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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_objects.cc
+15 -15
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@@ -1497,7 +1497,7 @@ void mjCBody::Compile(void) {
// compute body global pose (no joint transformations in qpos0)
if (id>0) {
mjCBody* par = model->bodies[parentid];
mjCBody* par = model->Bodies()[parentid];
mju_rotVecQuat(xpos0, pos, par->xquat0);
mju_addTo3(xpos0, par->xpos0);
mju_mulQuat(xquat0, par->xquat0, quat);
@@ -1679,7 +1679,7 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -1883,7 +1883,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -1969,7 +1969,7 @@ double mjCGeom::GetVolume(void) {
// get from mesh
if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
if (mesh->id<0 || !((std::size_t) mesh->id <= model->Meshes().size())) {
throw mjCError(this, "invalid mesh id in mesh geom");
}
@@ -2022,7 +2022,7 @@ void mjCGeom::SetInertia(void) {
// get from mesh
if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
if (mesh->id<0 || !((std::size_t) mesh->id <= model->Meshes().size())) {
throw mjCError(this, "invalid mesh id in mesh geom");
}
@@ -2523,7 +2523,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
}
@@ -2669,7 +2669,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -2823,7 +2823,7 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
PointToLocal();
CopyFromSpec();
@@ -3860,7 +3860,7 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -3948,7 +3948,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -4309,7 +4309,7 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -4444,7 +4444,7 @@ void mjCEquality::Compile(void) {
ResolveReferences(model);
// make sure flex is not rigid
if (type==mjEQ_FLEX && model->flexes[obj1id]->rigid) {
if (type==mjEQ_FLEX && model->Flexes()[obj1id]->rigid) {
throw mjCError(this, "rigid flex '%s' in equality constraint %d", name1_.c_str(), id);
}
}
@@ -4471,7 +4471,7 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// point to local
PointToLocal();
@@ -4763,7 +4763,7 @@ void mjCTendon::Compile(void) {
}
// mark geoms as non visual
model->geoms[path[i]->obj->id]->SetNotVisual();
model->Geoms()[path[i]->obj->id]->SetNotVisual();
break;
case mjWRAP_JOINT:
@@ -4950,7 +4950,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// in case this actuator is not compiled
CopyFromSpec();