chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjmFlex to C API.

Browse Source 
PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
This commit is contained in:
Alessio Quaglino
2024-02-12 08:46:57 -08:00
committed by Copybara-Service
parent ab209c41be
commit b224367a9b
11 changed files with 368 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+5 -5
View File
@@ -1995,15 +1995,15 @@ void mjCModel::CopyObjects(mjModel* m) {
m->flex_evpairnum[i] = (int)pfl->evpair.size()/2;
memcpy(m->flex_evpair + 2*evpair_adr, pfl->evpair.data(), pfl->evpair.size()*sizeof(int));
}
if (pfl->texcoord.empty()) {
if (pfl->texcoord_.empty()) {
m->flex_texcoordadr[i] = -1;
} else {
m->flex_texcoordadr[i] = texcoord_adr;
memcpy(m->flex_texcoord + 2*texcoord_adr,
pfl->texcoord.data(), pfl->texcoord.size()*sizeof(float));
pfl->texcoord_.data(), pfl->texcoord_.size()*sizeof(float));
}
m->flex_elemnum[i] = pfl->nelem;
memcpy(m->flex_elem + elemdata_adr, pfl->elem.data(), pfl->elem.size()*sizeof(int));
memcpy(m->flex_elem + elemdata_adr, pfl->elem_.data(), pfl->elem_.size()*sizeof(int));
memcpy(m->flex_elemlayer + elem_adr, pfl->elemlayer.data(), pfl->nelem*sizeof(int));
if (m->flex_shellnum[i]) {
memcpy(m->flex_shell + shelldata_adr, pfl->shell.data(), pfl->shell.size()*sizeof(int));
@@ -2042,7 +2042,7 @@ void mjCModel::CopyObjects(mjModel* m) {
mju_zero(m->flex_vert + 3*vert_adr, 3*pfl->nvert);
}
else {
memcpy(m->flex_vert + 3*vert_adr, pfl->vert.data(), 3*pfl->nvert*sizeof(mjtNum));
memcpy(m->flex_vert + 3*vert_adr, pfl->vert_.data(), 3*pfl->nvert*sizeof(mjtNum));
}
// copy or set vertbodyid
@@ -2073,7 +2073,7 @@ void mjCModel::CopyObjects(mjModel* m) {
elemdata_adr += (pfl->dim+1) * pfl->nelem;
shelldata_adr += (int)pfl->shell.size();
evpair_adr += (int)pfl->evpair.size()/2;
texcoord_adr += (int)pfl->texcoord.size()/2;
texcoord_adr += (int)pfl->texcoord_.size()/2;
bvh_adr += pfl->tree.nbvh;
}