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Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names), and fix a couple of typos.

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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
This commit is contained in:
Kyle Bayes
2023-08-02 14:42:49 +01:00
committed by nimrod
parent dac34c91bb
commit efca1a76aa
9 changed files with 712 additions and 532 deletions
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src/xml/xml_urdf.cc
+9 -8
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@@ -542,10 +542,11 @@ mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjCBody* pbody, bool collision) {
// mesh
else if ((temp = FindSubElem(elem, "mesh"))) {
// set geom type and read mesh attributes
double meshscale[3] = {1, 1, 1};
pgeom->type = mjGEOM_MESH;
ReadAttrTxt(temp, "filename", meshfile, true);
ReadAttr(temp, "scale", 3, meshscale, text);
meshfile = ReadAttrStr(temp, "filename", true).value();
std::array<double, 3> default_meshscale = {1, 1, 1};
std::array<double, 3> meshscale = ReadAttrArr<double, 3>(temp, "scale")
.value_or(default_meshscale);
// strip file name if necessary
if (model->strippath) {
@@ -565,18 +566,18 @@ mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjCBody* pbody, bool collision) {
}
// exists with different scale: append name with '1', create
else if (pmesh->scale[0]!=meshscale[0] ||
pmesh->scale[1]!=meshscale[1] ||
pmesh->scale[2]!=meshscale[2]) {
else if (pmesh->scale()[0]!=meshscale[0] ||
pmesh->scale()[1]!=meshscale[1] ||
pmesh->scale()[2]!=meshscale[2]) {
pmesh = model->AddMesh();
meshname = meshname + "1";
}
// set fields
pmesh->file = meshfile;
pmesh->set_file(meshfile);
pmesh->name = meshname;
pgeom->mesh = meshname;
mjuu_copyvec(pmesh->scale, meshscale, 3);
pmesh->set_scale(meshscale);
}
else {