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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/xml/xml_native_writer.cc
+12 -12
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@@ -806,7 +806,7 @@ string mjXWriter::Write(char *error, size_t error_sz) {
Visual(root);
Statistic(root);
writingdefaults = true;
Default(root, model->defaults[0]);
Default(root, model->Defaults()[0]);
writingdefaults = false;
Extension(root);
Custom(root);
@@ -1136,7 +1136,7 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
// pointer to parent defaults
mjCDef* par;
if (def->parentid>=0) {
par = model->defaults[def->parentid];
par = model->Defaults()[def->parentid];
} else {
par = new mjCDef;
}
@@ -1209,7 +1209,7 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
// add children recursively
for (int i=0; i<(int)def->childid.size(); i++) {
Default(section, model->defaults[def->childid[i]]);
Default(section, model->Defaults()[def->childid[i]]);
}
// delete parent defaults if allocated here
@@ -1223,7 +1223,7 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
// extension section
void mjXWriter::Extension(XMLElement* root) {
// skip section if there is no required plugin
if (model->active_plugins.empty()) {
if (model->ActivePlugins().empty()) {
return;
}
@@ -1236,7 +1236,7 @@ void mjXWriter::Extension(XMLElement* root) {
// write all plugins
const mjpPlugin* last_plugin = nullptr;
XMLElement* plugin_elem = nullptr;
for (int i = 0; i < model->plugins.size(); ++i) {
for (int i = 0; i < model->Plugins().size(); ++i) {
mjCPlugin* pp = static_cast<mjCPlugin*>(model->GetObject(mjOBJ_PLUGIN, i));
if (pp->name.empty()) {
@@ -1273,7 +1273,7 @@ void mjXWriter::Extension(XMLElement* root) {
}
// write <plugin> elements for plugins without explicit instances
for (const auto& [plugin, slot] : model->active_plugins) {
for (const auto& [plugin, slot] : model->ActivePlugins()) {
if (seen_plugins.find(plugin) == seen_plugins.end()) {
plugin_elem = InsertEnd(section, "plugin");
WriteAttrTxt(plugin_elem, "plugin", plugin->name);
@@ -1755,7 +1755,7 @@ void mjXWriter::Sensor(XMLElement* root) {
// write all sensors
for (int i=0; i<num; i++) {
XMLElement* elem = 0;
mjCSensor* psen = model->sensors[i];
mjCSensor* psen = model->Sensors()[i];
std::string instance_name = "";
std::string plugin_name = "";
@@ -1994,7 +1994,7 @@ void mjXWriter::Keyframe(XMLElement* root) {
XMLElement* elem = InsertEnd(section, "key");
bool change = false;
mjCKey* pk = model->keys[i];
mjCKey* pk = model->Keys()[i];
// check name and write
if (!pk->name.empty()) {
@@ -2038,8 +2038,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
// check mpos and write
if (model->nmocap) {
for (int j=0; j<model->nbody; j++) {
if (model->bodies[j]->mocap) {
mjCBody* pb = model->bodies[j];
if (model->Bodies()[j]->mocap) {
mjCBody* pb = model->Bodies()[j];
int id = pb->mocapid;
if (pb->pos[0] != pk->mpos_[3*id] ||
pb->pos[1] != pk->mpos_[3*id+1] ||
@@ -2055,8 +2055,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
// check mquat and write
if (model->nmocap) {
for (int j=0; j<model->nbody; j++) {
if (model->bodies[j]->mocap) {
mjCBody* pb = model->bodies[j];
if (model->Bodies()[j]->mocap) {
mjCBody* pb = model->Bodies()[j];
int id = pb->mocapid;
if (pb->quat[0] != pk->mquat_[4*id] ||
pb->quat[1] != pk->mquat_[4*id+1] ||