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Add mjmFlex to C API.

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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
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src/xml/xml_native_writer.cc
+8 -8
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@@ -100,20 +100,20 @@ void mjXWriter::OneFlex(XMLElement* elem, mjCFlex* pflex) {
WriteAttrInt(elem, "group", pflex->group, defflex.group);
// data vectors
if (!pflex->vertbody.empty()) {
Vector2String(text, pflex->vertbody);
if (!pflex->get_vertbody().empty()) {
Vector2String(text, pflex->get_vertbody());
WriteAttrTxt(elem, "body", text);
}
if (!pflex->vert.empty()) {
Vector2String(text, pflex->vert);
if (!pflex->get_vert().empty()) {
Vector2String(text, pflex->get_vert());
WriteAttrTxt(elem, "vertex", text);
}
if (!pflex->elem.empty()) {
Vector2String(text, pflex->elem);
if (!pflex->get_elem().empty()) {
Vector2String(text, pflex->get_elem());
WriteAttrTxt(elem, "element", text);
}
if (!pflex->texcoord.empty()) {
Vector2String(text, pflex->texcoord);
if (!pflex->get_texcoord().empty()) {
Vector2String(text, pflex->get_texcoord());
WriteAttrTxt(elem, "texcoord", text);
}