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Add missing face attribute to the XML schema.

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PiperOrigin-RevId: 561330536
Change-Id: I693fc5228591e4a26ea0749435a6ce9869afd457
This commit is contained in:
Alessio Quaglino
2023-08-30 07:07:21 -07:00
committed by Copybara-Service
parent 16ee0dfde5
commit f371ca7a4e
4 changed files with 15 additions and 5 deletions
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doc/XMLreference.rst
+5
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@@ -3319,6 +3319,11 @@ coordinates results in compiler error. See :ref:`CComposite` in the modeling gui
:at:`vertex`: :at-val:`real(3*nvert), optional`
Vertex 3D positions in global coordinates (cable only).
.. _body-composite-face:
:at:`face`: :at-val:`real(3*nvert), optional`
Face connectivity of the vertices (shell only).
.. _body-composite-initial:
:at:`initial`: :at-val:`[free, ball, none], "0"`
doc/XMLschema.rst
+3 -1
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@@ -390,7 +390,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`offset<body-composite-offset>` | :ref:`flatinertia<body-composite-flatinertia>` | :ref:`solrefsmooth<body-composite-solrefsmooth>` | :ref:`solimpsmooth<body-composite-solimpsmooth>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertex<body-composite-vertex>` | :ref:`initial<body-composite-initial>` | :ref:`curve<body-composite-curve>` | :ref:`size<body-composite-size>` | |
| | | | :ref:`vertex<body-composite-vertex>` | :ref:`face<body-composite-face>` | :ref:`initial<body-composite-initial>` | :ref:`curve<body-composite-curve>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`size<body-composite-size>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
src/user/user_composite.cc
+2 -2
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@@ -236,7 +236,7 @@ bool mjCComposite::Make(mjCModel* model, mjCBody* body, char* error, int error_s
}
// check spacing
if (type==mjCOMPTYPE_GRID || type==mjCOMPTYPE_PARTICLE) {
if (type==mjCOMPTYPE_GRID || (type==mjCOMPTYPE_PARTICLE && uservert.empty())) {
if (spacing < mju_max(def[0].geom.size[0],
mju_max(def[0].geom.size[1], def[0].geom.size[2]))) {
return comperr(error, "Spacing must be larger than geometry size",
@@ -2192,7 +2192,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
}
// box
if (type==mjCOMPTYPE_BOX || type==mjCOMPTYPE_PARTICLE) {
else if (type==mjCOMPTYPE_BOX || type==mjCOMPTYPE_PARTICLE) {
// z-faces
MakeSkin3Box(skin, count[0], count[1], 1, vcnt, "%sB%d_%d_0");
fmt = "%sB%d_%d_" + string(cnt2);
src/xml/xml_native_reader.cc
+5 -2
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@@ -270,8 +270,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
"pos", "dir", "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular",
"mode", "target"},
{"composite", "*", "12", "prefix", "type", "count", "spacing", "offset",
"flatinertia", "solrefsmooth", "solimpsmooth", "vertex",
{"composite", "*", "13", "prefix", "type", "count", "spacing", "offset",
"flatinertia", "solrefsmooth", "solimpsmooth", "vertex", "face",
"initial", "curve", "size"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
@@ -1943,6 +1943,9 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
String2Vector(text, comp.uservert);
}
// shell
ReadAttrTxt(elem, "face", comp.userface);
// process curve string
std::istringstream iss(curves);
int i = 0;