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Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags

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PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
This commit is contained in:
Yuval Tassa
2022-12-13 11:32:41 -08:00
committed by Copybara-Service
parent 5c021d042b
commit 30b4309af9
10 changed files with 22 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+3 -3
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@@ -1155,13 +1155,13 @@ typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_CONTROL = 1<<3, mjPLUGIN_CONTROL = 1<<3,
} mjtPluginCapabilityBit; } mjtPluginCapabilityBit;
struct mjpPlugin_ { struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes const char* const* attributes; // name of configuration attributes
int capabilities; // bitfield of mjtPluginCapabilityBit specifying optional plugin capabilities int capabilityflags; // bitfield of mjtPluginCapabilityBit specifying plugin capabilities
int needstage; // an mjtStage enum value specifying the sensor computation stage int needstage; // an mjtStage enum value specifying the sensor computation stage
// number of mjtNums needed to store the state of a plugin instance (required) // number of mjtNums needed to store the state of a plugin instance (required)
int (*nstate)(const mjModel* m, int instance); int (*nstate)(const mjModel* m, int instance);
include/mujoco/mjplugin.h
+3 -3
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@@ -28,13 +28,13 @@ typedef enum mjtPluginCapabilityBit_ {
} mjtPluginCapabilityBit; } mjtPluginCapabilityBit;
struct mjpPlugin_ { struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes const char* const* attributes; // name of configuration attributes
int capabilities; // bitfield of mjtPluginCapabilityBit specifying optional plugin capabilities int capabilityflags; // bitfield of mjtPluginCapabilityBit specifying plugin capabilities
int needstage; // an mjtStage enum value specifying the sensor computation stage int needstage; // an mjtStage enum value specifying the sensor computation stage
// number of mjtNums needed to store the state of a plugin instance (required) // number of mjtNums needed to store the state of a plugin instance (required)
int (*nstate)(const mjModel* m, int instance); int (*nstate)(const mjModel* m, int instance);
plugin/elasticity/cable.cc
+1 -1
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@@ -277,7 +277,7 @@ void Cable::RegisterPlugin() {
mjp_defaultPlugin(&plugin); mjp_defaultPlugin(&plugin);
plugin.name = "mujoco.elasticity.cable"; plugin.name = "mujoco.elasticity.cable";
plugin.capabilities |= mjPLUGIN_PASSIVE; plugin.capabilityflags |= mjPLUGIN_PASSIVE;
const char* attributes[] = {"twist", "bend", "flat", "vmax"}; const char* attributes[] = {"twist", "bend", "flat", "vmax"};
plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]); plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
plugin/elasticity/solid.cc
+1 -1
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@@ -355,7 +355,7 @@ void Solid::RegisterPlugin() {
mjp_defaultPlugin(&plugin); mjp_defaultPlugin(&plugin);
plugin.name = "mujoco.elasticity.solid"; plugin.name = "mujoco.elasticity.solid";
plugin.capabilities |= mjPLUGIN_PASSIVE; plugin.capabilityflags |= mjPLUGIN_PASSIVE;
const char* attributes[] = {"nx", "ny", "nz", "young", "poisson", "damping"}; const char* attributes[] = {"nx", "ny", "nz", "young", "poisson", "damping"};
plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]); plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
src/engine/engine_core_smooth.c
+1 -1
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@@ -1454,7 +1454,7 @@ void mj_passive(const mjModel* m, mjData* d) {
if (!plugin) { if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot); mju_error_i("invalid plugin slot: %d", slot);
} }
if (plugin->capabilities & mjPLUGIN_PASSIVE) { if (plugin->capabilityflags & mjPLUGIN_PASSIVE) {
if (!plugin->compute) { if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot); mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
} }
src/engine/engine_forward.c
+2 -2
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@@ -279,7 +279,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
if (!plugin) { if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot); mju_error_i("invalid plugin slot: %d", slot);
} }
if (plugin->capabilities & mjPLUGIN_ACTUATOR) { if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
if (!plugin->compute) { if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot); mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
} }
@@ -790,7 +790,7 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
if (!plugin) { if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot); mju_error_i("invalid plugin slot: %d", slot);
} }
if (plugin->capabilities & mjPLUGIN_CONTROL) { if (plugin->capabilityflags & mjPLUGIN_CONTROL) {
if (!plugin->compute) { if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot); mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
} }
src/engine/engine_sensor.c
+3 -3
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@@ -357,7 +357,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
if (!plugin) { if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot); mju_error_i("invalid plugin slot: %d", slot);
} }
if ((plugin->capabilities & mjPLUGIN_SENSOR) && if ((plugin->capabilityflags & mjPLUGIN_SENSOR) &&
(plugin->needstage==mjSTAGE_POS || plugin->needstage==mjSTAGE_NONE)) { (plugin->needstage==mjSTAGE_POS || plugin->needstage==mjSTAGE_NONE)) {
if (!plugin->compute) { if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot); mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
@@ -538,7 +538,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
if (!plugin) { if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot); mju_error_i("invalid plugin slot: %d", slot);
} }
if ((plugin->capabilities & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) { if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
if (!plugin->compute) { if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot); mju_error_i("`compute` is null for plugin at slot %d", slot);
} }
@@ -747,7 +747,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
if (!plugin) { if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot); mju_error_i("invalid plugin slot: %d", slot);
} }
if ((plugin->capabilities & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) { if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
if (!plugin->compute) { if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot); mju_error_i("`compute` is null for plugin at slot %d", slot);
} }
src/user/user_model.cc
+1 -1
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@@ -2633,7 +2633,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
m->plugin_stateadr[i] = stateadr; m->plugin_stateadr[i] = stateadr;
m->plugin_statenum[i] = nstate; m->plugin_statenum[i] = nstate;
stateadr += nstate; stateadr += nstate;
if (plugin->capabilities & mjPLUGIN_SENSOR) { if (plugin->capabilityflags & mjPLUGIN_SENSOR) {
for (int sensor_id : plugin_to_sensors[i]) { for (int sensor_id : plugin_to_sensors[i]) {
if (!plugin->nsensordata) { if (!plugin->nsensordata) {
mju_error_i("`nsensordata` is null for plugin at slot %d", m->plugin[i]); mju_error_i("`nsensordata` is null for plugin at slot %d", m->plugin[i]);
src/user/user_objects.cc
+3 -3
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@@ -819,7 +819,7 @@ void mjCBody::Compile(void) {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot); const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->capabilities & mjPLUGIN_PASSIVE)) { if (!(plugin->capabilityflags & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", plugin->name); throw mjCError(this, "plugin '%s' does not support passive forces", plugin->name);
} }
} }
@@ -3618,7 +3618,7 @@ void mjCActuator::Compile(void) {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot); const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->capabilities & mjPLUGIN_ACTUATOR)) { if (!(plugin->capabilityflags & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", plugin->name); throw mjCError(this, "plugin '%s' does not support actuators", plugin->name);
} }
} }
@@ -4006,7 +4006,7 @@ void mjCSensor::Compile(void) {
{ {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot); const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->capabilities & mjPLUGIN_SENSOR)) { if (!(plugin->capabilityflags & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", plugin->name); throw mjCError(this, "plugin '%s' does not support sensors", plugin->name);
} }
needstage = static_cast<mjtStage>(plugin->needstage); needstage = static_cast<mjtStage>(plugin->needstage);
test/engine/engine_plugin_test.cc
+3 -3
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@@ -206,7 +206,7 @@ int RegisterSensorPlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes); plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes; plugin.attributes = attributes;
plugin.capabilities |= mjPLUGIN_SENSOR; plugin.capabilityflags |= mjPLUGIN_SENSOR;
plugin.nstate = +[](const mjModel* m, int instance) { return 3; }; plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
plugin.nsensordata = plugin.nsensordata =
@@ -251,7 +251,7 @@ int RegisterActuatorPlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes); plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes; plugin.attributes = attributes;
plugin.capabilities |= mjPLUGIN_ACTUATOR; plugin.capabilityflags |= mjPLUGIN_ACTUATOR;
plugin.nstate = +[](const mjModel* m, int instance) { return 3; }; plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
@@ -294,7 +294,7 @@ int RegisterPassivePlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes); plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes; plugin.attributes = attributes;
plugin.capabilities |= mjPLUGIN_PASSIVE; plugin.capabilityflags |= mjPLUGIN_PASSIVE;
plugin.nstate = +[](const mjModel* m, int instance) { return 0; }; plugin.nstate = +[](const mjModel* m, int instance) { return 0; };