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Replace mjs_detachBody and mjs_detachDefault with mjs_detach.

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In a follow-up, mjs_detach will be changed to only remove without deleting an element.

PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
This commit is contained in:
Alessio Quaglino
2025-06-20 04:11:14 -07:00
committed by Copybara-Service
parent 4ce6293217
commit 0488d9f4eb
15 changed files with 177 additions and 179 deletions
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src/user/user_api.cc
+25 -33
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@@ -284,35 +284,18 @@ const char* mjs_getError(mjSpec* s) {
// detach body from mjSpec, return 0 on success
int mjs_detachBody(mjSpec* s, mjsBody* b) {
int mjs_detach(mjSpec* s, mjsElement* element) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCBody* body = static_cast<mjCBody*>(b->element);
try {
*model -= *body;
} catch (mjCError& e) {
model->SetError(e);
if (!element) {
model->SetError(mjCError(0, "Element is null."));
return -1;
}
model->Detach(body);
return 0;
mjCError e(0, "Detach is not implemented yet.");
model->SetError(e);
return -1;
}
// detach default from mjSpec, return 0 on success
int mjs_detachDefault(mjSpec* s, mjsDefault* def) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
if (!def) {
modelC->SetError(mjCError(0, "Cannot detach, default is null"));
return -1;
}
mjCDef* defC = static_cast<mjCDef*>(def->element);
try {
*modelC -= *defC;
} catch (mjCError& e) {
modelC->SetError(e);
return -1;
}
return 0;
}
// check if model has warnings
int mjs_isWarning(mjSpec* s) {
@@ -372,15 +355,24 @@ int mj_copyBack(mjSpec* s, const mjModel* m) {
// delete object, return 0 on success
int mjs_delete(mjsElement* element) {
mjCModel* model;
if (element->elemtype == mjOBJ_DEFAULT)
model = static_cast<mjCDef*>(element)->model;
else
model = static_cast<mjCBase*>(element)->model;
int mjs_delete(mjSpec* s, mjsElement* element) {
mjCModel* model = static_cast<mjCModel*>(s->element);
if (!element) {
model->SetError(mjCError(0, "Element is null."));
return -1;
}
try {
// it will call the appropriate destructor since ~mjCBase is virtual
model->DeleteElement(element);
if (element->elemtype == mjOBJ_BODY) {
mjCBody* body = static_cast<mjCBody*>(element);
*model -= *body;
model->DeleteElement(body);
} else if (element->elemtype == mjOBJ_DEFAULT) {
mjCDef* def = static_cast<mjCDef*>(element);
*model -= *def;
} else {
// it will call the appropriate destructor since ~mjCBase is virtual
model->DeleteElement(element);
}
return 0;
} catch (mjCError& e) {
model->SetError(e);
@@ -1035,7 +1027,7 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
mjsFrame* mjs_bodyToFrame(mjsBody** body) {
mjCBody* bodyC = static_cast<mjCBody*>((*body)->element);
mjCFrame* frameC = bodyC->ToFrame();
bodyC->model->Detach(bodyC);
bodyC->model->DeleteElement((*body)->element);
*body = nullptr;
return &frameC->spec;
}