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Add mjmJoint, mjmCamera, and mjmLight to C API.

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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
This commit is contained in:
Alessio Quaglino
2024-02-09 04:44:04 -08:00
committed by Copybara-Service
parent e77c3cb258
commit e3cbad280c
12 changed files with 506 additions and 282 deletions
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src/user/user_model.cc
+7 -7
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@@ -565,7 +565,7 @@ mjCDef* mjCModel::AddDef(string name, int parentid) {
if (parentid>=0 && parentid<thisid) {
*def = *defaults[parentid];
defaults[parentid]->childid.push_back(thisid);
def->MakePointerLocal();
def->PointToLocal();
}
def->parentid = parentid;
def->name = name;
@@ -1573,7 +1573,7 @@ void mjCModel::CopyTree(mjModel* m) {
copyvec(m->jnt_solref+mjNREF*jid, pj->solref_limit, mjNREF);
copyvec(m->jnt_solimp+mjNIMP*jid, pj->solimp_limit, mjNIMP);
m->jnt_margin[jid] = (mjtNum)pj->margin;
copyvec(m->jnt_user+nuser_jnt*jid, pj->userdata.data(), nuser_jnt);
copyvec(m->jnt_user+nuser_jnt*jid, pj->get_userdata().data(), nuser_jnt);
// not simple if: rotation already found, or pos not zero, or mis-aligned axis
if (rotfound ||
@@ -1756,7 +1756,7 @@ void mjCModel::CopyTree(mjModel* m) {
copyvec(m->cam_resolution+2*cid, pc->resolution, 2);
copyvec(m->cam_sensorsize+2*cid, pc->sensor_size, 2);
copyvec(m->cam_intrinsic+4*cid, pc->intrinsic, 4);
copyvec(m->cam_user+nuser_cam*cid, pc->userdata.data(), nuser_cam);
copyvec(m->cam_user+nuser_cam*cid, pc->get_userdata().data(), nuser_cam);
}
// loop over lights for this body
@@ -2890,7 +2890,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_jnt == -1) {
nuser_jnt = 0;
for (int i=0; i<joints.size(); i++) {
nuser_jnt = mjMAX(nuser_jnt, joints[i]->userdata.size());
nuser_jnt = mjMAX(nuser_jnt, joints[i]->spec_userdata_.size());
}
}
if (nuser_geom == -1) {
@@ -2908,7 +2908,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_cam == -1) {
nuser_cam = 0;
for (int i=0; i<cameras.size(); i++) {
nuser_cam = mjMAX(nuser_cam, cameras[i]->userdata.size());
nuser_cam = mjMAX(nuser_cam, cameras[i]->spec_userdata_.size());
}
}
if (nuser_tendon == -1) {
@@ -3341,7 +3341,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
pj->margin = (double)m->jnt_margin[i];
if (nuser_jnt) {
copyvec(pj->userdata.data(), m->jnt_user + nuser_jnt*i, nuser_jnt);
copyvec(pj->userdata_.data(), m->jnt_user + nuser_jnt*i, nuser_jnt);
}
// dof data
@@ -3422,7 +3422,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
copyvec(cameras[i]->intrinsic, m->cam_intrinsic+4*i, 4);
if (nuser_cam) {
copyvec(cameras[i]->userdata.data(), m->cam_user + nuser_cam*i, nuser_cam);
copyvec(cameras[i]->userdata_.data(), m->cam_user + nuser_cam*i, nuser_cam);
}
}