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Rename spec to sig in state-related API functions.

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(to avoid confusion with mjSpec)

PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
This commit is contained in:
Yuval Tassa
2025-08-16 08:37:41 -07:00
committed by Copybara-Service
parent 5a24eb2d34
commit 1447711037
11 changed files with 77 additions and 77 deletions
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src/engine/engine_support.c
+21 -21
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@@ -112,8 +112,8 @@ const int mjCONDATA_SIZE[mjNCONDATA] = {
//-------------------------- get/set state ---------------------------------------------------------
// return size of a single state element
static inline int mj_stateElemSize(const mjModel* m, mjtState spec) {
switch (spec) {
static inline int mj_stateElemSize(const mjModel* m, mjtState sig) {
switch (sig) {
case mjSTATE_TIME: return 1;
case mjSTATE_QPOS: return m->nq;
case mjSTATE_QVEL: return m->nv;
@@ -128,7 +128,7 @@ static inline int mj_stateElemSize(const mjModel* m, mjtState spec) {
case mjSTATE_USERDATA: return m->nuserdata;
case mjSTATE_PLUGIN: return m->npluginstate;
default:
mjERROR("invalid state element %u", spec);
mjERROR("invalid state element %u", sig);
return 0;
}
}
@@ -136,8 +136,8 @@ static inline int mj_stateElemSize(const mjModel* m, mjtState spec) {
// return pointer to a single state element
static inline mjtNum* mj_stateElemPtr(const mjModel* m, mjData* d, mjtState spec) {
switch (spec) {
static inline mjtNum* mj_stateElemPtr(const mjModel* m, mjData* d, mjtState sig) {
switch (sig) {
case mjSTATE_TIME: return &d->time;
case mjSTATE_QPOS: return d->qpos;
case mjSTATE_QVEL: return d->qvel;
@@ -151,29 +151,29 @@ static inline mjtNum* mj_stateElemPtr(const mjModel* m, mjData* d, mjtState spec
case mjSTATE_USERDATA: return d->userdata;
case mjSTATE_PLUGIN: return d->plugin_state;
default:
mjERROR("invalid state element %u", spec);
mjERROR("invalid state element %u", sig);
return NULL;
}
}
static inline const mjtNum* mj_stateElemConstPtr(const mjModel* m, const mjData* d, mjtState spec) {
return mj_stateElemPtr(m, (mjData*) d, spec); // discard const qualifier from d
static inline const mjtNum* mj_stateElemConstPtr(const mjModel* m, const mjData* d, mjtState sig) {
return mj_stateElemPtr(m, (mjData*) d, sig); // discard const qualifier from d
}
// get size of state specification
int mj_stateSize(const mjModel* m, unsigned int spec) {
if (spec >= (1<<mjNSTATE)) {
mjERROR("invalid state spec %u >= 2^mjNSTATE", spec);
// get size of state signature
int mj_stateSize(const mjModel* m, unsigned int sig) {
if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig);
}
int size = 0;
for (int i=0; i < mjNSTATE; i++) {
mjtState element = 1<<i;
if (element & spec) {
if (element & sig) {
size += mj_stateElemSize(m, element);
}
}
@@ -184,15 +184,15 @@ int mj_stateSize(const mjModel* m, unsigned int spec) {
// get state
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int spec) {
if (spec >= (1<<mjNSTATE)) {
mjERROR("invalid state spec %u >= 2^mjNSTATE", spec);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig) {
if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig);
}
int adr = 0;
for (int i=0; i < mjNSTATE; i++) {
mjtState element = 1<<i;
if (element & spec) {
if (element & sig) {
int size = mj_stateElemSize(m, element);
// special handling of eq_active (mjtByte)
@@ -216,15 +216,15 @@ void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int
// set state
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int spec) {
if (spec >= (1<<mjNSTATE)) {
mjERROR("invalid state spec %u >= 2^mjNSTATE", spec);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig) {
if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig);
}
int adr = 0;
for (int i=0; i < mjNSTATE; i++) {
mjtState element = 1<<i;
if (element & spec) {
if (element & sig) {
int size = mj_stateElemSize(m, element);
// special handling of eq_active (mjtByte)