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Add bvhactive flag to visual/global. Fixes #1279.

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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
This commit is contained in:
Yuval Tassa
2024-01-19 02:59:06 -08:00
committed by Copybara-Service
parent 2feefbc5d2
commit fea7c10b95
18 changed files with 147 additions and 44 deletions
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src/xml/xml_native_reader.cc
+10 -4
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@@ -113,8 +113,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"visual", "*", "0"},
{"<"},
{"global", "?", "10", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
"offwidth", "offheight", "realtime", "ellipsoidinertia"},
{"global", "?", "11", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
"offwidth", "offheight", "realtime", "ellipsoidinertia", "bvactive"},
{"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks",
"numquads"},
{"headlight", "?", "4", "ambient", "diffuse", "specular", "active"},
@@ -124,11 +124,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"scale", "?", "17", "forcewidth", "contactwidth", "contactheight", "connect", "com",
"camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
"actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
{"rgba", "?", "23", "fog", "haze", "force", "inertia", "joint",
{"rgba", "?", "25", "fog", "haze", "force", "inertia", "joint",
"actuator", "actuatornegative", "actuatorpositive", "com",
"camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
"contactfriction", "contacttorque", "contactgap", "rangefinder",
"constraint", "slidercrank", "crankbroken", "frustum"},
"constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
{">"},
{"statistic", "*", "5", "meaninertia", "meanmass", "meansize", "extent", "center"},
@@ -2723,6 +2723,10 @@ void mjXReader::Visual(XMLElement* section) {
if (MapValue(elem, "ellipsoidinertia", &ellipsoidinertia, bool_map, 2)) {
vis->global.ellipsoidinertia = (ellipsoidinertia==1);
}
int bvactive;
if (MapValue(elem, "bvactive", &bvactive, bool_map, 2)) {
vis->global.bvactive = (bvactive==1);
}
}
// quality sub-element
@@ -2808,6 +2812,8 @@ void mjXReader::Visual(XMLElement* section) {
ReadAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, text);
ReadAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, text);
ReadAttr(elem, "frustum", 4, vis->rgba.frustum, text);
ReadAttr(elem, "bv", 4, vis->rgba.bv, text);
ReadAttr(elem, "bvactive", 4, vis->rgba.bvactive, text);
}
// advance to next element