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Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other.

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PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
This commit is contained in:
Yuval Tassa
2024-02-12 09:36:50 -08:00
committed by Copybara-Service
parent 13d6eeacdd
commit b6873ec8a2
4 changed files with 20 additions and 20 deletions
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doc/includes/references.h
+2 -2
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@@ -1154,8 +1154,6 @@ struct mjModel_ {
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
@@ -1163,6 +1161,8 @@ struct mjModel_ {
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
// skins
include/mujoco/mjmodel.h
+2 -2
View File
@@ -868,8 +868,6 @@ struct mjModel_ {
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
@@ -877,6 +875,8 @@ struct mjModel_ {
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
// skins
introspect/structs.py
+14 -14
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@@ -2591,20 +2591,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='graph data address; -1: no graph (nmesh x 1)',
),
StructFieldDecl(
name='mesh_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='translation applied to asset vertices (nmesh x 3)',
),
StructFieldDecl(
name='mesh_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='rotation applied to asset vertices (nmesh x 4)',
),
StructFieldDecl(
name='mesh_vert',
type=PointerType(
@@ -2654,6 +2640,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='convex graph data (nmeshgraph x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='mesh_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='translation applied to asset vertices (nmesh x 3)',
),
StructFieldDecl(
name='mesh_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='rotation applied to asset vertices (nmesh x 4)',
),
StructFieldDecl(
name='mesh_pathadr',
type=PointerType(
unity/Runtime/Bindings/MjBindings.cs
+2 -2
View File
@@ -5365,8 +5365,6 @@ public unsafe struct mjModel_ {
public int* mesh_texcoordadr;
public int* mesh_texcoordnum;
public int* mesh_graphadr;
public double* mesh_pos;
public double* mesh_quat;
public float* mesh_vert;
public float* mesh_normal;
public float* mesh_texcoord;
@@ -5374,6 +5372,8 @@ public unsafe struct mjModel_ {
public int* mesh_facenormal;
public int* mesh_facetexcoord;
public int* mesh_graph;
public double* mesh_pos;
public double* mesh_quat;
public int* mesh_pathadr;
public int* skin_matid;
public int* skin_group;