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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.h
+99 -99
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@@ -107,8 +107,8 @@ class mjCBoundingVolume {
void SetId(int val) { idval_ = val; }
private:
int idval_; // local id copy for nodes not storing their id's (e.g. faces)
const int* id_; // pointer to object id
int idval_; // local id copy for nodes not storing their id's (e.g. faces)
const int* id_; // pointer to object id
};
@@ -354,6 +354,10 @@ class mjCFrame : public mjCFrame_, private mjsFrame {
friend class mjCModel;
public:
mjCFrame(mjCModel* = 0, mjCFrame* = 0);
mjCFrame(const mjCFrame& other);
mjCFrame& operator=(const mjCFrame& other);
mjsFrame spec;
using mjCBase::name;
using mjCBase::classname;
@@ -368,9 +372,6 @@ class mjCFrame : public mjCFrame_, private mjsFrame {
bool IsAncestor(const mjCFrame* child) const; // true if child is contained in this frame
private:
mjCFrame(mjCModel* = 0, mjCFrame* = 0); // constructor
mjCFrame(const mjCFrame& other); // copy constructor
mjCFrame& operator=(const mjCFrame& other); // copy assignment
void Compile(void); // compiler
mjCBody* body; // body that owns the frame
@@ -400,6 +401,10 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
friend class mjXURDF;
public:
mjCJoint(mjCModel* = nullptr, mjCDef* = nullptr);
mjCJoint(const mjCJoint& other);
mjCJoint& operator=(const mjCJoint& other);
mjsJoint spec;
using mjCBase::name;
using mjCBase::classname;
@@ -416,10 +421,6 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
private:
mjCJoint(mjCModel* = 0, mjCDef* = 0);
mjCJoint(const mjCJoint& other); // copy constructor
mjCJoint& operator=(const mjCJoint& other); // copy assignment
int Compile(void); // compiler; return dofnum
void PointToLocal(void);
};
@@ -468,6 +469,10 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
friend class mjXURDF;
public:
mjCGeom(mjCModel* = nullptr, mjCDef* = nullptr);
mjCGeom(const mjCGeom& other);
mjCGeom& operator=(const mjCGeom& other);
using mjCBase::name;
mjsGeom spec; // variables set by user
double GetVolume(void); // compute geom volume
@@ -491,10 +496,6 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
void del_material() { spec_material_.clear(); }
private:
mjCGeom(mjCModel* = 0, mjCDef* = 0);
mjCGeom(const mjCGeom& other); // copy constructor
mjCGeom& operator=(const mjCGeom& other); // copy assignment
void Compile(void); // compiler
double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box
@@ -533,6 +534,10 @@ class mjCSite : public mjCSite_, private mjsSite {
friend class mjXURDF;
public:
mjCSite(mjCModel* = nullptr, mjCDef* = nullptr);
mjCSite(const mjCSite& other);
mjCSite& operator=(const mjCSite& other);
mjsSite spec; // variables set by user
// use strings from mjCBase rather than mjStrings from mjsSite
@@ -546,10 +551,6 @@ class mjCSite : public mjCSite_, private mjsSite {
void del_material() { material_.clear(); }
private:
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
mjCSite(const mjCSite& other); // copy constructor
mjCSite& operator=(const mjCSite& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec(); // copy spec into attributes
void PointToLocal(void);
@@ -578,6 +579,10 @@ class mjCCamera : public mjCCamera_, private mjsCamera {
friend class mjXWriter;
public:
mjCCamera(mjCModel* = nullptr, mjCDef* = nullptr);
mjCCamera(const mjCCamera& other);
mjCCamera& operator=(const mjCCamera& other);
mjsCamera spec;
using mjCBase::name;
using mjCBase::classname;
@@ -588,10 +593,6 @@ class mjCCamera : public mjCCamera_, private mjsCamera {
const std::vector<double>& get_userdata() { return userdata_; }
private:
mjCCamera(mjCModel* = 0, mjCDef* = 0); // constructor
mjCCamera(const mjCCamera& other); // copy constructor
mjCCamera& operator=(const mjCCamera& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec(void);
void PointToLocal(void);
@@ -618,6 +619,10 @@ class mjCLight : public mjCLight_, private mjsLight {
friend class mjXWriter;
public:
mjCLight(mjCModel* = nullptr, mjCDef* = nullptr);
mjCLight(const mjCLight& other);
mjCLight& operator=(const mjCLight& other);
mjsLight spec;
using mjCBase::name;
using mjCBase::classname;
@@ -627,10 +632,6 @@ class mjCLight : public mjCLight_, private mjsLight {
const std::string& get_targetbody() { return targetbody_; }
private:
mjCLight(mjCModel* = 0, mjCDef* = 0); // constructor
mjCLight(const mjCLight& other); // copy constructor
mjCLight& operator=(const mjCLight& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec(void);
void PointToLocal(void);
@@ -681,6 +682,10 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
friend class mjXWriter;
public:
mjCFlex(mjCModel* = nullptr);
mjCFlex(const mjCFlex& other);
mjCFlex& operator=(const mjCFlex& other);
mjsFlex spec;
using mjCBase::name;
using mjCBase::classname;
@@ -703,10 +708,6 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
void DelTexcoord(); // delete texcoord
private:
mjCFlex(mjCModel* = 0);
mjCFlex(const mjCFlex& other); // copy constructor
mjCFlex& operator=(const mjCFlex& other); // copy assignment
void Compile(const mjVFS* vfs); // compiler
void CreateBVH(void); // create flex BVH
void CreateShellPair(void); // create shells and evpairs
@@ -779,9 +780,9 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
friend class mjCFlexcomp;
friend class mjXWriter;
public:
mjCMesh(mjCModel* = 0, mjCDef* = 0);
mjCMesh(const mjCMesh& other); // copy constructor
mjCMesh& operator=(const mjCMesh& other); // copy assignment
mjCMesh(mjCModel* = nullptr, mjCDef* = nullptr);
mjCMesh(const mjCMesh& other);
mjCMesh& operator=(const mjCMesh& other);
~mjCMesh();
mjsMesh spec;
@@ -910,6 +911,11 @@ class mjCSkin: public mjCSkin_, private mjsSkin {
friend class mjXWriter;
public:
mjCSkin(mjCModel* = nullptr);
mjCSkin(const mjCSkin& other);
mjCSkin& operator=(const mjCSkin& other);
~mjCSkin();
mjsSkin spec;
using mjCBase::name;
using mjCBase::classname;
@@ -931,11 +937,6 @@ class mjCSkin: public mjCSkin_, private mjsSkin {
void PointToLocal();
private:
mjCSkin(mjCModel* = 0); // constructor
mjCSkin(const mjCSkin& other); // copy constructor
mjCSkin& operator=(const mjCSkin& other); // copy assignment
~mjCSkin(); // destructor
void ResolveReferences(const mjCModel* m);
void NameSpace(const mjCModel* m);
void Compile(const mjVFS* vfs); // compiler
@@ -965,6 +966,11 @@ class mjCHField : public mjCHField_, private mjsHField {
friend class mjXWriter;
public:
mjCHField(mjCModel* model);
mjCHField(const mjCHField& other);
mjCHField& operator=(const mjCHField& other);
~mjCHField();
mjsHField spec;
using mjCBase::name;
using mjCBase::info;
@@ -978,11 +984,6 @@ class mjCHField : public mjCHField_, private mjsHField {
std::vector<float>& get_userdata() { return userdata_; }
private:
mjCHField(mjCModel* model); // constructor
mjCHField(const mjCHField& other); // copy constructor
mjCHField& operator=(const mjCHField& other); // copy assignment
~mjCHField(); // destructor
void Compile(const mjVFS* vfs); // compiler
void LoadCustom(mjResource* resource); // load from custom format
@@ -1012,7 +1013,10 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
friend class mjXWriter;
public:
~mjCTexture(); // destructor
mjCTexture(mjCModel*);
mjCTexture(const mjCTexture& other);
mjCTexture& operator=(const mjCTexture& other);
~mjCTexture();
mjsTexture spec;
using mjCBase::name;
@@ -1027,10 +1031,6 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
std::vector<std::string> get_cubefiles() const { return cubefiles_; }
private:
mjCTexture(mjCModel*); // constructor
mjCTexture(const mjCTexture& other); // copy constructor
mjCTexture& operator=(const mjCTexture& other); // copy assignment
void Compile(const mjVFS* vfs); // compiler
void Builtin2D(void); // make builtin 2D
@@ -1069,6 +1069,10 @@ class mjCMaterial : public mjCMaterial_, private mjsMaterial {
friend class mjXWriter;
public:
mjCMaterial(mjCModel* = nullptr, mjCDef* = nullptr);
mjCMaterial(const mjCMaterial& other);
mjCMaterial& operator=(const mjCMaterial& other);
mjsMaterial spec;
using mjCBase::name;
using mjCBase::classname;
@@ -1082,10 +1086,6 @@ class mjCMaterial : public mjCMaterial_, private mjsMaterial {
void del_texture() { texture_.clear(); }
private:
mjCMaterial(mjCModel* = 0, mjCDef* = 0); // constructor
mjCMaterial(const mjCMaterial& other); // copy constructor
mjCMaterial& operator=(const mjCMaterial& other); // copy assignment
void Compile(void); // compiler
};
@@ -1110,6 +1110,10 @@ class mjCPair : public mjCPair_, private mjsPair {
friend class mjXWriter;
public:
mjCPair(mjCModel* = nullptr, mjCDef* = nullptr);
mjCPair(const mjCPair& other);
mjCPair& operator=(const mjCPair& other);
mjsPair spec;
using mjCBase::name;
using mjCBase::classname;
@@ -1128,10 +1132,6 @@ class mjCPair : public mjCPair_, private mjsPair {
}
private:
mjCPair(mjCModel* = 0, mjCDef* = 0); // constructor
mjCPair(const mjCPair& other); // copy constructor
mjCPair& operator=(const mjCPair& other); // copy assignment
void Compile(void); // compiler
mjCGeom* geom1; // geom1
@@ -1160,6 +1160,10 @@ class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
friend class mjCModel;
public:
mjCBodyPair(mjCModel*);
mjCBodyPair(const mjCBodyPair& other);
mjCBodyPair& operator=(const mjCBodyPair& other);
mjsExclude spec;
using mjCBase::name;
using mjCBase::info;
@@ -1177,9 +1181,6 @@ class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
}
private:
mjCBodyPair(mjCModel*); // constructor
mjCBodyPair(const mjCBodyPair& other); // copy constructor
mjCBodyPair& operator=(const mjCBodyPair& other); // copy assignment
void Compile(void); // compiler
};
@@ -1206,6 +1207,10 @@ class mjCEquality : public mjCEquality_, private mjsEquality {
friend class mjXWriter;
public:
mjCEquality(mjCModel* = 0, mjCDef* = 0);
mjCEquality(const mjCEquality& other);
mjCEquality& operator=(const mjCEquality& other);
mjsEquality spec;
using mjCBase::name;
using mjCBase::classname;
@@ -1217,10 +1222,6 @@ class mjCEquality : public mjCEquality_, private mjsEquality {
void NameSpace(const mjCModel* m);
private:
mjCEquality(mjCModel* = 0, mjCDef* = 0); // constructor
mjCEquality(const mjCEquality& other); // copy constructor
mjCEquality& operator=(const mjCEquality& other); // copy assignment
void Compile(void); // compiler
};
@@ -1246,6 +1247,11 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
friend class mjXWriter;
public:
mjCTendon(mjCModel* = nullptr, mjCDef* = nullptr);
mjCTendon(const mjCTendon& other);
mjCTendon& operator=(const mjCTendon& other);
~mjCTendon();
mjsTendon spec;
using mjCBase::name;
using mjCBase::classname;
@@ -1279,11 +1285,6 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
bool is_limited() const;
private:
mjCTendon(mjCModel* = 0, mjCDef* = 0); // constructor
mjCTendon(const mjCTendon& other); // copy constructor
mjCTendon& operator=(const mjCTendon& other); // copy assignment
~mjCTendon(); // destructor
void Compile(void); // compiler
};
@@ -1342,14 +1343,13 @@ class mjCPlugin : public mjCPlugin_ {
friend class mjXWriter;
public:
mjCPlugin(mjCModel*);
mjCPlugin(const mjCPlugin& other);
mjCPlugin& operator=(const mjCPlugin& other);
mjsPlugin spec;
mjCBase* parent; // parent object (only used when generating error message)
mjCPlugin(const mjCPlugin& other); // copy constructor
private:
mjCPlugin(mjCModel*); // constructor
mjCPlugin& operator=(const mjCPlugin& other); // copy assignment
void Compile(void); // compiler
};
@@ -1381,6 +1381,10 @@ class mjCActuator : public mjCActuator_, private mjsActuator {
friend class mjXWriter;
public:
mjCActuator(mjCModel* = nullptr, mjCDef* = nullptr);
mjCActuator(const mjCActuator& other);
mjCActuator& operator=(const mjCActuator& other);
mjsActuator spec;
using mjCBase::name;
using mjCBase::classname;
@@ -1397,10 +1401,6 @@ class mjCActuator : public mjCActuator_, private mjsActuator {
bool is_actlimited() const;
private:
mjCActuator(mjCModel* = 0, mjCDef* = 0); // constructor
mjCActuator(const mjCActuator& other); // copy constructor
mjCActuator& operator=(const mjCActuator& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec();
void PointToLocal();
@@ -1436,6 +1436,10 @@ class mjCSensor : public mjCSensor_, private mjsSensor {
friend class mjXWriter;
public:
mjCSensor(mjCModel*);
mjCSensor(const mjCSensor& other);
mjCSensor& operator=(const mjCSensor& other);
mjsSensor spec;
using mjCBase::name;
using mjCBase::classname;
@@ -1447,10 +1451,6 @@ class mjCSensor : public mjCSensor_, private mjsSensor {
const std::string& get_refname() { return spec_refname_; }
private:
mjCSensor(mjCModel*); // constructor
mjCSensor(const mjCSensor& other); // copy constructor
mjCSensor& operator=(const mjCSensor& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec();
void PointToLocal();
@@ -1477,6 +1477,11 @@ class mjCNumeric : public mjCNumeric_, private mjsNumeric {
friend class mjXWriter;
public:
mjCNumeric(mjCModel*);
mjCNumeric(const mjCNumeric& other);
mjCNumeric& operator=(const mjCNumeric& other);
~mjCNumeric();
mjsNumeric spec;
using mjCBase::name;
using mjCBase::info;
@@ -1485,11 +1490,6 @@ class mjCNumeric : public mjCNumeric_, private mjsNumeric {
void CopyFromSpec();
private:
mjCNumeric(mjCModel*); // constructor
mjCNumeric(const mjCNumeric& other); // copy constructor
mjCNumeric& operator=(const mjCNumeric& other); // copy assignment
~mjCNumeric(); // destructor
void Compile(void); // compiler
};
@@ -1509,6 +1509,11 @@ class mjCText : public mjCText_, private mjsText {
friend class mjXWriter;
public:
mjCText(mjCModel*);
mjCText(const mjCText& other);
mjCText& operator=(const mjCText& other);
~mjCText();
mjsText spec;
using mjCBase::name;
using mjCBase::info;
@@ -1517,11 +1522,6 @@ class mjCText : public mjCText_, private mjsText {
void CopyFromSpec();
private:
mjCText(mjCModel*); // constructor
mjCText(const mjCText& other); // copy constructor
mjCText& operator=(const mjCText& other); // copy assignment
~mjCText(); // destructor
void Compile(void); // compiler
};
@@ -1546,6 +1546,11 @@ class mjCTuple : public mjCTuple_, private mjsTuple {
friend class mjXWriter;
public:
mjCTuple(mjCModel*);
mjCTuple(const mjCTuple& other);
mjCTuple& operator=(const mjCTuple& other);
~mjCTuple();
mjsTuple spec;
using mjCBase::name;
using mjCBase::info;
@@ -1556,11 +1561,6 @@ class mjCTuple : public mjCTuple_, private mjsTuple {
void NameSpace(const mjCModel* m);
private:
mjCTuple(mjCModel*); // constructor
mjCTuple(const mjCTuple& other); // copy constructor
mjCTuple& operator=(const mjCTuple& other); // copy assignment
~mjCTuple(); // destructor
void Compile(void); // compiler
};
@@ -1590,6 +1590,11 @@ class mjCKey : public mjCKey_, private mjsKey {
friend class mjXWriter;
public:
mjCKey(mjCModel*);
mjCKey(const mjCKey& other);
mjCKey& operator=(const mjCKey& other);
~mjCKey();
mjsKey spec;
using mjCBase::name;
using mjCBase::info;
@@ -1598,11 +1603,6 @@ class mjCKey : public mjCKey_, private mjsKey {
void CopyFromSpec();
private:
mjCKey(mjCModel*); // constructor
mjCKey(const mjCKey& other); // copy constructor
mjCKey& operator=(const mjCKey& other); // copy assignment
~mjCKey(); // destructor
void Compile(const mjModel* m); // compiler
};