chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Make default class members private.

Browse Source 
PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
This commit is contained in:
Kyle Bayes
2024-05-16 03:21:17 -07:00
committed by Copybara-Service
parent 6e58cedb47
commit e885a3dc3d
9 changed files with 362 additions and 346 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_mesh.cc
+4 -4
View File
@@ -146,12 +146,12 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->mesh;
*this = _def->Mesh();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// in case this body is not compiled
CopyFromSpec();
@@ -1426,7 +1426,7 @@ void mjCMesh::Process() {
// apply formula, accumulate
GetVolumeRef(type) += vol;
for (int j=0; j<6; j++) {
P[j] += def->geom.density*vol /
P[j] += def->Geom().density*vol /
(type==mjINERTIA_SHELL ? 12 : 20) * (
2*(D[k[j][0]] * D[k[j][1]] +
E[k[j][0]] * E[k[j][1]] +
@@ -1467,7 +1467,7 @@ void mjCMesh::Process() {
}
// compute sizes of equivalent inertia box
double mass = GetVolumeRef(type) * def->geom.density;
double mass = GetVolumeRef(type) * def->Geom().density;
double* boxsz = GetInertiaBoxPtr(type);
boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;