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Compute nonzero default mass value only if geom is not in the default section.

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Fixes #561.

PiperOrigin-RevId: 486604407
Change-Id: Ie62578808f96f0de3a2353c6bc4cc8bd3ae3afbc
This commit is contained in:
Alessio Quaglino
2022-11-07 02:17:58 -08:00
committed by Copybara-Service
parent 36b30e4500
commit fc24097b92
2 changed files with 29 additions and 1 deletions
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src/xml/xml_native_writer.cc
+4 -1
View File
@@ -252,6 +252,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
// write geom
void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
double unitq[4] = {1, 0, 0, 0};
double mass = 0;
// regular
if (!writingdefaults) {
@@ -260,6 +261,9 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
if (mjGEOMINFO[pgeom->type]) {
WriteAttr(elem, "size", mjGEOMINFO[pgeom->type], pgeom->size, def->geom.size);
}
if (mjuu_defined(pgeom->_mass)) {
mass = pgeom->GetVolume() * def->geom.density;
}
// mesh geom
if (pgeom->type==mjGEOM_MESH) {
@@ -308,7 +312,6 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, def->geom.fluid_coefs);
WriteAttrKey(elem, "shellinertia", meshtype_map, 2, pgeom->typeinertia, def->geom.typeinertia);
if (mjuu_defined(pgeom->_mass)) {
double mass = pgeom->GetVolume() * def->geom.density;
WriteAttr(elem, "mass", 1, &pgeom->mass, &mass);
} else {
WriteAttr(elem, "density", 1, &pgeom->density, &def->geom.density);
test/xml/xml_native_writer_test.cc
+25
View File
@@ -684,6 +684,31 @@ TEST_F(XMLWriterTest, OverwritesDensity) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SaveDefaultMass) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3 0 2 1" />
</asset>
<default class="main">
<geom type="mesh" mass="1"/>
</default>
<worldbody>
<body>
<geom mesh="example" size=".1 .2 .3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
EXPECT_THAT(model, NotNull());
std::string content = SaveAndReadXml(model);
EXPECT_THAT(content, HasSubstr("mass=\"1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UsesTwoSpaces) {
static constexpr char xml[] = R"(
<mujoco>