XMLComment;
using tinyxml2::XMLDocument;
using tinyxml2::XMLElement;
using mujoco::user::VectorToString;
} // namespace
@@ -142,19 +143,19 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* pflex) {
// data vectors
if (!pflex->get_vertbody().empty()) {
Vector2String(text, pflex->get_vertbody());
text = VectorToString(pflex->get_vertbody());
WriteAttrTxt(elem, "body", text);
}
if (!pflex->get_vert().empty()) {
Vector2String(text, pflex->get_vert());
text = VectorToString(pflex->get_vert());
WriteAttrTxt(elem, "vertex", text);
}
if (!pflex->get_elem().empty()) {
Vector2String(text, pflex->get_elem());
text = VectorToString(pflex->get_elem());
WriteAttrTxt(elem, "element", text);
}
if (!pflex->get_texcoord().empty()) {
Vector2String(text, pflex->get_texcoord());
text = VectorToString(pflex->get_texcoord());
WriteAttrTxt(elem, "texcoord", text);
}
@@ -207,25 +208,25 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* pmesh, mjCDef* def) {
// write vertex data
if (!pmesh->get_uservert().empty()) {
Vector2String(text, pmesh->get_uservert());
text = VectorToString(pmesh->get_uservert());
WriteAttrTxt(elem, "vertex", text);
}
// write normal data
if (!pmesh->get_usernormal().empty()) {
Vector2String(text, pmesh->get_usernormal());
text = VectorToString(pmesh->get_usernormal());
WriteAttrTxt(elem, "normal", text);
}
// write texcoord data
if (!pmesh->get_usertexcoord().empty()) {
Vector2String(text, pmesh->get_usertexcoord());
text = VectorToString(pmesh->get_usertexcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// write face data
if (!pmesh->get_userface().empty()) {
Vector2String(text, pmesh->get_userface());
text = VectorToString(pmesh->get_userface());
WriteAttrTxt(elem, "face", text);
}
}
@@ -257,17 +258,17 @@ void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* pskin) {
// write data if no file
if (pskin->get_file().empty()) {
// mesh vert
Vector2String(text, pskin->get_vert());
text = VectorToString(pskin->get_vert());
WriteAttrTxt(elem, "vertex", text);
// mesh texcoord
if (!pskin->get_texcoord().empty()) {
Vector2String(text, pskin->get_texcoord());
text = VectorToString(pskin->get_texcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// mesh face
Vector2String(text, pskin->get_face());
text = VectorToString(pskin->get_face());
WriteAttrTxt(elem, "face", text);
// bones
@@ -281,11 +282,11 @@ void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* pskin) {
WriteAttr(bone, "bindquat", 4, pskin->get_bindquat().data()+4*i);
// write vertid
Vector2String(text, pskin->get_vertid()[i]);
text = VectorToString(pskin->get_vertid()[i]);
WriteAttrTxt(bone, "vertid", text);
// write vertweight
Vector2String(text, pskin->get_vertweight()[i]);
text = VectorToString(pskin->get_vertweight()[i]);
WriteAttrTxt(bone, "vertweight", text);
}
}