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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/xml/xml_native_reader.cc
+27 -4
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@@ -217,7 +217,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
"builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
"hflip", "vflip"},
{"hfield", "*", "6", "name", "content_type", "file", "nrow", "ncol", "size"},
{"hfield", "*", "7", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
{"mesh", "*", "12", "name", "class", "content_type", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal"},
{"<"},
@@ -2931,10 +2931,33 @@ void mjXReader::Asset(XMLElement* section) {
ReadAttrInt(elem, "ncol", &phf->ncol);
ReadAttr(elem, "size", 4, phf->size, text, true);
// allocate buffer for dynamic hfield
// allocate buffer for dynamic hfield, copy user data if given
if (phf->file.empty() && phf->nrow>0 && phf->ncol>0) {
phf->data = (float*) mju_malloc(phf->nrow*phf->ncol*sizeof(float));
memset(phf->data, 0, phf->nrow*phf->ncol*sizeof(float));
int nrow = phf->nrow;
int ncol = phf->ncol;
phf->data = (float*) mju_malloc(nrow*ncol*sizeof(float));
// read user data
phf->set_userdata(ReadAttrVec<float>(elem, "elevation"));
// user data given, copy into data
if (!phf->userdata().empty()) {
if (phf->userdata().size() != nrow*ncol) {
throw mjXError(elem, "elevation data length must match nrow*ncol");
}
// copy in reverse row order, so XML string is top-to-bottom
const float* userdata = phf->userdata().data();
for (int i = 0; i < nrow; i++) {
int flip = nrow-1-i;
memcpy(phf->data + flip*ncol, userdata + i*ncol, ncol*sizeof(float));
}
}
// user data not given, set to 0
else {
memset(phf->data, 0, phf->nrow*phf->ncol*sizeof(float));
}
}
}