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Add plugins list to mjSpec Python API.

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Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
This commit is contained in:
Alessio Quaglino
2024-09-23 06:12:42 -07:00
committed by Copybara-Service
parent 91cedfd65c
commit 0ba11b9623
18 changed files with 127 additions and 44 deletions
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src/user/user_api.cc
+12 -2
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@@ -471,7 +471,7 @@ mjsKey* mjs_addKey(mjSpec* s) {
mjsPlugin* mjs_addPlugin(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCPlugin* plugin = modelC->AddPlugin();
plugin->spec.instance = static_cast<mjsElement*>(plugin);
plugin->spec.element = static_cast<mjsElement*>(plugin);
return &plugin->spec;
}
@@ -887,6 +887,16 @@ mjsMaterial* mjs_asMaterial(mjsElement* element) {
// return plugin given mjsElement
mjsPlugin* mjs_asPlugin(mjsElement* element) {
if (element && element->elemtype == mjOBJ_PLUGIN) {
return &(static_cast<mjCPlugin*>(element)->spec);
}
return nullptr;
}
// copy buffer to destination buffer
void mjs_setBuffer(mjByteVec* dest, const void* array, int size) {
const std::byte* buffer = static_cast<const std::byte*>(array);
@@ -995,7 +1005,7 @@ const double* mjs_getDouble(const mjDoubleVec* source, int* size) {
// set plugin attributes
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->instance);
mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->element);
std::map<std::string, std::string, std::less<>>* config_attribs =
reinterpret_cast<std::map<std::string, std::string, std::less<>>*>(attributes);
pluginC->config_attribs = std::move(*config_attribs);