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Encapsulate mjCModel internal lists.

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PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
This commit is contained in:
Kyle Bayes
2024-05-08 05:01:13 -07:00
committed by Copybara-Service
parent 96844db926
commit 13bf9ae6bd
9 changed files with 809 additions and 821 deletions
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src/user/user_api.cc
+5 -5
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@@ -429,8 +429,8 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
// add default to model
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
*id = (int)modelC->defaults.size();
mjCDef* def = modelC->AddDef(classname, parentid);
*id = (int)modelC->Defaults().size();
mjCDef* def = modelC->AddDefault(classname, parentid);
if (def) {
return &def->spec;
} else {
@@ -457,7 +457,7 @@ mjsDefault* mjs_getDefault(mjElement* element) {
// Find default with given name in model.
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDef(classname);
mjCDef* cdef = modelC->FindDefault(classname);
if (!cdef) {
return nullptr;
}
@@ -469,7 +469,7 @@ mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
// get default[0] from model
mjsDefault* mjs_getSpecDefault(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = modelC->defaults[0];
mjCDef* def = modelC->Defaults()[0];
if (!def) {
return nullptr;
}
@@ -677,7 +677,7 @@ void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
modelC->active_plugins = std::move(*active_plugins);
modelC->SetActivePlugins(std::move(*active_plugins));
}