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Replace objid with obj pointers.

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This in preparation of adding functions to remove/add elements after compilation.

PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
This commit is contained in:
Alessio Quaglino
2024-01-10 10:19:44 -08:00
committed by Copybara-Service
parent 889353dfa8
commit 8a9b041388
4 changed files with 37 additions and 52 deletions
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src/xml/xml_native_writer.cc
+9 -16
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@@ -1648,34 +1648,27 @@ void mjXWriter::Tendon(XMLElement* root) {
OneTendon(elem, pten, pten->def);
// write wraps
mjCBase* pobj;
XMLElement* wrap;
for (int j=0; j<pten->NumWraps(); j++) {
mjCWrap* pw = pten->GetWrap(j);
switch (pw->type) {
case mjWRAP_JOINT:
if ((pobj = model->GetObject(mjOBJ_JOINT, pw->objid))) {
wrap = InsertEnd(elem, "joint");
WriteAttrTxt(wrap, "joint", pobj->name);
WriteAttr(wrap, "coef", 1, &pw->prm);
}
wrap = InsertEnd(elem, "joint");
WriteAttrTxt(wrap, "joint", pw->obj->name);
WriteAttr(wrap, "coef", 1, &pw->prm);
break;
case mjWRAP_SITE:
if ((pobj = model->GetObject(mjOBJ_SITE, pw->objid))) {
wrap = InsertEnd(elem, "site");
WriteAttrTxt(wrap, "site", pobj->name);
}
wrap = InsertEnd(elem, "site");
WriteAttrTxt(wrap, "site", pw->obj->name);
break;
case mjWRAP_SPHERE:
case mjWRAP_CYLINDER:
if ((pobj = model->GetObject(mjOBJ_GEOM, pw->objid))) {
wrap = InsertEnd(elem, "geom");
WriteAttrTxt(wrap, "geom", pobj->name);
if (!pw->sidesite.empty()) {
WriteAttrTxt(wrap, "sidesite", pw->sidesite);
}
wrap = InsertEnd(elem, "geom");
WriteAttrTxt(wrap, "geom", pw->obj->name);
if (!pw->sidesite.empty()) {
WriteAttrTxt(wrap, "sidesite", pw->sidesite);
}
break;