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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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test/user/user_api_test.cc
+11 -20
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@@ -219,7 +219,7 @@ TEST_F(PluginTest, DeletePlugin) {
EXPECT_THAT(model->actuator_plugin[0], 0);
// delete actuator
mjs_delete(actuator->element);
mjs_delete(spec, actuator->element);
// recompile and check that the plugin is not present
mjModel* newmodel = mj_compile(spec, NULL);
@@ -326,7 +326,7 @@ TEST_F(PluginTest, DetachPlugin) {
// detach the body and compile
mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
EXPECT_THAT(body_to_detach, NotNull());
EXPECT_THAT(mjs_detachBody(parent, body_to_detach), 0);
EXPECT_THAT(mjs_delete(parent, body_to_detach->element), 0);
mjModel* model = mj_compile(parent, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nbody, 2);
@@ -1368,12 +1368,8 @@ void TestDetachBody(bool compile) {
mjsBody* body = mjs_findBody(child, "body");
EXPECT_THAT(body, NotNull());
// get an error if trying to delete the body
EXPECT_EQ(mjs_delete(body->element), -1);
EXPECT_THAT(mjs_getError(child), HasSubstr("use detach instead"));
// detach subtree
EXPECT_THAT(mjs_detachBody(child, body), 0);
// delete subtree
EXPECT_THAT(mjs_delete(child, body->element), 0);
// try saving to XML before compiling again
std::array<char, 1024> e;
@@ -1898,12 +1894,12 @@ TEST_F(MujocoTest, PreserveState) {
// detach subtree
mjsBody* body = mjs_findBody(spec, "detachable");
EXPECT_THAT(body, NotNull());
EXPECT_THAT(mjs_detachBody(spec, body), 0);
EXPECT_THAT(mjs_delete(spec, body->element), 0);
// detach mocap
mjsBody* mocap_body = mjs_findBody(spec, "mocap_detach");
EXPECT_THAT(mocap_body, NotNull());
EXPECT_THAT(mjs_detachBody(spec, mocap_body), 0);
EXPECT_THAT(mjs_delete(spec, mocap_body->element), 0);
// add body
mjsBody* newbody = mjs_addBody(mjs_findBody(spec, "world"), 0);
@@ -2787,25 +2783,20 @@ TEST_F(MujocoTest, DetachDefault) {
mjsDefault* child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, NotNull());
// try using mjs_delete to remove default, should fail
EXPECT_EQ(mjs_delete(child->element), -1);
// detach default
EXPECT_EQ(mjs_detachDefault(spec, child), 0);
// delete default
EXPECT_EQ(mjs_delete(spec, child->element), 0);
child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, IsNull());
// try and detach previously detached default, should fail
EXPECT_EQ(mjs_detachDefault(spec, child), -1);
EXPECT_EQ(mjs_delete(spec, nullptr), -1);
child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, IsNull());
EXPECT_THAT(mjs_getError(spec),
HasSubstr("Cannot detach, default is null"));
// detach parent
mjsDefault* parent = mjs_findDefault(spec, "parent");
EXPECT_THAT(parent, NotNull());
mjs_detachDefault(spec, parent);
mjs_delete(spec, parent->element);
// both parent and remaining child should be removed
parent = mjs_findDefault(spec, "parent");
@@ -2816,7 +2807,7 @@ TEST_F(MujocoTest, DetachDefault) {
// error when trying to detach the 'main' default
mjsDefault* main = mjs_findDefault(spec, "main");
EXPECT_THAT(main, NotNull());
EXPECT_EQ(mjs_detachDefault(spec, main), -1);
EXPECT_EQ(mjs_delete(spec, main->element), -1);
EXPECT_THAT(mjs_getError(spec),
HasSubstr("cannot remove the global default ('main')"));