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added struct function for spec bindings

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This commit is contained in:
AaronYoung5
2024-12-16 14:22:59 -05:00
parent 0cf5500b6a
commit 287256e63f
1 changed files with 14 additions and 7 deletions
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python/mujoco/codegen/generate_spec_bindings.py
+14 -7
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@@ -70,6 +70,19 @@ def _value_binding_code(
return f'{classname}.def_property({",".join(def_property_args)});'
def _struct_binding_code(
field: ast_nodes.AnonymousStructDecl, classname: str = '', varname: str = ''
) -> str:
code = ''
name = classname + varname.title()
# explicitly generate for nested fields with arrays
if any(isinstance(f.type, ast_nodes.ArrayType) for f in field.fields):
for subfield in field.fields:
code += _binding_code(subfield, name)
# generate for the struct itself
field = ast_nodes.ValueType(name=name)
code += _value_binding_code(field, classname, varname)
return code
def _array_binding_code(
field: ast_nodes.ArrayType, classname: str = '', varname: str = ''
@@ -227,13 +240,7 @@ def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
if isinstance(field.type, ast_nodes.ValueType):
return _value_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.AnonymousStructDecl):
code = ""
if field.name in ['headlight', 'rgba']:
for subfield in field.type.fields:
code += _binding_code(subfield, 'mjVisual'+field.name.title())
field.type = ast_nodes.ValueType(name='mjVisual'+field.name.title())
code += _value_binding_code(field.type, key, field.name)
return code
return _struct_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.PointerType):
return _ptr_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.ArrayType):