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9d06a41f

Commit 9d06a41f authored 5 years ago by Rainer Kartmann

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Refactor massless body sanitization.

Add mode adding only dummy masses but keeping the tree structure.

parent e11fe462

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VirtualRobot/XML/mujoco/BodySanitizer.cpp 1 addition, 6 deletions

VirtualRobot/XML/mujoco/BodySanitizer.cpp
VirtualRobot/XML/mujoco/BodySanitizer.h 16 additions, 13 deletions

VirtualRobot/XML/mujoco/BodySanitizer.h
VirtualRobot/XML/mujoco/DummyMassBodySanitizer.cpp 31 additions, 2 deletions

VirtualRobot/XML/mujoco/DummyMassBodySanitizer.cpp
VirtualRobot/XML/mujoco/DummyMassBodySanitizer.h 11 additions, 1 deletion

VirtualRobot/XML/mujoco/DummyMassBodySanitizer.h
VirtualRobot/XML/mujoco/MergingBodySanitizer.cpp 228 additions, 1 deletion

VirtualRobot/XML/mujoco/MergingBodySanitizer.cpp
VirtualRobot/XML/mujoco/MergingBodySanitizer.h 80 additions, 2 deletions

VirtualRobot/XML/mujoco/MergingBodySanitizer.h
VirtualRobot/XML/mujoco/MujocoIO.cpp 56 additions, 14 deletions

VirtualRobot/XML/mujoco/MujocoIO.cpp
VirtualRobot/XML/mujoco/MujocoIO.h 16 additions, 4 deletions

VirtualRobot/XML/mujoco/MujocoIO.h

with 439 additions and 43 deletions

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