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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.h
+35 -14
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@@ -641,6 +641,24 @@ typedef struct _mjmKey { // keyframe specification
} mjmKey;
typedef struct _mjmDefault { // default specification
mjString name; // name
mjElement element; // internal, do not modify
mjmJoint* joint; // joint defaults
mjmGeom* geom; // geom defaults
mjmSite* site; // site defaults
mjmCamera* camera; // camera defaults
mjmLight* light; // light defaults
mjmFlex* flex; // flex defaults
mjmMesh* mesh; // mesh defaults
mjmMaterial* material; // material defaults
mjmPair* pair; // pair defaults
mjmEquality* equality; // equality defaults
mjmTendon* tendon; // tendon defaults
mjmActuator* actuator; // actuator defaults
} mjmDefault;
//---------------------------------- API functions -------------------------------------------------
// Create model.
@@ -653,25 +671,25 @@ MJAPI void mjm_deleteModel(void* modelspec);
MJAPI void mjm_finalize(mjElement object);
// Add child body to body, return child spec.
MJAPI mjmBody* mjm_addBody(mjmBody* body, void* defspec);
MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
// Add site to body, return site spec.
MJAPI mjmSite* mjm_addSite(mjmBody* body, void* defspec);
MJAPI mjmSite* mjm_addSite(mjmBody* body, mjmDefault* def);
// Add joint to body.
MJAPI mjmJoint* mjm_addJoint(mjmBody* body, void* defspec);
MJAPI mjmJoint* mjm_addJoint(mjmBody* body, mjmDefault* def);
// Add freejoint to body.
MJAPI mjmJoint* mjm_addFreeJoint(mjmBody* body);
// Add geom to body.
MJAPI mjmGeom* mjm_addGeom(mjmBody* body, void* defspec);
MJAPI mjmGeom* mjm_addGeom(mjmBody* body, mjmDefault* def);
// Add camera to body.
MJAPI mjmCamera* mjm_addCamera(mjmBody* body, void* defspec);
MJAPI mjmCamera* mjm_addCamera(mjmBody* body, mjmDefault* def);
// Add light to body.
MJAPI mjmLight* mjm_addLight(mjmBody* body, void* defspec);
MJAPI mjmLight* mjm_addLight(mjmBody* body, mjmDefault* def);
// Add frame to body.
MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
@@ -680,7 +698,7 @@ MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
MJAPI mjmFlex* mjm_addFlex(void* model);
// Add mesh to model.
MJAPI mjmMesh* mjm_addMesh(void* model, void* defspec);
MJAPI mjmMesh* mjm_addMesh(void* model, mjmDefault* def);
// Add height field to model.
MJAPI mjmHField* mjm_addHField(void* model);
@@ -692,19 +710,19 @@ MJAPI mjmSkin* mjm_addSkin(void* model);
MJAPI mjmTexture* mjm_addTexture(void* model);
// Add material to model.
MJAPI mjmMaterial* mjm_addMaterial(void* model, void* defspec);
MJAPI mjmMaterial* mjm_addMaterial(void* model, mjmDefault* def);
// Add pair to model.
MJAPI mjmPair* mjm_addPair(void* model, void* defspec);
MJAPI mjmPair* mjm_addPair(void* model, mjmDefault* def);
// Add excluded body pair to model.
MJAPI mjmExclude* mjm_addExclude(void *model);
// Add equality to model.
MJAPI mjmEquality* mjm_addEquality(void* model, void* defspec);
MJAPI mjmEquality* mjm_addEquality(void* model, mjmDefault* def);
// Add tendon to model.
MJAPI mjmTendon* mjm_addTendon(void* model, void* defspec);
MJAPI mjmTendon* mjm_addTendon(void* model, mjmDefault* def);
// Wrap site using tendon.
MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name);
@@ -719,7 +737,7 @@ MJAPI mjmWrap* mjm_wrapJoint(mjmTendon* tendon, const char* name, double coef);
MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor);
// Add actuator to model.
MJAPI mjmActuator* mjm_addActuator(void* model, void* defspec);
MJAPI mjmActuator* mjm_addActuator(void* model, mjmDefault* def);
// Add sensor to model.
MJAPI mjmSensor* mjm_addSensor(void* model);
@@ -739,11 +757,14 @@ MJAPI mjmKey* mjm_addKey(void* model);
// Add plugin to model.
MJAPI mjElement mjm_addPlugin(void* model);
// Add default to model.
MJAPI mjmDefault* mjm_addDefault(void* model, const char* classname, int parentid);
// Get model from body.
MJAPI void* mjm_getModel(mjmBody* body);
// Get default corresponding to an mjElement.
MJAPI void* mjm_getDefault(mjElement element);
MJAPI mjmDefault* mjm_getDefault(mjElement element);
// Find body in model by name.
MJAPI mjmBody* mjm_findBody(void* modelspec, const char* name);
@@ -788,7 +809,7 @@ MJAPI const char* mjm_getString(mjString source);
MJAPI const double* mjm_getDouble(mjDoubleVec source, int* size);
// Set default.
MJAPI void mjm_setDefault(mjElement element, void* defspec);
MJAPI void mjm_setDefault(mjElement element, mjmDefault* def);
// Set frame.
MJAPI void mjm_setFrame(mjElement dest, mjmFrame* frame);