Replace mjCModel with mjmModel in mjXBase.

PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477

src/user/user_api.cc

@@ -28,12 +28,44 @@
 
 // create model
 mjmModel* mjm_createModel() {
-  mjCModel* modelC = new mjCModel();
+  mjCModel* modelC = new mjCModel;
   return &modelC->spec;
 }
 
 
 
+// copy back model
+void mjm_copyBack(mjmModel* model, const mjModel* m) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  modelC->CopyBack(m);
+}
+
+
+
+// compile model
+mjModel* mjm_compileModel(mjmModel* model, const mjVFS* vfs) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  return modelC->Compile(vfs);
+}
+
+
+
+// get error message from model
+const char* mjm_getError(mjmModel* model) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  return modelC->GetError().message;
+}
+
+
+
+// check if model has warnings
+int mjm_isWarning(mjmModel* model) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  return modelC->GetError().warning;
+}
+
+
+
 // delete model
 void mjm_deleteModel(mjmModel* modelspec) {
   mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
@@ -320,8 +352,9 @@ mjmPlugin* mjm_addPlugin(mjmModel* model) {
 
 
 // add default to model
-mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid) {
+mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid, int* id) {
   mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  *id = (int)modelC->defaults.size();
   mjCDef* def = modelC->AddDef(classname, parentid);
   if (def) {
     return &def->spec;
@@ -346,10 +379,10 @@ mjmDefault* mjm_getDefault(mjElement element) {
 
 
 
-// find default in model by class name
-mjmDefault* mjm_findDefault(mjmModel* modelspec, const char* classname) {
-  mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
-  mjCDef* cdef = model->FindDef(classname);
+// Find default with given name in model.
+mjmDefault* mjm_findDefault(mjmModel* model, const char* classname) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  mjCDef* cdef = modelC->FindDef(classname);
   if (!cdef) {
     return nullptr;
   }
@@ -358,6 +391,18 @@ mjmDefault* mjm_findDefault(mjmModel* modelspec, const char* classname) {
 
 
 
+// get default[0] from model
+mjmDefault* mjm_getModelDefault(mjmModel* model) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  mjCDef* def = modelC->defaults[0];
+  if (!def) {
+    return nullptr;
+  }
+  return &def->spec;
+}
+
+
+
 // find body in model by name
 mjmBody* mjm_findBody(mjmModel* modelspec, const char* name) {
   mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
@@ -539,6 +584,16 @@ void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes) {
 
 
 
+// Set active plugins.
+void mjm_setActivePlugins(mjmModel* model, void* activeplugins) {
+  mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
+  std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
+      reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
+  modelC->active_plugins = std::move(*active_plugins);
+}
+
+
+
 // compute full inertia
 const char* mjm_setFullInertia(mjmBody* bodyspec, double quat[4], double inertia[3]) {
   mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);

src/user/user_api.h

@@ -729,6 +729,18 @@ typedef struct _mjmDefault {       // default specification
 // Create model.
 MJAPI mjmModel* mjm_createModel();
 
+// Copy back model.
+MJAPI void mjm_copyBack(mjmModel* model, const mjModel* m);
+
+// Compile model.
+MJAPI mjModel* mjm_compileModel(mjmModel* model, const mjVFS* vfs);
+
+// Get error message from model.
+MJAPI const char* mjm_getError(mjmModel* model);
+
+// Return 1 if model has warnings.
+MJAPI int mjm_isWarning(mjmModel* model);
+
 // Delete model.
 MJAPI void mjm_deleteModel(mjmModel* modelspec);
 
@@ -820,7 +832,7 @@ MJAPI mjmKey* mjm_addKey(mjmModel* model);
 MJAPI mjmPlugin* mjm_addPlugin(mjmModel* model);
 
 // Add default to model.
-MJAPI mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid);
+MJAPI mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid, int* id);
 
 // Get model from body.
 MJAPI mjmModel* mjm_getModel(mjmBody* body);
@@ -831,6 +843,9 @@ MJAPI mjmDefault* mjm_getDefault(mjElement element);
 // Find default in model by class name.
 MJAPI mjmDefault* mjm_findDefault(mjmModel* model, const char* classname);
 
+// Get global default from model.
+MJAPI mjmDefault* mjm_getModelDefault(mjmModel* model);
+
 // Find body in model by name.
 MJAPI mjmBody* mjm_findBody(mjmModel* model, const char* name);
 
@@ -879,6 +894,9 @@ MJAPI const double* mjm_getDouble(mjDoubleVec source, int* size);
 // Set plugin attributes.
 MJAPI void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes);
 
+// Set active plugins.
+MJAPI void mjm_setActivePlugins(mjmModel* model, void* activeplugins);
+
 // Set default.
 MJAPI void mjm_setDefault(mjElement element, mjmDefault* def);
 

src/user/user_composite.cc

@@ -223,7 +223,9 @@ void mjCComposite::SetDefault(void) {
 
 
 // make composite object
-bool mjCComposite::Make(mjCModel* model, mjmBody* body, char* error, int error_sz) {
+bool mjCComposite::Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz) {
+  mjCModel* model = (mjCModel*)modelspec->element;
+
   // check geom type
   if ((def[0].spec.geom->type!=mjGEOM_SPHERE &&
        def[0].spec.geom->type!=mjGEOM_CAPSULE &&

src/user/user_composite.h

@@ -69,7 +69,7 @@ class mjCComposite {
   bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
   void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
 
-  bool Make(mjCModel* model, mjmBody* body, char* error, int error_sz);
+  bool Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz);
 
   bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz);
   bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz);

src/user/user_flexcomp.cc

@@ -82,7 +82,8 @@ mjCFlexcomp::mjCFlexcomp(void) {
 
 
 // make flexcomp object
-bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz) {
+bool mjCFlexcomp::Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz) {
+  mjCModel* model = (mjCModel*)modelspec->element;
   mjmFlex* dflex = def.spec.flex;
   int dim = dflex->dim;
   bool radial = (type==mjFCOMPTYPE_BOX ||

src/user/user_flexcomp.h

@@ -42,7 +42,7 @@ typedef enum _mjtFcompType {
 class mjCFlexcomp {
  public:
   mjCFlexcomp(void);
-  bool Make(mjCModel* model, mjmBody* body, char* error, int error_sz);
+  bool Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz);
 
   bool MakeGrid(char* error, int error_sz);
   bool MakeBox(char* error, int error_sz);

src/user/user_model.cc

@@ -175,6 +175,13 @@ mjCModel::mjCModel() {
 
 
 
+mjCModel::mjCModel(const mjCModel& other) {
+  *this = other;
+  PointToLocal();
+}
+
+
+
 void mjCModel::PointToLocal() {
   spec.element = (mjElement)this;
   spec.comment = (mjString)&spec_comment_;
@@ -504,8 +511,8 @@ int mjCModel::GetFixed(void) {
 
 
 
-// copy of error object
-mjCError mjCModel::GetError(void) {
+// get reference of error object
+const mjCError& mjCModel::GetError(void) {
   return errInfo;
 }
 

src/user/user_model.h

@@ -61,6 +61,7 @@ class mjCModel : private mjmModel {
 
  public:
   mjCModel();
+  mjCModel(const mjCModel& other);
   ~mjCModel();
   void CopyFromSpec();  // copy spec to private attributes
   void PointToLocal();
@@ -105,7 +106,7 @@ class mjCModel : private mjmModel {
   // API for access to other variables
   bool IsCompiled();                                       // is model already compiled
   int GetFixed();                                          // number of fixed massless bodies
-  mjCError GetError();                                     // copy of error object
+  const mjCError& GetError(void);                          // get reference of error object
   mjCBody* GetWorld();                                     // pointer to world body
   mjCDef* FindDef(std::string name);                       // find default class name
   mjCDef* AddDef(std::string name, int parentid);          // add default class to array