This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.
PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
This can happen when a body is detached without compiling or recompiling.
Also added error catching when trying to delete a body instead of detaching it.
Fixes#2327
PiperOrigin-RevId: 712526730
Change-Id: I4b48df83120fca12d475c85b3a54893841449653
Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.
Fixes#2328.
PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
This is required to have parent body info during attach and during body to frame tranformation for uncompiled models.
PiperOrigin-RevId: 703038426
Change-Id: Ib482059ba419a020860c649d6ea1b1088045f2e1
Also associate all children that need a parent body to the parent of the deleted body.
This is a bug that was causing the former children of the body that gets transformed to a frame to not be children of the new frame.
PiperOrigin-RevId: 702702853
Change-Id: I36d48f0446bc87c665b18d34e0b0609d82c70f51
Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().
PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes#2013.
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This allows to resize parent keyframes also when the child has no keyframes.
PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.
PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.
PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
Yuval Tassa