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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_native_reader.cc
+50 -47
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@@ -808,31 +808,31 @@ void mjXReader::Parse(XMLElement* root) {
// get model name
string modelname;
if (ReadAttrTxt(root, "model", modelname)) {
mjm_setString(model->spec.modelname, modelname.c_str());
mjm_setString(model->modelname, modelname.c_str());
}
// get comment
if (root->FirstChild() && root->FirstChild()->ToComment()) {
mjm_setString(model->spec.comment, root->FirstChild()->Value());
mjm_setString(model->comment, root->FirstChild()->Value());
} else {
mjm_setString(model->spec.comment, "");
mjm_setString(model->comment, "");
}
//------------------- parse MuJoCo sections embedded in all XML formats
for (XMLElement* section = FirstChildElement(root, "compiler"); section;
section = NextSiblingElement(section, "compiler")) {
Compiler(section, &model->spec);
Compiler(section, model);
}
for (XMLElement* section = FirstChildElement(root, "option"); section;
section = NextSiblingElement(section, "option")) {
Option(section, &model->spec.option);
Option(section, &model->option);
}
for (XMLElement* section = FirstChildElement(root, "size"); section;
section = NextSiblingElement(section, "size")) {
Size(section, &model->spec);
Size(section, model);
}
//------------------ parse MJCF-specific sections
@@ -871,7 +871,7 @@ void mjXReader::Parse(XMLElement* root) {
for (XMLElement* section = FirstChildElement(root, "worldbody"); section;
section = NextSiblingElement(section, "worldbody")) {
Body(section, &model->GetWorld()->spec, nullptr);
Body(section, mjm_findBody(model, "world"), nullptr);
}
for (XMLElement* section = FirstChildElement(root, "contact"); section;
@@ -1261,15 +1261,14 @@ void mjXReader::Statistic(XMLElement* section) {
string text;
// read statistics
mjmModel* pmodel = &model->spec;
ReadAttr(section, "meaninertia", 1, &pmodel->stat.meaninertia, text);
ReadAttr(section, "meanmass", 1, &pmodel->stat.meanmass, text);
ReadAttr(section, "meansize", 1, &pmodel->stat.meansize, text);
ReadAttr(section, "extent", 1, &pmodel->stat.extent, text);
if (mjuu_defined(pmodel->stat.extent) && pmodel->stat.extent<=0) {
ReadAttr(section, "meaninertia", 1, &model->stat.meaninertia, text);
ReadAttr(section, "meanmass", 1, &model->stat.meanmass, text);
ReadAttr(section, "meansize", 1, &model->stat.meansize, text);
ReadAttr(section, "extent", 1, &model->stat.extent, text);
if (mjuu_defined(model->stat.extent) && model->stat.extent<=0) {
throw mjXError(section, "extent must be strictly positive");
}
ReadAttr(section, "center", 3, pmodel->stat.center, text);
ReadAttr(section, "center", 3, model->stat.center, text);
}
@@ -2617,7 +2616,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
mjm_setString(plugin->name, name.c_str());
mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(&model->spec)->instance;
plugin->instance = mjm_addPlugin(model)->instance;
ReadPluginConfigs(elem, plugin);
} else {
model->hasImplicitPluginElem = true;
@@ -2646,14 +2645,13 @@ void mjXReader::Default(XMLElement* section, int parentid) {
}
}
if (parentid>=0) {
thisid = (int)model->defaults.size();
def = mjm_addDefault(&model->spec, text.c_str(), parentid);
def = mjm_addDefault(model, text.c_str(), parentid, &thisid);
if (!def) {
throw mjXError(section, "repeated default class name");
}
} else {
thisid = 0;
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
mjm_setString(def->name, text.c_str());
}
@@ -2731,6 +2729,8 @@ void mjXReader::Default(XMLElement* section, int parentid) {
// extension section parser
void mjXReader::Extension(XMLElement* section) {
XMLElement* elem = FirstChildElement(section);
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
while (elem) {
// get sub-element name
std::string_view name = elem->Value();
@@ -2745,14 +2745,14 @@ void mjXReader::Extension(XMLElement* section) {
}
bool already_declared = false;
for (const auto& [existing_plugin, existing_slot] : model->active_plugins) {
for (const auto& [existing_plugin, existing_slot] : active_plugins) {
if (plugin == existing_plugin) {
already_declared = true;
break;
}
}
if (!already_declared) {
model->active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
}
XMLElement* child = FirstChildElement(elem);
@@ -2763,7 +2763,7 @@ void mjXReader::Extension(XMLElement* section) {
child, "explicit plugin instance must appear before implicit plugin elements");
}
string name;
mjmPlugin* p = mjm_addPlugin(&model->spec);
mjmPlugin* p = mjm_addPlugin(model);
mjm_setString(p->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
ReadAttrTxt(child, "name", name, /* required = */ true);
mjm_setString(p->name, name.c_str());
@@ -2780,6 +2780,8 @@ void mjXReader::Extension(XMLElement* section) {
// advance to next element
elem = NextSiblingElement(elem);
}
mjm_setActivePlugins(model, &active_plugins);
}
@@ -2800,7 +2802,7 @@ void mjXReader::Custom(XMLElement* section) {
// numeric
if (name=="numeric") {
// create custom
mjmNumeric* pnum = mjm_addNumeric(&model->spec);
mjmNumeric* pnum = mjm_addNumeric(model);
// write error info
mjm_setString(pnum->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
@@ -2831,7 +2833,7 @@ void mjXReader::Custom(XMLElement* section) {
// text
else if (name=="text") {
// create custom
mjmText* pte = mjm_addText(&model->spec);
mjmText* pte = mjm_addText(model);
// write error info
mjm_setString(pte->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
@@ -2851,7 +2853,7 @@ void mjXReader::Custom(XMLElement* section) {
// tuple
else if (name=="tuple") {
// create custom
mjmTuple* ptu = mjm_addTuple(&model->spec);
mjmTuple* ptu = mjm_addTuple(model);
// write error info
mjm_setString(ptu->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
@@ -2910,7 +2912,7 @@ void mjXReader::Custom(XMLElement* section) {
void mjXReader::Visual(XMLElement* section) {
string text, name;
XMLElement* elem;
mjVisual* vis = &model->spec.visual;
mjVisual* vis = &model->visual;
// iterate over child elements
elem = FirstChildElement(section);
@@ -3052,13 +3054,13 @@ void mjXReader::Asset(XMLElement* section) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
if (!def) {
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
}
// texture sub-element
if (name=="texture") {
// create texture
mjmTexture* ptex = mjm_addTexture(&model->spec);
mjmTexture* ptex = mjm_addTexture(model);
// write error info
mjm_setString(ptex->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
@@ -3126,28 +3128,28 @@ void mjXReader::Asset(XMLElement* section) {
// material sub-element
else if (name=="material") {
// create material and parse
mjmMaterial* pmat = mjm_addMaterial(&model->spec, def);
mjmMaterial* pmat = mjm_addMaterial(model, def);
OneMaterial(elem, pmat);
}
// mesh sub-element
else if (name=="mesh") {
// create mesh and parse
mjmMesh* pmesh = mjm_addMesh(&model->spec, def);
mjmMesh* pmesh = mjm_addMesh(model, def);
OneMesh(elem, pmesh);
}
// skin sub-element... deprecate ???
else if (name=="skin") {
// create skin and parse
mjmSkin* pskin = mjm_addSkin(&model->spec);
mjmSkin* pskin = mjm_addSkin(model);
OneSkin(elem, pskin);
}
// hfield sub-element
else if (name=="hfield") {
// create hfield
mjmHField* phf = mjm_addHField(&model->spec);
mjmHField* phf = mjm_addHField(model);
// write error info
mjm_setString(phf->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
@@ -3356,7 +3358,8 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
// read childdef
mjmDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = &model->FindDef(text)->spec;
childdef = mjm_findDefault(model, text.c_str());
mjm_findDefault(model, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
@@ -3423,19 +3426,19 @@ void mjXReader::Contact(XMLElement* section) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
if (!def) {
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
}
// geom pair to include
if (name=="pair") {
// create pair and parse
mjmPair* ppair = mjm_addPair(&model->spec, def);
mjmPair* ppair = mjm_addPair(model, def);
OnePair(elem, ppair);
}
// body pair to exclude
else if (name=="exclude") {
mjmExclude* pexclude = mjm_addExclude(&model->spec);
mjmExclude* pexclude = mjm_addExclude(model);
string exname, exbody1, exbody2;
// write error info
@@ -3468,11 +3471,11 @@ void mjXReader::Equality(XMLElement* section) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
if (!def) {
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
}
// create equality constraint and parse
mjmEquality* pequality = mjm_addEquality(&model->spec, def);
mjmEquality* pequality = mjm_addEquality(model, def);
OneEquality(elem, pequality);
// advance to next element
@@ -3496,20 +3499,20 @@ void mjXReader::Deformable(XMLElement* section) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
if (!def) {
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
}
// flex sub-element
if (name=="flex") {
// create flex and parse
mjmFlex* pflex = mjm_addFlex(&model->spec);
mjmFlex* pflex = mjm_addFlex(model);
OneFlex(elem, pflex);
}
// skin sub-element
else if (name=="skin") {
// create skin and parse
mjmSkin* pskin = mjm_addSkin(&model->spec);
mjmSkin* pskin = mjm_addSkin(model);
OneSkin(elem, pskin);
}
@@ -3532,11 +3535,11 @@ void mjXReader::Tendon(XMLElement* section) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
if (!def) {
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
}
// create equality constraint and parse
mjmTendon* pten = mjm_addTendon(&model->spec, def);
mjmTendon* pten = mjm_addTendon(model, def);
OneTendon(elem, pten);
// process wrap sub-elements
@@ -3598,11 +3601,11 @@ void mjXReader::Actuator(XMLElement* section) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
if (!def) {
def = &model->defaults[0]->spec;
def = mjm_getModelDefault(model);
}
// create actuator and parse
mjmActuator* pact = mjm_addActuator(&model->spec, def);
mjmActuator* pact = mjm_addActuator(model, def);
OneActuator(elem, pact);
// advance to next element
@@ -3618,7 +3621,7 @@ void mjXReader::Sensor(XMLElement* section) {
XMLElement* elem = FirstChildElement(section);
while (elem) {
// create sensor, get string type
mjmSensor* psen = mjm_addSensor(&model->spec);
mjmSensor* psen = mjm_addSensor(model);
string type = elem->Value();
string text, name, objname, refname;
std::vector<double> userdata;
@@ -3935,7 +3938,7 @@ void mjXReader::Keyframe(XMLElement* section) {
string text, name = "";
// add keyframe
mjmKey* pk = mjm_addKey(&model->spec);
mjmKey* pk = mjm_addKey(model);
// read name, time
ReadAttrTxt(elem, "name", name);
@@ -3991,7 +3994,7 @@ mjmDefault* mjXReader::GetClass(XMLElement* section) {
mjmDefault* def = nullptr;
if (ReadAttrTxt(section, "class", text)) {
def = mjm_findDefault(&model->spec, text.c_str());
def = mjm_findDefault(model, text.c_str());
if (!def) {
throw mjXError(
section,