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Add flex arrays to CompareModel check.

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Due to a bug, all flex mjModel fields were previously ignored.

PiperOrigin-RevId: 912546202
Change-Id: Ica95ecfcbbe366fd81de6e8f7d83ed57a7d23033
This commit is contained in:
Alessio Quaglino
2026-05-08 08:47:10 -07:00
committed by Copybara-Service
parent 8cef5bb978
commit fa912dffa0
7 changed files with 158 additions and 117 deletions
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src/xml/xml_native_reader.cc
+1 -1
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@@ -1553,7 +1553,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
flex->internal = (n == 1);
}
MapValue(cont, "selfcollide", &flex->selfcollide, flexself_map, 5);
if (MapValue(cont, "passive", &flex->passive, bool_map, 2)) {
if (MapValue(cont, "passive", &n, bool_map, 2)) {
flex->passive = (n == 1);
}
ReadAttrInt(cont, "activelayers", &flex->activelayers);
src/xml/xml_native_writer.cc
+2 -1
View File
@@ -190,6 +190,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
WriteAttrKey(cont, "internal", bool_map, 2, flex->internal, defflex.internal);
WriteAttrKey(cont, "selfcollide", flexself_map, 5, flex->selfcollide, defflex.selfcollide);
WriteAttrInt(cont, "activelayers", flex->activelayers, defflex.activelayers);
WriteAttrKey(cont, "passive", bool_map, 2, flex->passive, defflex.passive);
// remove contact is no attributes
if (!cont->FirstAttribute()) {
@@ -202,7 +203,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
WriteAttr(elastic, "poisson", 1, &flex->poisson, &defflex.poisson);
WriteAttr(elastic, "thickness", 1, &flex->thickness, &defflex.thickness);
WriteAttr(elastic, "damping", 1, &flex->damping, &defflex.damping);
WriteAttrKey(elastic, "elastic2d", elastic2d_map, 2, flex->elastic2d, defflex.elastic2d);
WriteAttrKey(elastic, "elastic2d", elastic2d_map, 4, flex->elastic2d, defflex.elastic2d);
// edge subelement
XMLElement* edge = InsertEnd(elem, "edge");