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Do not expose plugin_slot.

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PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
This commit is contained in:
Alessio Quaglino
2024-10-07 09:36:36 -07:00
committed by Copybara-Service
parent 66faba9aa5
commit 1f9dca8bc4
17 changed files with 50 additions and 49 deletions
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src/user/user_objects.cc
+9 -5
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@@ -1695,7 +1695,7 @@ void mjCBody::Compile(void) {
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.element = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name);
}
@@ -2949,7 +2949,7 @@ void mjCGeom::Compile(void) {
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.element = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support sign distance fields", pplugin->name);
}
@@ -5908,7 +5908,7 @@ void mjCActuator::Compile(void) {
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.element = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name);
}
@@ -6415,7 +6415,7 @@ void mjCSensor::Compile(void) {
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.element = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name);
}
@@ -6918,6 +6918,7 @@ void mjCKey::Compile(const mjModel* m) {
mjCPlugin::mjCPlugin(mjCModel* _model) {
name = "";
nstate = -1;
plugin_slot = -1;
parent = this;
model = _model;
name.clear();
@@ -6945,6 +6946,7 @@ mjCPlugin& mjCPlugin::operator=(const mjCPlugin& other) {
this->spec = other.spec;
*static_cast<mjCPlugin_*>(this) = static_cast<const mjCPlugin_&>(other);
parent = this;
plugin_slot = other.plugin_slot;
}
return *this;
}
@@ -6953,7 +6955,9 @@ mjCPlugin& mjCPlugin::operator=(const mjCPlugin& other) {
// compiler
void mjCPlugin::Compile(void) {
const mjpPlugin* plugin = mjp_getPluginAtSlot(spec.plugin_slot);
mjCPlugin* plugin_instance = this;
model->ResolvePlugin(this, plugin_name, name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_slot);
// clear precompiled
flattened_attributes.clear();