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Replace mjCModel with mjmModel in mjXBase.

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PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
This commit is contained in:
Alessio Quaglino
2024-03-01 03:37:37 -08:00
committed by Copybara-Service
parent 419be4c605
commit 1bd44e73bb
18 changed files with 213 additions and 111 deletions
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src/user/user_api.cc
+61 -6
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@@ -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);