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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/xml/xml.cc
+13 -13
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@@ -35,7 +35,7 @@
#include "engine/engine_crossplatform.h"
#include "engine/engine_resource.h"
#include "engine/engine_vfs.h"
#include "user/user_model.h"
#include "user/user_api.h"
#include "user/user_util.h"
#include "xml/xml_native_reader.h"
#include "xml/xml_native_writer.h"
@@ -99,7 +99,7 @@ class LocaleOverride {
} // namespace
// Main writer function - calls mjXWrite
std::string mjWriteXML(mjCModel* model, char* error, int error_sz) {
std::string mjWriteXML(mjmModel* model, char* error, int error_sz) {
LocaleOverride locale_override;
// check for empty model
@@ -272,7 +272,7 @@ static void mjIncludeXML(mjXReader& reader, XMLElement* elem,
// Main parser function
mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
mjmModel* mjParseXML(const char* filename, const mjVFS* vfs,
char* error, int error_sz) {
LocaleOverride locale_override;
@@ -285,7 +285,7 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
}
// clear
mjCModel* model = 0;
mjmModel* model = nullptr;
if (error) {
error[0] = '\0';
}
@@ -344,14 +344,14 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
}
// create model, set filedir
model = new mjCModel;
model = mjm_createModel();
const char* dir;
int ndir = 0;
mju_getResourceDir(resource, &dir, &ndir);
if (dir != nullptr) {
mjm_setString(model->spec.modelfiledir, std::string(dir, ndir).c_str());
mjm_setString(model->modelfiledir, std::string(dir, ndir).c_str());
} else {
mjm_setString(model->spec.modelfiledir, "");
mjm_setString(model->modelfiledir, "");
}
// close resource
@@ -363,8 +363,8 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
// find include elements, replace them with subtree from xml file
std::unordered_set<std::string> included = {filename};
mjXReader parser;
parser.SetModelFileDir(mjm_getString(model->spec.modelfiledir));
mjIncludeXML(parser, root, mjm_getString(model->spec.modelfiledir), vfs, included);
parser.SetModelFileDir(mjm_getString(model->modelfiledir));
mjIncludeXML(parser, root, mjm_getString(model->modelfiledir), vfs, included);
// parse MuJoCo model
parser.SetModel(model);
@@ -377,9 +377,9 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
// set reasonable default for parsing a URDF
// this is separate from the Parser to allow multiple URDFs to be loaded.
model->spec.strippath = true;
model->spec.fusestatic = true;
model->spec.discardvisual = true;
model->strippath = true;
model->fusestatic = true;
model->discardvisual = true;
parser.SetModel(model);
parser.Parse(root);
@@ -393,7 +393,7 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
// catch known errors
catch (mjXError err) {
mjCopyError(error, err.message, error_sz);
delete model;
mjm_deleteModel(model);
return nullptr;
}