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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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src/user/user_api.cc
+3 -3
View File
@@ -2024,13 +2024,13 @@ void mjs_setString(mjString* dest, const char* text) {
// Set specific entry in destination string vector.
mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text) {
mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text) {
if (dest->size() <= i) {
mju_error("Requested index in mjs_setInStringVec is out of bounds");
return 0;
return false;
}
dest->at(i) = std::string(text);
return 1;
return true;
}
src/user/user_api.h
+1 -1
View File
@@ -377,7 +377,7 @@ MJAPI void mjs_setString(mjString* dest, const char* text);
MJAPI void mjs_setStringVec(mjStringVec* dest, const char* text);
// Set entry in string vector.
MJAPI mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
MJAPI mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
// Append text entry to string vector.
MJAPI void mjs_appendString(mjStringVec* dest, const char* text);
src/user/user_model.cc
+9 -9
View File
@@ -2800,8 +2800,8 @@ void mjCModel::CopyTree(mjModel* m) {
// set joint fields
m->jnt_type[jid] = pj->type;
m->jnt_group[jid] = pj->group;
m->jnt_limited[jid] = (mjtByte)pj->is_limited();
m->jnt_actfrclimited[jid] = (mjtByte)pj->is_actfrclimited();
m->jnt_limited[jid] = (mjtBool)pj->is_limited();
m->jnt_actfrclimited[jid] = (mjtBool)pj->is_actfrclimited();
m->jnt_actgravcomp[jid] = pj->actgravcomp;
m->jnt_qposadr[jid] = pj->qposadr_;
m->jnt_dofadr[jid] = pj->dofadr_;
@@ -3016,8 +3016,8 @@ void mjCModel::CopyTree(mjModel* m) {
m->light_targetbodyid[lid] = pl->targetbodyid;
m->light_type[lid] = pl->type;
m->light_texid[lid] = pl->texid;
m->light_castshadow[lid] = (mjtByte)pl->castshadow;
m->light_active[lid] = (mjtByte)pl->active;
m->light_castshadow[lid] = (mjtBool)pl->castshadow;
m->light_active[lid] = (mjtBool)pl->active;
mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);
mjuu_copyvec(m->light_dir+3*lid, pl->dir, 3);
m->light_bulbradius[lid] = pl->bulbradius;
@@ -3822,8 +3822,8 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tendon_num[i] = (int)pte->path.size();
m->tendon_matid[i] = pte->matid;
m->tendon_group[i] = pte->group;
m->tendon_limited[i] = (mjtByte)pte->is_limited();
m->tendon_actfrclimited[i] = (mjtByte)pte->is_actfrclimited();
m->tendon_limited[i] = (mjtBool)pte->is_limited();
m->tendon_actfrclimited[i] = (mjtBool)pte->is_actfrclimited();
m->tendon_width[i] = (mjtNum)pte->width;
mjuu_copyvec(m->tendon_solref_lim+mjNREF*i, pte->solref_limit, mjNREF);
mjuu_copyvec(m->tendon_solimp_lim+mjNIMP*i, pte->solimp_limit, mjNIMP);
@@ -3891,9 +3891,9 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_historyadr[i] = -1;
}
m->actuator_ctrllimited[i] = (mjtByte)pac->is_ctrllimited();
m->actuator_forcelimited[i] = (mjtByte)pac->is_forcelimited();
m->actuator_actlimited[i] = (mjtByte)pac->is_actlimited();
m->actuator_ctrllimited[i] = (mjtBool)pac->is_ctrllimited();
m->actuator_forcelimited[i] = (mjtBool)pac->is_forcelimited();
m->actuator_actlimited[i] = (mjtBool)pac->is_actlimited();
m->actuator_actearly[i] = pac->actearly;
m->actuator_cranklength[i] = (mjtNum)pac->cranklength;
mjuu_copyvec(m->actuator_gear + 6*i, pac->gear, 6);