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Add mjStatistic to mjmModel.

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PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
This commit is contained in:
Alessio Quaglino
2024-02-16 05:16:47 -08:00
committed by Copybara-Service
parent f1d4f8f0a1
commit d7c47de353
6 changed files with 55 additions and 52 deletions
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src/xml/xml_native_reader.cc
+9 -8
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@@ -1253,14 +1253,15 @@ void mjXReader::Statistic(XMLElement* section) {
string text;
// read statistics
ReadAttr(section, "meaninertia", 1, &model->meaninertia, text);
ReadAttr(section, "meanmass", 1, &model->meanmass, text);
ReadAttr(section, "meansize", 1, &model->meansize, text);
ReadAttr(section, "extent", 1, &model->extent, text);
if (mjuu_defined(model->extent) && model->extent<=0) {
mjmModel* pmodel = &model->spec;
ReadAttr(section, "meaninertia", 1, &pmodel->stat.meaninertia, text);
ReadAttr(section, "meanmass", 1, &pmodel->stat.meanmass, text);
ReadAttr(section, "meansize", 1, &pmodel->stat.meansize, text);
ReadAttr(section, "extent", 1, &pmodel->stat.extent, text);
if (mjuu_defined(pmodel->stat.extent) && pmodel->stat.extent<=0) {
throw mjXError(section, "extent must be strictly positive");
}
ReadAttr(section, "center", 3, model->center, text);
ReadAttr(section, "center", 3, pmodel->stat.center, text);
}
@@ -2482,7 +2483,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def)
// make composite
char error[200];
bool res = comp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
bool res = comp.Make(model, pbody, error, 200);
// throw error
if (!res) {
@@ -2617,7 +2618,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
// make flexcomp
char error[200];
bool res = fcomp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
bool res = fcomp.Make(model, pbody, error, 200);
// throw error
if (!res) {