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Add mjmBody and mjmPlugin and their compiler C APIs.

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PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
This commit is contained in:
Alessio Quaglino
2024-02-07 04:16:20 -08:00
committed by Copybara-Service
parent b9c50ad79c
commit a3e49d582e
17 changed files with 626 additions and 332 deletions
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src/xml/xml_native_reader.h
+4 -4
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@@ -42,7 +42,7 @@ class mjXReader : public mjXBase {
void Visual(tinyxml2::XMLElement* section); // visual section
void Statistic(tinyxml2::XMLElement* section); // statistic section
void Asset(tinyxml2::XMLElement* section); // asset section
void Body(tinyxml2::XMLElement* section, mjCBody* pbody,
void Body(tinyxml2::XMLElement* section, mjmBody* pbody,
mjCFrame* pframe); // body/world section
void Contact(tinyxml2::XMLElement* section); // contact section
void Deformable(tinyxml2::XMLElement* section); // deformable section
@@ -66,9 +66,9 @@ class mjXReader : public mjXBase {
void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality);
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon);
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator);
void OneComposite(tinyxml2::XMLElement* elem, mjCBody* pbody, mjCDef* def);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjCBody* pbody);
void OnePlugin(tinyxml2::XMLElement* elem, mjCBase* object);
void OneComposite(tinyxml2::XMLElement* elem, mjmBody* pbody, mjCDef* def);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjmBody* pbody);
void OnePlugin(tinyxml2::XMLElement* elem, mjmPlugin* plugin);
mjXSchema schema; // schema used for validation
mjCDef* GetClass(tinyxml2::XMLElement* section); // get default class name