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Add mjmMesh to C API.

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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
This commit is contained in:
Alessio Quaglino
2024-02-13 09:08:55 -08:00
committed by Copybara-Service
parent 06505f49f9
commit 9ecd700923
11 changed files with 234 additions and 200 deletions
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src/xml/xml_native_reader.cc
+47 -17
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@@ -1346,18 +1346,26 @@ void mjXReader::OneFlex(XMLElement* elem, mjmFlex* pflex) {
// mesh element parser
void mjXReader::OneMesh(XMLElement* elem, mjCMesh* pmesh) {
void mjXReader::OneMesh(XMLElement* elem, mjmMesh* pmesh) {
int n;
string text;
string text, name, classname, content_type, file;
// read attributes
ReadAttrTxt(elem, "name", pmesh->name);
ReadAttrTxt(elem, "class", pmesh->classname);
pmesh->set_content_type(ReadAttrStr(elem, "content_type"));
pmesh->set_file(ReadAttrStr(elem, "file"));
pmesh->set_refpos(ReadAttrArr<double, 3>(elem, "refpos"));
pmesh->set_refquat(ReadAttrArr<double, 4>(elem, "refquat"));
pmesh->set_scale(ReadAttrArr<double, 3>(elem, "scale"));
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pmesh->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pmesh->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "content_type", content_type)) {
mjm_setString(pmesh->content_type, content_type.c_str());
}
if (ReadAttrTxt(elem, "file", file)) {
mjm_setString(pmesh->file, file.c_str());
}
ReadAttr(elem, "refpos", 3, pmesh->refpos, text);
ReadAttr(elem, "refpos", 4, pmesh->refquat, text);
ReadAttr(elem, "scale", 3, pmesh->scale, text);
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
@@ -1365,22 +1373,44 @@ void mjXReader::OneMesh(XMLElement* elem, mjCMesh* pmesh) {
}
if (MapValue(elem, "smoothnormal", &n, bool_map, 2)) {
pmesh->set_smoothnormal((n==1));
pmesh->smoothnormal = (n==1);
}
// read user vertex data
pmesh->set_uservert(ReadAttrVec<float>(elem, "vertex"));
if (ReadAttrTxt(elem, "vertex", text)) {
auto uservert = ReadAttrVec<float>(elem, "vertex");
if (uservert.has_value()) {
mjm_setFloat(pmesh->uservert, uservert->data(), uservert->size());
}
}
// read user normal data
pmesh->set_usernormal(ReadAttrVec<float>(elem, "normal"));
if (ReadAttrTxt(elem, "normal", text)) {
auto usernormal = ReadAttrVec<float>(elem, "normal");
if (usernormal.has_value()) {
mjm_setFloat(pmesh->usernormal, usernormal->data(), usernormal->size());
}
}
// read user texcoord data
pmesh->set_usertexcoord(ReadAttrVec<float>(elem, "texcoord"));
if (ReadAttrTxt(elem, "texcoord", text)) {
auto usertexcoord = ReadAttrVec<float>(elem, "texcoord");
if (usertexcoord.has_value()) {
mjm_setFloat(pmesh->usertexcoord, usertexcoord->data(), usertexcoord->size());
}
}
// read user face data
pmesh->set_userface(ReadAttrVec<int>(elem, "face"));
if (ReadAttrTxt(elem, "face", text)) {
auto userface = ReadAttrVec<int>(elem, "face");
if (userface.has_value()) {
mjm_setInt(pmesh->userface, userface->data(), userface->size());
}
}
GetXMLPos(elem, pmesh);
// write error info
mjm_setString(pmesh->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2608,7 +2638,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
name = elem->Value();
// read mesh
if (name=="mesh") OneMesh(elem, &def->mesh);
if (name=="mesh") OneMesh(elem, &def->mesh.spec);
// read material
else if (name=="material") OneMaterial(elem, &def->material.spec);
@@ -3073,7 +3103,7 @@ void mjXReader::Asset(XMLElement* section) {
// mesh sub-element
else if (name=="mesh") {
// create mesh and parse
mjCMesh* pmesh = model->AddMesh(def);
mjmMesh* pmesh = mjm_addMesh(model, def);
OneMesh(elem, pmesh);
}