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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_urdf.cc
+18 -10
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@@ -571,26 +571,34 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
meshname = mjuu_stripext(meshname);
// look for existing mesh
mjCMesh* pmesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, meshname);
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, meshname);
mjmMesh* pmesh = 0;
// does not exist: create
if (!pmesh) {
pmesh = model->AddMesh();
if (!mesh) {
pmesh = mjm_addMesh(model, 0);
}
// exists with different scale: append name with '1', create
else if (pmesh->scale()[0]!=meshscale[0] ||
pmesh->scale()[1]!=meshscale[1] ||
pmesh->scale()[2]!=meshscale[2]) {
pmesh = model->AddMesh();
else if (mesh->spec.scale[0]!=meshscale[0] ||
mesh->spec.scale[1]!=meshscale[1] ||
mesh->spec.scale[2]!=meshscale[2]) {
pmesh = mjm_addMesh(model, 0);
meshname = meshname + "1";
}
// point to already existing spec
else {
pmesh = &mesh->spec;
}
// set fields
pmesh->set_file(meshfile);
pmesh->name = meshname;
mjm_setString(pmesh->file, meshfile.c_str());
mjm_setString(pmesh->name, meshname.c_str());
mjm_setString(pgeom->meshname, meshname.c_str());
pmesh->set_scale(meshscale);
pmesh->scale[0] = meshscale[0];
pmesh->scale[1] = meshscale[1];
pmesh->scale[2] = meshscale[2];
}
else {