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Add mjmDef to C API.

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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
This commit is contained in:
Alessio Quaglino
2024-02-15 06:16:56 -08:00
committed by Copybara-Service
parent 6f958bc404
commit 414a67640a
10 changed files with 405 additions and 263 deletions
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src/user/user_api.cc
+43 -29
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@@ -48,8 +48,8 @@ MJAPI void mjm_finalize(mjElement object) {
// add child body to body, return child spec
mjmBody* mjm_addBody(mjmBody* bodyspec, void* defspec) {
mjCDef* def = static_cast<mjCDef*>(defspec);
mjmBody* mjm_addBody(mjmBody* bodyspec, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element)->AddBody(def);
return &body->spec;
}
@@ -57,8 +57,8 @@ mjmBody* mjm_addBody(mjmBody* bodyspec, void* defspec) {
// add site to body, return site spec
mjmSite* mjm_addSite(mjmBody* bodyspec, void* defspec) {
mjCDef* def = static_cast<mjCDef*>(defspec);
mjmSite* mjm_addSite(mjmBody* bodyspec, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCSite* site = body->AddSite(def);
return &site->spec;
@@ -67,8 +67,8 @@ mjmSite* mjm_addSite(mjmBody* bodyspec, void* defspec) {
// add joint to body
mjmJoint* mjm_addJoint(mjmBody* bodyspec, void* defspec) {
mjCDef* def = static_cast<mjCDef*>(defspec);
mjmJoint* mjm_addJoint(mjmBody* bodyspec, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddJoint(def);
return &joint->spec;
@@ -86,8 +86,8 @@ mjmJoint* mjm_addFreeJoint(mjmBody* bodyspec) {
// add geom to body
mjmGeom* mjm_addGeom(mjmBody* bodyspec, void* defspec) {
mjCDef* def = static_cast<mjCDef*>(defspec);
mjmGeom* mjm_addGeom(mjmBody* bodyspec, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCGeom* geom = body->AddGeom(def);
return &geom->spec;
@@ -96,8 +96,8 @@ mjmGeom* mjm_addGeom(mjmBody* bodyspec, void* defspec) {
// add camera to body
mjmCamera* mjm_addCamera(mjmBody* bodyspec, void* defspec) {
mjCDef* def = static_cast<mjCDef*>(defspec);
mjmCamera* mjm_addCamera(mjmBody* bodyspec, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCCamera* camera = body->AddCamera(def);
return &camera->spec;
@@ -106,8 +106,8 @@ mjmCamera* mjm_addCamera(mjmBody* bodyspec, void* defspec) {
// add light to body
mjmLight* mjm_addLight(mjmBody* bodyspec, void* defspec) {
mjCDef* def = static_cast<mjCDef*>(defspec);
mjmLight* mjm_addLight(mjmBody* bodyspec, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCLight* light = body->AddLight(def);
return &light->spec;
@@ -138,8 +138,8 @@ mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
// add mesh to model
mjmMesh* mjm_addMesh(void* model, void* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec) : 0;
mjmMesh* mjm_addMesh(void* model, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCMesh* mesh = modelC->AddMesh(def);
return &mesh->spec;
@@ -175,9 +175,9 @@ mjmTexture* mjm_addTexture(void* model) {
// add material to model
mjmMaterial* mjm_addMaterial(void* model, void* defspec) {
mjmMaterial* mjm_addMaterial(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def);
return &material->spec;
}
@@ -185,9 +185,9 @@ mjmMaterial* mjm_addMaterial(void* model, void* defspec) {
// add pair to model
mjmPair* mjm_addPair(void* model, void* defspec) {
mjmPair* mjm_addPair(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def);
return &pair->spec;
}
@@ -204,9 +204,9 @@ mjmExclude* mjm_addExclude(void* model) {
// add equality to model
mjmEquality* mjm_addEquality(void* model, void* defspec) {
mjmEquality* mjm_addEquality(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def);
return &equality->spec;
}
@@ -214,9 +214,9 @@ mjmEquality* mjm_addEquality(void* model, void* defspec) {
// add tendon to model
mjmTendon* mjm_addTendon(void* model, void* defspec) {
mjmTendon* mjm_addTendon(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def);
return &tendon->spec;
}
@@ -260,9 +260,9 @@ mjmWrap* mjm_wrapPulley(mjmTendon* tendonspec, double divisor) {
// add actuator to model
mjmActuator* mjm_addActuator(void* model, void* defspec) {
mjmActuator* mjm_addActuator(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def);
return &actuator->spec;
}
@@ -314,7 +314,7 @@ mjmKey* mjm_addKey(void* model) {
// Add plugin to model.
// add plugin to model
mjElement mjm_addPlugin(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCPlugin* plugin = modelC->AddPlugin();
@@ -323,6 +323,19 @@ mjElement mjm_addPlugin(void* model) {
// add default to model
mjmDefault* mjm_addDefault(void* model, const char* classname, int parentid) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = modelC->AddDef(classname, parentid);
if (def) {
return &def->spec;
} else {
return nullptr;
}
}
// get objects
void* mjm_getModel(mjmBody* bodyspec) {
return reinterpret_cast<mjCBody*>(bodyspec->element)->model;
@@ -331,8 +344,8 @@ void* mjm_getModel(mjmBody* bodyspec) {
// get default
void* mjm_getDefault(mjElement element) {
return reinterpret_cast<mjCBase*>(element)->def;
mjmDefault* mjm_getDefault(mjElement element) {
return &(reinterpret_cast<mjCBase*>(element)->def->spec);
}
@@ -381,9 +394,10 @@ int mjm_getId(mjElement element) {
// set default
void mjm_setDefault(mjElement element, void* defspec) {
void mjm_setDefault(mjElement element, mjmDefault* defspec) {
mjCBase* baseC = reinterpret_cast<mjCBase*>(element);
baseC->def = static_cast<mjCDef*>(defspec);
baseC->def = reinterpret_cast<mjCDef*>(defspec->element);
baseC->def->PointToLocal();
}