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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_composite.cc
+11 -11
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@@ -561,7 +561,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// create tendon
mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(ten->element, &model->defaults[0]->spec);
mjs_setDefault(ten->element, &model->Defaults()[0]->spec);
mjs_setString(ten->name, txt0);
ten->group = 4;
mjs_wrapSite(ten, txt1);
@@ -569,7 +569,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, mjs_getString(ten->name));
}
@@ -675,7 +675,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->defaults[0];
ten->def = model->Defaults()[0];
mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy);
ten->name = txt;
ten->WrapSite(txt1);
@@ -683,7 +683,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
// add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, ten->name.c_str());
}
@@ -1045,7 +1045,7 @@ mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int i
// add constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
@@ -1063,7 +1063,7 @@ mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int i
// add constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
@@ -1131,7 +1131,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// fixed tendon for all joints
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->defaults[0];
ten->def = model->Defaults()[0];
mju::sprintf_arr(txt, "%sT", prefix.c_str());
ten->name = txt;
@@ -1184,7 +1184,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// add fix constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
@@ -1218,7 +1218,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// finalize fixed tendon
mjsEquality* eqt = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eqt->element, &model->defaults[0]->spec);
mjs_setDefault(eqt->element, &model->Defaults()[0]->spec);
eqt->type = mjEQ_TENDON;
mjs_setString(eqt->name1, ten->name.c_str());
@@ -1244,7 +1244,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR);
ten->def = model->defaults[0];
ten->def = model->Defaults()[0];
ten->WrapSite(txt1);
ten->WrapSite(txt2);
@@ -1254,7 +1254,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
// equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, txt);
}