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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/xml/xml_native_writer.cc
+11 -11
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@@ -90,8 +90,8 @@ void mjXWriter::OneFlex(XMLElement* elem, mjCFlex* pflex) {
// common attributes
WriteAttrTxt(elem, "name", pflex->name);
WriteAttr(elem, "radius", 1, &pflex->radius, &defflex.radius);
if (pflex->material != defflex.material) {
WriteAttrTxt(elem, "material", pflex->material);
if (pflex->get_material() != defflex.get_material()) {
WriteAttrTxt(elem, "material", pflex->get_material());
}
WriteAttr(elem, "rgba", 4, pflex->rgba, defflex.rgba);
WriteAttrKey(elem, "flatskin", bool_map, 2, pflex->flatskin, defflex.flatskin);
@@ -204,7 +204,7 @@ void mjXWriter::OneSkin(XMLElement* elem, mjCSkin* pskin) {
// write attributes
WriteAttrTxt(elem, "name", pskin->name);
WriteAttrTxt(elem, "file", pskin->file);
WriteAttrTxt(elem, "material", pskin->material);
WriteAttrTxt(elem, "material", pskin->get_material());
WriteAttrInt(elem, "group", pskin->group, 0);
WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.geom.rgba);
WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero);
@@ -396,8 +396,8 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
} else {
WriteAttr(elem, "density", 1, &pgeom->density, &def->geom.density);
}
if (pgeom->material != def->geom.material) {
WriteAttrTxt(elem, "material", pgeom->material);
if (pgeom->get_material() != def->geom.get_material()) {
WriteAttrTxt(elem, "material", pgeom->get_material());
}
WriteAttr(elem, "rgba", 4, pgeom->rgba, def->geom.rgba);
@@ -444,16 +444,16 @@ void mjXWriter::OneSite(XMLElement* elem, mjCSite* psite, mjCDef* def) {
// defaults and regular
WriteAttrInt(elem, "group", psite->group, def->site.group);
WriteAttrKey(elem, "type", geom_map, mjNGEOMTYPES, psite->type, def->site.type);
if (psite->material != def->site.material) {
WriteAttrTxt(elem, "material", psite->material);
if (psite->get_material() != def->site.get_material()) {
WriteAttrTxt(elem, "material", psite->get_material());
}
WriteAttr(elem, "rgba", 4, psite->rgba, def->site.rgba);
// userdata
if (writingdefaults) {
WriteVector(elem, "user", psite->userdata);
WriteVector(elem, "user", psite->get_userdata());
} else {
WriteVector(elem, "user", psite->userdata, def->site.userdata);
WriteVector(elem, "user", psite->get_userdata(), def->site.get_userdata());
}
}
@@ -636,8 +636,8 @@ void mjXWriter::OneTendon(XMLElement* elem, mjCTendon* pten, mjCDef* def) {
}
// spatial only
if (!fixed) {
if (pten->material!=def->tendon.material) {
WriteAttrTxt(elem, "material", pten->material);
if (pten->get_material()!=def->tendon.get_material()) {
WriteAttrTxt(elem, "material", pten->get_material());
}
WriteAttr(elem, "width", 1, &pten->width, &def->tendon.width);
WriteAttr(elem, "rgba", 4, pten->rgba, def->tendon.rgba);