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Allow height-field elevation data to be specified in XML.

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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
This commit is contained in:
Yuval Tassa
2024-01-29 06:58:30 -08:00
committed by Copybara-Service
parent e6847f843d
commit e143b3dbc0
16 changed files with 258 additions and 35 deletions
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src/user/user_model.cc
+18 -1
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@@ -3376,11 +3376,28 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjCMesh* pm;
for (int i=0; i<nmesh; i++) {
pm = meshes[i];
copyvec(pm->GetOffsetPosPtr(), m->mesh_pos+3*i, 3);
copyvec(pm->GetOffsetQuatPtr(), m->mesh_quat+4*i, 4);
}
// heightfield
mjCHField* phf;
for (int i=0; i<nhfield; i++) {
phf = hfields[i];
int size = phf->userdata().size();
if (size) {
int nrow = m->hfield_nrow[i];
int ncol = m->hfield_ncol[i];
float* userdata = phf->userdata().data();
float* modeldata = m->hfield_data + m->hfield_adr[i];
// copy back in reverse row order
for (int j=0; j<nrow; j++) {
int flip = nrow-1-j;
copyvec(userdata + flip*ncol, modeldata+j*ncol, ncol);
}
}
}
// sites
for (int i=0; i<nsite; i++) {
copyvec(sites[i]->size, m->site_size + 3 * i, 3);