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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/xml/xml_native_reader.cc
+103 -63
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@@ -1465,13 +1465,18 @@ void mjXReader::OneMaterial(XMLElement* elem, mjCMaterial* pmat) {
// joint element parser
void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
string text;
void mjXReader::OneJoint(XMLElement* elem, mjmJoint* pjoint) {
string text, name, classname;
std::vector<double> userdata;
int n;
// read attributes
ReadAttrTxt(elem, "name", pjoint->name);
ReadAttrTxt(elem, "class", pjoint->classname);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pjoint->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pjoint->classname, classname.c_str());
}
if (MapValue(elem, "type", &n, joint_map, joint_sz)) {
pjoint->type = (mjtJoint)n;
}
@@ -1496,9 +1501,13 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
ReadAttr(elem, "frictionloss", 1, &pjoint->frictionloss, text);
// read userdata
ReadVector(elem, "user", pjoint->userdata, text);
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(pjoint->userdata, userdata.data(), userdata.size());
}
GetXMLPos(elem, pjoint);
// write error info
mjm_setString(pjoint->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -1572,6 +1581,7 @@ void mjXReader::OneGeom(XMLElement* elem, mjmGeom* pgeom) {
pgeom->typeinertia = (mjtGeomInertia)n;
}
// write error info
mjm_setString(pgeom->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -1586,8 +1596,12 @@ void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
std::string material;
// read attributes
ReadAttrTxt(elem, "name", name);
ReadAttrTxt(elem, "class", classname);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(site.name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(site.classname, classname.c_str());
}
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
site.type = (mjtGeom)n;
}
@@ -1595,21 +1609,17 @@ void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
ReadAttrInt(elem, "group", &site.group);
ReadAttr(elem, "pos", 3, site.pos, text);
ReadQuat(elem, "quat", site.quat, text);
ReadAttrTxt(elem, "material", material);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(site.material, material.c_str());
}
ReadAttr(elem, "rgba", 4, site.rgba, text);
ReadAttr(elem, "fromto", 6, site.fromto, text);
ReadAlternative(elem, site.alt);
ReadVector(elem, "user", userdata, text);
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(site.userdata, userdata.data(), userdata.size());
}
// set strings
mjm_setString(site.name, name.c_str());
mjm_setString(site.classname, classname.c_str());
mjm_setString(site.material, material.c_str());
// set pointers
mjm_setDouble(site.userdata, userdata.data(), userdata.size());
// set info
// write error info
mjm_setString(site.info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -1617,14 +1627,21 @@ void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
// camera element parser
void mjXReader::OneCamera(XMLElement* elem, mjCCamera* pcam) {
void mjXReader::OneCamera(XMLElement* elem, mjmCamera* pcam) {
int n;
string text;
string text, name, classname, targetbody;
std::vector<double> userdata;
// read attributes
ReadAttrTxt(elem, "name", pcam->name);
ReadAttrTxt(elem, "class", pcam->classname);
ReadAttrTxt(elem, "target", pcam->targetbody);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pcam->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pcam->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "target", targetbody)) {
mjm_setString(pcam->targetbody, targetbody.c_str());
}
if (MapValue(elem, "mode", &n, camlight_map, camlight_sz)) {
pcam->mode = (mjtCamLight)n;
}
@@ -1654,22 +1671,31 @@ void mjXReader::OneCamera(XMLElement* elem, mjCCamera* pcam) {
}
// read userdata
ReadVector(elem, "user", pcam->userdata, text);
ReadVector(elem, "user", userdata, text);
mjm_setDouble(pcam->userdata, userdata.data(), userdata.size());
GetXMLPos(elem, pcam);
// write error info
mjm_setString(pcam->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// light element parser
void mjXReader::OneLight(XMLElement* elem, mjCLight* plight) {
void mjXReader::OneLight(XMLElement* elem, mjmLight* plight) {
int n;
string text;
string text, name, classname, targetbody;
// read attributes
ReadAttrTxt(elem, "name", plight->name);
ReadAttrTxt(elem, "class", plight->classname);
ReadAttrTxt(elem, "target", plight->targetbody);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(plight->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(plight->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "target", targetbody)) {
mjm_setString(plight->targetbody, targetbody.c_str());
}
if (MapValue(elem, "mode", &n, camlight_map, camlight_sz)) {
plight->mode = (mjtCamLight)n;
}
@@ -1691,7 +1717,9 @@ void mjXReader::OneLight(XMLElement* elem, mjCLight* plight) {
ReadAttr(elem, "diffuse", 3, plight->diffuse, text);
ReadAttr(elem, "specular", 3, plight->specular, text);
GetXMLPos(elem, plight);
// write error info
mjm_setString(plight->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2226,29 +2254,29 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
// particle joint
if (MapValue(ejnt, "type", &n, joint_map, joint_sz)) {
el->joint.type = (mjtJoint)n;
el->joint.spec.type = (mjtJoint)n;
}
ReadAttr(ejnt, "axis", 3, el->joint.axis, text);
ReadAttr(ejnt, "axis", 3, el->joint.spec.axis, text);
// solreffix, solimpfix
ReadAttr(ejnt, "solreffix", mjNREF, el->equality.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, el->equality.solimp, text, false, false);
// joint attributes
MapValue(elem, "limited", &el->joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &el->joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, el->joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, el->joint.solimp_limit, text, false, false);
MapValue(elem, "limited", &el->joint.spec.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &el->joint.spec.group);
ReadAttr(ejnt, "solreflimit", mjNREF, el->joint.spec.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, el->joint.spec.solimp_limit, text, false, false);
ReadAttr(ejnt,
"solreffriction", mjNREF, el->joint.solref_friction, text, false, false);
"solreffriction", mjNREF, el->joint.spec.solref_friction, text, false, false);
ReadAttr(ejnt,
"solimpfriction", mjNIMP, el->joint.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &el->joint.stiffness, text);
ReadAttr(ejnt, "range", 2, el->joint.range, text);
ReadAttr(ejnt, "margin", 1, &el->joint.margin, text);
ReadAttr(ejnt, "armature", 1, &el->joint.armature, text);
ReadAttr(ejnt, "damping", 1, &el->joint.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &el->joint.frictionloss, text);
"solimpfriction", mjNIMP, el->joint.spec.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &el->joint.spec.stiffness, text);
ReadAttr(ejnt, "range", 2, el->joint.spec.range, text);
ReadAttr(ejnt, "margin", 1, &el->joint.spec.margin, text);
ReadAttr(ejnt, "armature", 1, &el->joint.spec.armature, text);
ReadAttr(ejnt, "damping", 1, &el->joint.spec.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &el->joint.spec.frictionloss, text);
// advance
ejnt = ejnt->NextSiblingElement("joint");
@@ -2510,7 +2538,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
else if (name=="material") OneMaterial(elem, &def->material);
// read joint
else if (name=="joint") OneJoint(elem, &def->joint);
else if (name=="joint") OneJoint(elem, &def->joint.spec);
// read geom
else if (name=="geom") OneGeom(elem, &def->geom.spec);
@@ -2519,10 +2547,10 @@ void mjXReader::Default(XMLElement* section, int parentid) {
else if (name=="site") OneSite(elem, def->site.spec);
// read camera
else if (name=="camera") OneCamera(elem, &def->camera);
else if (name=="camera") OneCamera(elem, &def->camera.spec);
// read light
else if (name=="light") OneLight(elem, &def->light);
else if (name=="light") OneLight(elem, &def->light.spec);
// read pair
else if (name=="pair") OnePair(elem, &def->pair);
@@ -2546,6 +2574,13 @@ void mjXReader::Default(XMLElement* section, int parentid) {
OneActuator(elem, &def->actuator);
}
// copy into private attributes
mjm_finalize(def->geom.spec.element);
mjm_finalize(def->joint.spec.element);
mjm_finalize(def->site.spec.element);
mjm_finalize(def->camera.spec.element);
mjm_finalize(def->light.spec.element);
// advance
elem = elem->NextSiblingElement();
}
@@ -3059,9 +3094,9 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
}
// create joint and parse
mjCJoint* pjoint = (mjCJoint*)mjm_addJoint(pbody, def);
mjmJoint* pjoint = mjm_addJoint(pbody, def);
OneJoint(elem, pjoint);
pjoint->SetFrame(frame);
mjm_setFrame(pjoint->element, frame);
}
// freejoint sub-element
@@ -3072,14 +3107,17 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
}
// create free joint without defaults
mjCJoint* pjoint = (mjCJoint*)mjm_addFreeJoint(pbody);
pjoint->SetFrame(frame);
mjmJoint* pjoint = mjm_addFreeJoint(pbody);
mjm_setFrame(pjoint->element, frame);
// save defaults after creation, to make sure writing is ok
pjoint->def = def;
mjm_setDefault(pjoint->element, def);
// read attributes
ReadAttrTxt(elem, "name", pjoint->name);
std::string name;
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pjoint->name, name.c_str());
}
ReadAttrInt(elem, "group", &pjoint->group);
}
@@ -3102,17 +3140,17 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
// camera sub-element
else if (name=="camera") {
// create camera and parse
mjCCamera* pcam = (mjCCamera*)mjm_addCamera(pbody, def);
mjmCamera* pcam = mjm_addCamera(pbody, def);
OneCamera(elem, pcam);
pcam->SetFrame(frame);
mjm_setFrame(pcam->element, frame);
}
// light sub-element
else if (name=="light") {
// create light and parse
mjCLight* plight = (mjCLight*)mjm_addLight(pbody, def);
mjmLight* plight = mjm_addLight(pbody, def);
OneLight(elem, plight);
plight->SetFrame(frame);
mjm_setFrame(plight->element, frame);
}
// plugin sub-element
@@ -3162,10 +3200,12 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
// read attributes
std::string name, childclass;
ReadAttrTxt(elem, "name", name);
mjm_setString(pchild->name, name.c_str());
ReadAttrTxt(elem, "childclass", childclass);
mjm_setString(pchild->classname, childclass.c_str());
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pchild->name, name.c_str());
}
if (ReadAttrTxt(elem, "childclass", childclass)) {
mjm_setString(pchild->classname, childclass.c_str());
}
ReadAttr(elem, "pos", 3, pchild->pos, text);
ReadQuat(elem, "quat", pchild->quat, text);
if (MapValue(elem, "mocap", &n, bool_map, 2)) {