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Use enum instead of NaNs for alternative orientation specification.

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PiperOrigin-RevId: 627413508
Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
This commit is contained in:
Yuval Tassa
2024-04-23 09:31:27 -07:00
committed by Copybara-Service
parent f457789de1
commit cf433a4ad9
5 changed files with 46 additions and 23 deletions
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src/user/user_init.cc
+7 -7
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@@ -77,7 +77,7 @@ void mjs_defaultSpec(mjSpec& model) {
// default orientation attributes
void mjs_defaultOrientation(mjsOrientation& orient) {
orient.axisangle[0] = orient.xyaxes[0] = orient.zaxis[0] = orient.euler[0] = mjNAN;
memset(&orient, 0, sizeof(mjsOrientation));
}
@@ -89,12 +89,12 @@ void mjs_defaultBody(mjsBody& body) {
// body frame
body.pos[0] = mjNAN;
body.quat[0] = 1;
body.alt.axisangle[0] = body.alt.xyaxes[0] = body.alt.zaxis[0] = body.alt.euler[0] = mjNAN;
mjs_defaultOrientation(body.alt);
// inertial frame
body.ipos[0] = mjNAN;
body.iquat[0] = 1;
body.ialt.axisangle[0] = body.ialt.xyaxes[0] = body.ialt.zaxis[0] = body.ialt.euler[0] = mjNAN;
mjs_defaultOrientation(body.ialt);
body.fullinertia[0] = mjNAN;
}
@@ -105,7 +105,7 @@ void mjs_defaultFrame(mjsFrame& frame) {
memset(&frame, 0, sizeof(mjsFrame));
mju_zero3(frame.pos);
mjuu_setvec(frame.quat, 1, 0, 0, 0);
frame.alt.axisangle[0] = frame.alt.xyaxes[0] = frame.alt.zaxis[0] = frame.alt.euler[0] = mjNAN;
mjs_defaultOrientation(frame.alt);
}
@@ -135,7 +135,7 @@ void mjs_defaultGeom(mjsGeom& geom) {
// frame
geom.quat[0] = 1;
geom.fromto[0] = mjNAN;
geom.alt.axisangle[0] = geom.alt.xyaxes[0] = geom.alt.zaxis[0] = geom.alt.euler[0] = mjNAN;
mjs_defaultOrientation(geom.alt);
// contact-related
geom.contype = 1;
@@ -181,7 +181,7 @@ void mjs_defaultSite(mjsSite& site) {
site.quat[0] = 1;
site.size[0] = site.size[1] = site.size[2] = 0.005;
site.fromto[0] = mjNAN;
site.alt.axisangle[0] = site.alt.xyaxes[0] = site.alt.zaxis[0] = site.alt.euler[0] = mjNAN;
mjs_defaultOrientation(site.alt);
// color
site.rgba[0] = site.rgba[1] = site.rgba[2] = 0.5f;
@@ -199,7 +199,7 @@ void mjs_defaultCamera(mjsCamera& cam) {
// extrinsics
cam.quat[0] = 1;
cam.alt.axisangle[0] = cam.alt.xyaxes[0] = cam.alt.zaxis[0] = cam.alt.euler[0] = mjNAN;
mjs_defaultOrientation(cam.alt);
// intrinsics
cam.fovy = 45;