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Remove mjCBase::def and use mjCBase::classname instead.

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PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
This commit is contained in:
Alessio Quaglino
2024-07-09 08:01:38 -07:00
committed by Copybara-Service
parent c5f958bdff
commit e0d33eb1d0
8 changed files with 56 additions and 75 deletions
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src/user/user_mesh.cc
+3 -3
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@@ -149,7 +149,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = (_def ? _def->name : (_model ? "main" : ""));
// in case this body is not compiled
CopyFromSpec();
@@ -1424,7 +1424,7 @@ void mjCMesh::Process() {
// apply formula, accumulate
GetVolumeRef(type) += vol;
for (int j=0; j<6; j++) {
P[j] += def->Geom().density*vol /
P[j] += model->def_map[classname]->Geom().density*vol /
(type==mjINERTIA_SHELL ? 12 : 20) * (
2*(D[k[j][0]] * D[k[j][1]] +
E[k[j][0]] * E[k[j][1]] +
@@ -1465,7 +1465,7 @@ void mjCMesh::Process() {
}
// compute sizes of equivalent inertia box
double mass = GetVolumeRef(type) * def->Geom().density;
double mass = GetVolumeRef(type) * model->def_map[classname]->Geom().density;
double* boxsz = GetInertiaBoxPtr(type);
boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;