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

Remove classname from mjs* structs.

Browse Source 
PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
This commit is contained in:
Alessio Quaglino
2024-06-27 05:12:16 -07:00
committed by Copybara-Service
parent 62e2842116
commit f6cc3f4091
9 changed files with 110 additions and 254 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+74 -33
View File
@@ -18,6 +18,7 @@
#include <cstddef>
#include <cstdio>
#include <string>
#include <string_view>
#include <unordered_set>
#include <vector>
@@ -198,7 +199,9 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* pmesh, mjCDef* def) {
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pmesh->name);
WriteAttrTxt(elem, "class", pmesh->classname);
if (pmesh->classname != "main") {
WriteAttrTxt(elem, "class", pmesh->classname);
}
WriteAttrTxt(elem, "content_type", pmesh->get_content_type());
WriteAttrTxt(elem, "file", pmesh->get_file());
@@ -295,7 +298,9 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* pmat, mjCDef* d
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pmat->name);
WriteAttrTxt(elem, "class", pmat->classname);
if (pmat->classname != "main") {
WriteAttrTxt(elem, "class", pmat->classname);
}
}
// defaults and regular
@@ -316,13 +321,16 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* pmat, mjCDef* d
// write joint
void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* pjoint, mjCDef* def) {
void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* pjoint, mjCDef* def,
std::string_view classname) {
double zero = 0;
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pjoint->name);
WriteAttrTxt(elem, "class", pjoint->classname);
if (classname != pjoint->classname && pjoint->classname != "main") {
WriteAttrTxt(elem, "class", pjoint->classname);
}
if (pjoint->type != mjJNT_FREE) {
WriteAttr(elem, "pos", 3, pjoint->pos);
}
@@ -364,17 +372,18 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* pjoint, mjCDef* def)
}
}
// write geom
void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* pgeom, mjCDef* def) {
void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* pgeom, mjCDef* def,
std::string_view classname) {
double unitq[4] = {1, 0, 0, 0};
double mass = 0;
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pgeom->name);
WriteAttrTxt(elem, "class", pgeom->classname);
if (classname != pgeom->classname && pgeom->classname != "main") {
WriteAttrTxt(elem, "class", pgeom->classname);
}
if (mjGEOMINFO[pgeom->type]) {
WriteAttr(elem, "size", mjGEOMINFO[pgeom->type], pgeom->size, def->Geom().size);
}
@@ -459,16 +468,17 @@ void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* pgeom, mjCDef* def) {
}
}
// write site
void mjXWriter::OneSite(XMLElement* elem, const mjCSite* psite, mjCDef* def) {
void mjXWriter::OneSite(XMLElement* elem, const mjCSite* psite, mjCDef* def,
std::string_view classname) {
double unitq[4] = {1, 0, 0, 0};
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", psite->name);
WriteAttrTxt(elem, "class", psite->classname);
if (classname != psite->classname && psite->classname != "main") {
WriteAttrTxt(elem, "class", psite->classname);
}
WriteAttr(elem, "pos", 3, psite->pos);
WriteAttr(elem, "quat", 4, psite->quat, unitq);
if (mjGEOMINFO[psite->type]) {
@@ -494,16 +504,17 @@ void mjXWriter::OneSite(XMLElement* elem, const mjCSite* psite, mjCDef* def) {
}
}
// write camera
void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* pcam, mjCDef* def) {
void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* pcam, mjCDef* def,
std::string_view classname) {
double unitq[4] = {1, 0, 0, 0};
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pcam->name);
WriteAttrTxt(elem, "class", pcam->classname);
if (classname != pcam->classname && pcam->classname != "main") {
WriteAttrTxt(elem, "class", pcam->classname);
}
WriteAttrTxt(elem, "target", pcam->get_targetbody());
WriteAttr(elem, "pos", 3, pcam->pos);
WriteAttr(elem, "quat", 4, pcam->quat, unitq);
@@ -534,14 +545,15 @@ void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* pcam, mjCDef* def)
}
}
// write light
void mjXWriter::OneLight(XMLElement* elem, const mjCLight* plight, mjCDef* def) {
void mjXWriter::OneLight(XMLElement* elem, const mjCLight* plight, mjCDef* def,
std::string_view classname) {
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", plight->name);
WriteAttrTxt(elem, "class", plight->classname);
if (classname != plight->classname && plight->classname != "main") {
WriteAttrTxt(elem, "class", plight->classname);
}
WriteAttrTxt(elem, "target", plight->get_targetbody());
WriteAttr(elem, "pos", 3, plight->pos);
WriteAttr(elem, "dir", 3, plight->dir);
@@ -561,13 +573,13 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* plight, mjCDef* def)
WriteAttrKey(elem, "mode", camlight_map, camlight_sz, plight->mode, def->Light().mode);
}
// write pair
void mjXWriter::OnePair(XMLElement* elem, const mjCPair* ppair, mjCDef* def) {
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "class", ppair->classname);
if (ppair->classname != "main") {
WriteAttrTxt(elem, "class", ppair->classname);
}
WriteAttrTxt(elem, "geom1", ppair->get_geomname1());
WriteAttrTxt(elem, "geom2", ppair->get_geomname2());
}
@@ -591,7 +603,9 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* peq, mjCDef* de
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", peq->name);
WriteAttrTxt(elem, "class", peq->classname);
if (peq->classname != "main") {
WriteAttrTxt(elem, "class", peq->classname);
}
switch (peq->type) {
case mjEQ_CONNECT:
@@ -644,7 +658,9 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* pten, mjCDef* def)
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pten->name);
WriteAttrTxt(elem, "class", pten->classname);
if (pten->classname != "main") {
WriteAttrTxt(elem, "class", pten->classname);
}
}
// defaults and regular
@@ -691,7 +707,9 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* pact, mjCDef* d
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", pact->name);
WriteAttrTxt(elem, "class", pact->classname);
if (pact->classname != "main") {
WriteAttrTxt(elem, "class", pact->classname);
}
// transmission target
switch (pact->trntype) {
@@ -1515,7 +1533,7 @@ XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
// recursive body and frame writer
void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
void mjXWriter::Body(XMLElement* elem, mjCBody* body, std::string_view childclass) {
double unitq[4] = {1, 0, 0, 0};
if (!body) {
@@ -1557,31 +1575,51 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
// write joints
for (int i=0; i<body->joints.size(); i++) {
XMLElement* celem = OneFrame(elem, body->joints[i]->frame);
OneJoint(InsertEnd(celem, "joint"), body->joints[i], body->joints[i]->def);
std::string classname = body->joints[i]->frame && !body->joints[i]->frame->classname.empty()
? body->joints[i]->frame->classname
: body->classname;
OneJoint(InsertEnd(celem, "joint"), body->joints[i], body->joints[i]->def,
classname.empty() ? childclass : classname);
}
// write geoms
for (int i=0; i<body->geoms.size(); i++) {
XMLElement* celem = OneFrame(elem, body->geoms[i]->frame);
OneGeom(InsertEnd(celem, "geom"), body->geoms[i], body->geoms[i]->def);
std::string classname = body->geoms[i]->frame && !body->geoms[i]->frame->classname.empty()
? body->geoms[i]->frame->classname
: body->classname;
OneGeom(InsertEnd(celem, "geom"), body->geoms[i], body->geoms[i]->def,
classname.empty() ? childclass : classname);
}
// write sites
for (int i=0; i<body->sites.size(); i++) {
XMLElement* celem = OneFrame(elem, body->sites[i]->frame);
OneSite(InsertEnd(celem, "site"), body->sites[i], body->sites[i]->def);
std::string classname = body->sites[i]->frame && !body->sites[i]->frame->classname.empty()
? body->sites[i]->frame->classname
: body->classname;
OneSite(InsertEnd(celem, "site"), body->sites[i], body->sites[i]->def,
classname.empty() ? childclass : classname);
}
// write cameras
for (int i=0; i<body->cameras.size(); i++) {
XMLElement* celem = OneFrame(elem, body->cameras[i]->frame);
OneCamera(InsertEnd(celem, "camera"), body->cameras[i], body->cameras[i]->def);
std::string classname = body->cameras[i]->frame && !body->cameras[i]->frame->classname.empty()
? body->cameras[i]->frame->classname
: body->classname;
OneCamera(InsertEnd(celem, "camera"), body->cameras[i], body->cameras[i]->def,
classname.empty() ? childclass : classname);
}
// write lights
for (int i=0; i<body->lights.size(); i++) {
XMLElement* celem = OneFrame(elem, body->lights[i]->frame);
OneLight(InsertEnd(celem, "light"), body->lights[i], body->lights[i]->def);
std::string classname = body->lights[i]->frame && !body->lights[i]->frame->classname.empty()
? body->lights[i]->frame->classname
: body->classname;
OneLight(InsertEnd(celem, "light"), body->lights[i], body->lights[i]->def,
classname.empty() ? childclass : classname);
}
// write plugin
@@ -1592,7 +1630,10 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
// write child bodies recursively
for (int i=0; i<body->bodies.size(); i++) {
XMLElement* celem = OneFrame(elem, body->bodies[i]->frame);
Body(InsertEnd(celem, "body"), body->bodies[i]);
std::string classname = body->bodies[i]->frame && !body->bodies[i]->frame->classname.empty()
? body->bodies[i]->frame->classname
: body->classname;
Body(InsertEnd(celem, "body"), body->bodies[i], classname.empty() ? childclass : classname);
}
}