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Move printing of model BVH data to the end, make it more compact.

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PiperOrigin-RevId: 616186922
Change-Id: Id6368a5efd831698f182fe97251b9608312c663c
This commit is contained in:
Yuval Tassa
2024-03-15 11:09:09 -07:00
committed by Copybara-Service
parent c5aa22b177
commit bf66801bc9
1 changed files with 9 additions and 8 deletions
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src/engine/engine_print.c
+9 -8
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@@ -361,14 +361,6 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
if (m->nbody) fprintf(fp, "\n");
// BVHs
for (int i=0; i < m->nbvh; i++) {
fprintf(fp, "\nBVH %d:\n", i);
object_class = &m->nbvh;
MJMODEL_POINTERS
}
if (m->nbvh) fprintf(fp, "\n");
// joints
for (int i=0; i < m->njnt; i++) {
fprintf(fp, "\nJOINT %d:\n", i);
@@ -732,6 +724,15 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
#undef X
// BVHs
fprintf(fp, "BVH:\n");
fprintf(fp, " %-8s%-8s%-8s%-10s%-s\n","id", "depth", "nodeid", "child[0]" ,"child[1]");
for (int i=0; i < m->nbvh; i++) {
fprintf(fp, " %-8d%-8d% -8d% -10d% -d\n",
i, m->bvh_depth[i], m->bvh_nodeid[i], m->bvh_child[2*i], m->bvh_child[2*i+1]);
}
fprintf(fp, "\n");
if (filename) {
fclose(fp);
}