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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_writer.cc
+6 -6
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@@ -322,9 +322,9 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
// userdata
if (writingdefaults) {
WriteVector(elem, "user", pjoint->userdata);
WriteVector(elem, "user", pjoint->get_userdata());
} else {
WriteVector(elem, "user", pjoint->userdata, def->joint.userdata);
WriteVector(elem, "user", pjoint->get_userdata(), def->joint.get_userdata());
}
}
@@ -468,7 +468,7 @@ void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) {
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pcam->name);
WriteAttrTxt(elem, "class", pcam->classname);
WriteAttrTxt(elem, "target", pcam->targetbody);
WriteAttrTxt(elem, "target", pcam->get_targetbody());
WriteAttr(elem, "pos", 3, pcam->pos);
WriteAttr(elem, "quat", 4, pcam->quat, unitq);
}
@@ -494,9 +494,9 @@ void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) {
// userdata
if (writingdefaults) {
WriteVector(elem, "user", pcam->userdata);
WriteVector(elem, "user", pcam->get_userdata());
} else {
WriteVector(elem, "user", pcam->userdata, def->camera.userdata);
WriteVector(elem, "user", pcam->get_userdata(), def->camera.get_userdata());
}
}
@@ -508,7 +508,7 @@ void mjXWriter::OneLight(XMLElement* elem, mjCLight* plight, mjCDef* def) {
if (!writingdefaults) {
WriteAttrTxt(elem, "name", plight->name);
WriteAttrTxt(elem, "class", plight->classname);
WriteAttrTxt(elem, "target", plight->targetbody);
WriteAttrTxt(elem, "target", plight->get_targetbody());
WriteAttr(elem, "pos", 3, plight->pos);
WriteAttr(elem, "dir", 3, plight->dir);
}