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Add user_init for setting default parameters.

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PiperOrigin-RevId: 604942840
Change-Id: I746ac7bb28f508b606bc0b8544136f523ce50d4c
This commit is contained in:
Alessio Quaglino
2024-02-07 04:41:39 -08:00
committed by Copybara-Service
parent a3e49d582e
commit 8b17d260a3
4 changed files with 70 additions and 36 deletions
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src/user/user_objects.cc
+5 -35
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@@ -552,33 +552,12 @@ mjCBody::mjCBody(mjCModel* _model) {
// set model pointer
model = _model;
spec.pos[0] = spec.ipos[0] = mjNAN;
// clear variables
spec.fullinertia[0] = mjNAN;
spec.explicitinertial = false;
spec.mocap = false;
mjuu_setvec(spec.quat, 1, 0, 0, 0);
mjuu_setvec(spec.iquat, 1, 0, 0, 0);
mjuu_zerovec(spec.pos+1, 2);
mjuu_zerovec(spec.ipos+1, 2);
spec.mass = 0;
mjuu_setvec(spec.inertia, 0, 0, 0);
mjm_defaultBody(spec);
parentid = -1;
weldid = -1;
dofnum = 0;
lastdof = -1;
subtreedofs = 0;
spec.gravcomp = 0;
spec_userdata_.clear();
spec.alt.axisangle[0] = spec.alt.xyaxes[0] = spec.alt.zaxis[0] =
spec.alt.euler[0] = mjNAN;
spec.ialt.axisangle[0] = spec.ialt.xyaxes[0] = spec.ialt.zaxis[0] =
spec.ialt.euler[0] = mjNAN;
spec.plugin.active = false;
spec.plugin.instance = nullptr;
contype = 0;
conaffinity = 0;
margin = 0;
@@ -593,6 +572,7 @@ mjCBody::mjCBody(mjCModel* _model) {
sites.clear();
cameras.clear();
lights.clear();
spec_userdata_.clear();
// point to local
spec.element = (mjElement)this;
@@ -1982,23 +1962,13 @@ void mjCGeom::Compile(void) {
// initialize default site
mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set defaults
spec.type = mjGEOM_SPHERE;
mjuu_setvec(spec.size, 0.005, 0.005, 0.005);
spec.group = 0;
mjuu_setvec(spec.quat, 1, 0, 0, 0);
mjuu_setvec(spec.pos, 0, 0, 0);
spec_material_.clear();
spec.rgba[0] = spec.rgba[1] = spec.rgba[2] = 0.5f;
spec.rgba[3] = 1.0f;
spec.fromto[0] = mjNAN;
spec_userdata_.clear();
spec.alt.axisangle[0] = spec.alt.xyaxes[0] = spec.alt.zaxis[0] =
spec.alt.euler[0] = mjNAN;
mjm_defaultSite(spec);
// clear internal variables
body = 0;
matid = -1;
spec_material_.clear();
spec_userdata_.clear();
// reset to default if given
if (_def) {