From bf66801bc98828bbb4bd17d21d2338463d375315 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 15 Mar 2024 11:09:09 -0700 Subject: [PATCH] Move printing of model BVH data to the end, make it more compact. PiperOrigin-RevId: 616186922 Change-Id: Id6368a5efd831698f182fe97251b9608312c663c --- src/engine/engine_print.c | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c index 4ae6df4a..e14bf591 100644 --- a/src/engine/engine_print.c +++ b/src/engine/engine_print.c @@ -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); }