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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_writer.cc
+15 -14
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@@ -159,39 +159,40 @@ void mjXWriter::OneMesh(XMLElement* elem, mjCMesh* pmesh, mjCDef* def) {
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pmesh->name);
WriteAttrTxt(elem, "class", pmesh->classname);
WriteAttrTxt(elem, "content_type", pmesh->content_type());
WriteAttrTxt(elem, "file", pmesh->file());
WriteAttrTxt(elem, "content_type", pmesh->get_content_type());
WriteAttrTxt(elem, "file", pmesh->get_file());
// write vertex data
if (!pmesh->uservert().empty()) {
Vector2String(text, pmesh->uservert());
if (!pmesh->get_uservert().empty()) {
Vector2String(text, pmesh->get_uservert());
WriteAttrTxt(elem, "vertex", text);
}
// write normal data
if (!pmesh->usernormal().empty()) {
Vector2String(text, pmesh->usernormal());
if (!pmesh->get_usernormal().empty()) {
Vector2String(text, pmesh->get_usernormal());
WriteAttrTxt(elem, "normal", text);
}
// write texcoord data
if (!pmesh->usertexcoord().empty()) {
Vector2String(text, pmesh->usertexcoord());
if (!pmesh->get_usertexcoord().empty()) {
Vector2String(text, pmesh->get_usertexcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// write face data
if (!pmesh->userface().empty()) {
Vector2String(text, pmesh->userface());
if (!pmesh->get_userface().empty()) {
Vector2String(text, pmesh->get_userface());
WriteAttrTxt(elem, "face", text);
}
}
// defaults and regular
WriteAttr(elem, "refpos", 3, pmesh->refpos(), def->mesh.refpos());
WriteAttr(elem, "refquat", 4, pmesh->refquat(), def->mesh.refquat());
WriteAttr(elem, "scale", 3, pmesh->scale(), def->mesh.scale());
WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->smoothnormal(), def->mesh.smoothnormal());
WriteAttr(elem, "refpos", 3, pmesh->refpos, def->mesh.refpos);
WriteAttr(elem, "refquat", 4, pmesh->refquat, def->mesh.refquat);
WriteAttr(elem, "scale", 3, pmesh->scale, def->mesh.scale);
WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->get_smoothnormal(),
def->mesh.get_smoothnormal());
}