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Add mjmHField to C API.

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PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
This commit is contained in:
Alessio Quaglino
2024-02-14 04:11:29 -08:00
committed by Copybara-Service
parent 2ee8a4dabd
commit c9e7586499
8 changed files with 138 additions and 51 deletions
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src/xml/xml_native_reader.cc
+27 -13
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@@ -3136,43 +3136,57 @@ void mjXReader::Asset(XMLElement* section) {
// hfield sub-element
else if (name=="hfield") {
// create hfield
mjCHField* phf = model->AddHField();
GetXMLPos(elem, phf);
mjmHField* phf = mjm_addHField(model);
// write error info
mjm_setString(phf->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
// read attributes
ReadAttrTxt(elem, "name", phf->name);
ReadAttrTxt(elem, "content_type", phf->content_type);
ReadAttrTxt(elem, "file", phf->file);
string name, content_type, file;
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(phf->name, name.c_str());
}
if (ReadAttrTxt(elem, "content_type", content_type)) {
mjm_setString(phf->content_type, content_type.c_str());
}
if (ReadAttrTxt(elem, "file", file)) {
mjm_setString(phf->file, file.c_str());
}
ReadAttrInt(elem, "nrow", &phf->nrow);
ReadAttrInt(elem, "ncol", &phf->ncol);
ReadAttr(elem, "size", 4, phf->size, text, true);
// allocate buffer for dynamic hfield, copy user data if given
if (phf->file.empty() && phf->nrow>0 && phf->ncol>0) {
if (file.empty() && phf->nrow>0 && phf->ncol>0) {
int nrow = phf->nrow;
int ncol = phf->ncol;
phf->data = (float*) mju_malloc(nrow*ncol*sizeof(float));
// read user data
phf->set_userdata(ReadAttrVec<float>(elem, "elevation"));
auto userdata = ReadAttrVec<float>(elem, "elevation");
// user data given, copy into data
if (!phf->userdata().empty()) {
if (phf->userdata().size() != nrow*ncol) {
if (userdata.has_value()) {
if (userdata->size() != nrow*ncol) {
throw mjXError(elem, "elevation data length must match nrow*ncol");
}
// copy in reverse row order, so XML string is top-to-bottom
const float* userdata = phf->userdata().data();
std::vector<float> flipped(nrow*ncol);
for (int i = 0; i < nrow; i++) {
int flip = nrow-1-i;
memcpy(phf->data + flip*ncol, userdata + i*ncol, ncol*sizeof(float));
for (int j = 0; j < ncol; j++) {
flipped[flip*ncol + j] = userdata->data()[i*ncol + j];
}
}
mjm_setFloat(phf->userdata, flipped.data(), flipped.size());
}
// user data not given, set to 0
else {
memset(phf->data, 0, phf->nrow*phf->ncol*sizeof(float));
std::vector<float> zero(nrow*ncol);
mjm_setFloat(phf->userdata, zero.data(), zero.size());
}
}
}