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Add flex_bendingadr to mjModel.

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PiperOrigin-RevId: 909088123
Change-Id: If062335d0aa3702c1e0b082dd9e29c3be0e76ea6
This commit is contained in:
Alessio Quaglino
2026-05-02 00:13:09 -07:00
committed by Copybara-Service
parent b2feed63e4
commit dbd451138c
10 changed files with 115 additions and 78 deletions
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src/engine/engine_io.c
+15 -14
View File
@@ -205,9 +205,9 @@ void mj_makeModel(mjModel** dest,
mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexelemedge, mjtSize nflexshelldata,
mjtSize nflexevpair, mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh,
mjtSize nmeshvert, mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface,
mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexbending, mjtSize nflexelemedge,
mjtSize nflexshelldata, mjtSize nflexevpair, mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv,
mjtSize nmesh, mjtSize nmeshvert, mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface,
mjtSize nmeshgraph, mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap,
mjtSize nskin, mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
@@ -294,6 +294,7 @@ void mj_makeModel(mjModel** dest,
m->nflexelem = nflexelem;
m->nflexelemdata = nflexelemdata;
m->nflexstiffness = nflexstiffness;
m->nflexbending = nflexbending;
m->nflexelemedge = nflexelemedge;
m->nflexshelldata = nflexshelldata;
m->nflexevpair = nflexevpair;
@@ -405,16 +406,16 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nbvhdynamic, src->noct, src->njnt, src->ntree, src->nM, src->nB, src->nC, src->nD,
src->ngeom, src->nsite, src->ncam, src->nlight, src->nflex, src->nflexnode, src->nflexvert,
src->nflexedge, src->nflexelem, src->nflexelemdata, src->nflexstiffness,
src->nflexelemedge, src->nflexshelldata, src->nflexevpair, src->nflextexcoord, src->nJfe,
src->nJfv, src->nmesh, src->nmeshvert, src->nmeshnormal, src->nmeshtexcoord, src->nmeshface,
src->nmeshgraph, src->nmeshpoly, src->nmeshpolyvert, src->nmeshpolymap, src->nskin,
src->nskinvert, src->nskintexvert, src->nskinface, src->nskinbone, src->nskinbonevert,
src->nhfield, src->nhfielddata, src->ntex, src->ntexdata, src->nmat, src->npair,
src->nexclude, src->neq, src->ntendon, src->nJten, src->nwrap, src->nsensor, src->nnumeric,
src->nnumericdata, src->ntext, src->ntextdata, src->ntuple, src->ntupledata, src->nkey,
src->nmocap, src->nplugin, src->npluginattr, src->nuser_body, src->nuser_jnt,
src->nuser_geom, src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames, src->npaths);
src->nflexbending, src->nflexelemedge, src->nflexshelldata, src->nflexevpair,
src->nflextexcoord, src->nJfe, src->nJfv, src->nmesh, src->nmeshvert, src->nmeshnormal,
src->nmeshtexcoord, src->nmeshface, src->nmeshgraph, src->nmeshpoly, src->nmeshpolyvert,
src->nmeshpolymap, src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata, src->ntex,
src->ntexdata, src->nmat, src->npair, src->nexclude, src->neq, src->ntendon, src->nJten,
src->nwrap, src->nsensor, src->nnumeric, src->nnumericdata, src->ntext, src->ntextdata,
src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin, src->npluginattr,
src->nuser_body, src->nuser_jnt, src->nuser_geom, src->nuser_site, src->nuser_cam,
src->nuser_tendon, src->nuser_actuator, src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
mjERROR("failed to make mjModel. Invalid sizes.");
@@ -597,7 +598,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
sizes[56], sizes[57], sizes[58], sizes[59], sizes[60], sizes[61], sizes[62],
sizes[63], sizes[64], sizes[65], sizes[66], sizes[67], sizes[68], sizes[69],
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76],
sizes[77], sizes[78]);
sizes[77], sizes[78], sizes[79]);
// mj_makeModel may fail if the input buffer has invalid sizes
if (!m) {
src/engine/engine_io.h
+5 -5
View File
@@ -52,11 +52,11 @@ void mj_makeModel(mjModel** dest,
mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexelemedge, mjtSize nflexshelldata, mjtSize nflexevpair,
mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh, mjtSize nmeshvert,
mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface, mjtSize nmeshgraph,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexbending, mjtSize nflexelemedge,
mjtSize nflexshelldata, mjtSize nflexevpair, mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv,
mjtSize nmesh, mjtSize nmeshvert, mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface,
mjtSize nmeshgraph, mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap,
mjtSize nskin, mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,