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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_urdf.cc
+15 -15
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@@ -210,8 +210,8 @@ void mjXURDF::Parse(
// add a free joint to allow motion of the body
// if the mass is 0, assume the object is static
if (!static_body && pbody->mass > 0) {
mjCJoint* pjoint = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint->name = urName[i] + "_free_joint";
mjmJoint* pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, (urName[i] + "_free_joint").c_str());
pjoint->type = mjJNT_FREE;
}
}
@@ -371,7 +371,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
std::string jntname, name, text;
XMLElement *elem;
mjmBody *pbody, *parent, *world;
mjCJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
mjmJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
int jointtype;
// get type and name
@@ -414,16 +414,16 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
switch (jointtype) {
case 0: // revolute
case 1: // continuous
pjoint = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint->name = jntname;
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, jntname.c_str());
pjoint->type = mjJNT_HINGE;
mjuu_setvec(pjoint->pos, 0, 0, 0);
mjuu_copyvec(pjoint->axis, axis, 3);
break;
case 2: // prismatic
pjoint = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint->name = jntname;
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, jntname.c_str());
pjoint->type = mjJNT_SLIDE;
mjuu_setvec(pjoint->pos, 0, 0, 0);
mjuu_copyvec(pjoint->axis, axis, 3);
@@ -433,8 +433,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
return;
case 4: // floating
pjoint = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint->name = jntname;
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, jntname.c_str());
pjoint->type = mjJNT_FREE;
break;
@@ -444,8 +444,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
mjuu_quat2mat(mat, quat);
// construct slider along x
pjoint = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint->name = jntname + "_TX";
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, (jntname + "_TX").c_str());
pjoint->type = mjJNT_SLIDE;
tmpaxis[0] = mat[0];
tmpaxis[1] = mat[3];
@@ -454,8 +454,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
mjuu_copyvec(pjoint->axis, tmpaxis, 3);
// construct slider along y
pjoint1 = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint1->name = jntname + "_TY";
pjoint1 = mjm_addJoint(pbody, 0);
mjm_setString(pjoint1->name, (jntname + "_TY").c_str());
pjoint1->type = mjJNT_SLIDE;
tmpaxis[0] = mat[1];
tmpaxis[1] = mat[4];
@@ -464,8 +464,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
// construct hinge around z = locaxis
pjoint2 = (mjCJoint*)mjm_addJoint(pbody, 0);
pjoint2->name = jntname + "_RZ";
pjoint2 = mjm_addJoint(pbody, 0);
mjm_setString(pjoint2->name, (jntname + "_RZ").c_str());
pjoint2->type = mjJNT_HINGE;
mjuu_setvec(pjoint2->pos, 0, 0, 0);
mjuu_copyvec(pjoint2->axis, axis, 3);