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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_objects.cc
+11 -8
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@@ -497,7 +497,7 @@ void mjCDef::Compile(const mjCModel* model) {
// enforce length of all default userdata arrays
joint.userdata.resize(model->nuser_jnt);
geom.userdata.resize(model->nuser_geom);
site.userdata.resize(model->nuser_site);
site.userdata_.resize(model->nuser_site);
camera.userdata.resize(model->nuser_cam);
tendon.userdata.resize(model->nuser_tendon);
actuator.userdata.resize(model->nuser_actuator);
@@ -1356,7 +1356,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
density = 1000; // water density (1000 kg / m^3)
meshname.clear();
fitscale = 1;
material.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
userdata.clear();
@@ -1931,14 +1931,13 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
spec.group = 0;
mjuu_setvec(spec.quat, 1, 0, 0, 0);
mjuu_setvec(spec.pos, 0, 0, 0);
spec.material.clear();
spec.material = nullptr;
spec.rgba[0] = spec.rgba[1] = spec.rgba[2] = 0.5f;
spec.rgba[3] = 1.0f;
spec.fromto[0] = mjNAN;
spec.userdata.clear();
spec.userdata = nullptr;
// clear internal variables
spec.material.clear();
body = 0;
matid = -1;
@@ -1960,6 +1959,10 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
void mjCSite::CopyFromSpec() {
*static_cast<mjmSite*>(this) = spec;
userdata_ = spec_userdata_;
material_ = spec_material_;
userdata = userdata_.data();
material = material_.data();
}
@@ -1969,11 +1972,11 @@ void mjCSite::Compile(void) {
CopyFromSpec();
// resize userdata
if (userdata.size() > model->nuser_site) {
if (userdata_.size() > model->nuser_site) {
throw mjCError(this, "user has more values than nuser_site in site '%s' (id = %d)",
name.c_str(), id);
}
userdata.resize(model->nuser_site);
userdata_.resize(model->nuser_site);
// check type
if (type<0 || type>=mjNGEOMTYPES) {
@@ -3500,7 +3503,7 @@ void mjCEquality::Compile(void) {
mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// tendon defaults
group = 0;
material.clear();
material_.clear();
width = 0.003;
limited = 2;
range[0] = 0;