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Convert mjmStruct to a C-struct.

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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
This commit is contained in:
Alessio Quaglino
2024-02-01 06:56:46 -08:00
committed by Copybara-Service
parent 7a98038e88
commit b3f93d436b
7 changed files with 103 additions and 65 deletions
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src/user/user_mesh.cc
+9 -9
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@@ -1878,7 +1878,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
// clear data
file.clear();
material.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
inflate = 0;
@@ -1903,7 +1903,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
// destructor
mjCSkin::~mjCSkin() {
file.clear();
material.clear();
material_.clear();
vert.clear();
texcoord.clear();
face.clear();
@@ -2005,11 +2005,11 @@ void mjCSkin::Compile(const mjVFS* vfs) {
}
// resolve material name
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material);
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
if (pmat) {
matid = pmat->id;
} else if (!material.empty()) {
throw mjCError(this, "unkown material '%s' in skin", material.c_str());
} else if (!material_.empty()) {
throw mjCError(this, "unkown material '%s' in skin", material_.c_str());
}
// set total vertex weights to 0
@@ -2239,7 +2239,7 @@ mjCFlex::mjCFlex(mjCModel* _model) {
group = 0;
edgestiffness = 0;
edgedamping = 0;
material.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
@@ -2314,11 +2314,11 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
// resolve material name
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material);
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
if (pmat) {
matid = pmat->id;
} else if (!material.empty()) {
throw mjCError(this, "unkown material '%s' in flex", material.c_str());
} else if (!material_.empty()) {
throw mjCError(this, "unkown material '%s' in flex", material_.c_str());
}
// resolve body ids