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Rename mjSpec.euler to eulerseq to match MJCF.

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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
This commit is contained in:
Yuval Tassa
2024-07-03 03:09:01 -07:00
committed by Copybara-Service
parent df7ea3ed33
commit 8f16b72f44
8 changed files with 19 additions and 18 deletions
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src/xml/xml_native_reader.cc
+3 -3
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@@ -959,7 +959,7 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
if (text.size()!=3) {
throw mjXError(section, "euler format must have length 3");
}
memcpy(spec->euler, text.c_str(), 3);
memcpy(spec->eulerseq, text.c_str(), 3);
}
if (ReadAttrTxt(section, "assetdir", text)) {
mjs_setString(spec->meshdir, text.c_str());
@@ -3393,7 +3393,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
alt.type = mjORIENTATION_EULER;
mjuu_copyvec(alt.euler, euler, 3);
double rotation[4] = {1, 0, 0, 0};
mjs_resolveOrientation(rotation, model->degree, model->euler, &alt);
mjs_resolveOrientation(rotation, model->degree, model->eulerseq, &alt);
// read childdef
mjsDefault* childdef = 0;
@@ -3424,7 +3424,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
alt.euler[0] = i*euler[0];
alt.euler[1] = i*euler[1];
alt.euler[2] = i*euler[2];
mjs_resolveOrientation(quat, model->degree, model->euler, &alt);
mjs_resolveOrientation(quat, model->degree, model->eulerseq, &alt);
mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]);
// process suffix