chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add childclass support to frames.

Browse Source 
PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
This commit is contained in:
Alessio Quaglino
2024-03-13 11:29:50 -07:00
committed by Copybara-Service
parent 0d16587135
commit bda03af49a
17 changed files with 195 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_reader.cc
+22 -2
View File
@@ -3228,7 +3228,7 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
// get class if specified, otherwise use body
mjmDefault* def = GetClass(elem);
if (!def) {
def = (mjmDefault*)mjm_getDefault(pbody->element);
def = mjm_getDefault(frame ? frame->element : pbody->element);
}
// inertial sub-element
@@ -3335,9 +3335,29 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
// frame sub-element
else if (name=="frame") {
// read childdef
mjmDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjm_findDefault(model, text.c_str());
mjm_findDefault(model, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
}
// create frame
mjmFrame* pframe = mjm_addFrame(pbody, frame);
mjm_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
mjm_setDefault(pframe->element, childdef ? childdef : def);
// read attributes
std::string name, childclass;
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pframe->name, name.c_str());
}
if (ReadAttrTxt(elem, "childclass", childclass)) {
mjm_setString(pframe->childclass, childclass.c_str());
}
ReadAttr(elem, "pos", 3, pframe->pos, text);
ReadQuat(elem, "quat", pframe->quat, text);
ReadAlternative(elem, pframe->alt);
@@ -3368,7 +3388,7 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
mjm_setString(pchild->name, name.c_str());
}
if (ReadAttrTxt(elem, "childclass", childclass)) {
mjm_setString(pchild->classname, childclass.c_str());
mjm_setString(pchild->childclass, childclass.c_str());
}
ReadAttr(elem, "pos", 3, pchild->pos, text);
ReadQuat(elem, "quat", pchild->quat, text);