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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/xml/xml_native_reader.cc
+127 -119
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@@ -1665,7 +1665,7 @@ void mjXReader::OneGeom(XMLElement* elem, mjmGeom* pgeom) {
// site element parser
void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
void mjXReader::OneSite(XMLElement* elem, mjmSite* site) {
int n;
string text, name, classname;
std::vector<double> userdata;
@@ -1673,30 +1673,30 @@ void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(site.name, name.c_str());
mjm_setString(site->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(site.classname, classname.c_str());
mjm_setString(site->classname, classname.c_str());
}
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
site.type = (mjtGeom)n;
site->type = (mjtGeom)n;
}
ReadAttr(elem, "size", 3, site.size, text, false, false);
ReadAttrInt(elem, "group", &site.group);
ReadAttr(elem, "pos", 3, site.pos, text);
ReadQuat(elem, "quat", site.quat, text);
ReadAttr(elem, "size", 3, site->size, text, false, false);
ReadAttrInt(elem, "group", &site->group);
ReadAttr(elem, "pos", 3, site->pos, text);
ReadQuat(elem, "quat", site->quat, text);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(site.material, material.c_str());
mjm_setString(site->material, material.c_str());
}
ReadAttr(elem, "rgba", 4, site.rgba, text);
ReadAttr(elem, "fromto", 6, site.fromto, text);
ReadAlternative(elem, site.alt);
ReadAttr(elem, "rgba", 4, site->rgba, text);
ReadAttr(elem, "fromto", 6, site->fromto, text);
ReadAlternative(elem, site->alt);
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(site.userdata, userdata.data(), userdata.size());
mjm_setDouble(site->userdata, userdata.data(), userdata.size());
}
// write error info
mjm_setString(site.info,
mjm_setString(site->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2240,7 +2240,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjmActuator* pact) {
// make composite
void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def) {
string text;
int n;
@@ -2326,7 +2326,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
XMLElement* egeom = FirstChildElement(elem, "geom");
if (egeom) {
std::string material;
mjmGeom& dgeom = comp.def[0].geom.spec;
mjmGeom& dgeom = *comp.def[0].spec.geom;
if (MapValue(egeom, "type", &n, geom_map, mjNGEOMTYPES)) {
dgeom.type = (mjtGeom)n;
}
@@ -2354,7 +2354,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
XMLElement* esite = FirstChildElement(elem, "site");
if (esite) {
std::string material;
mjmSite& dsite = comp.def[0].site.spec;
mjmSite& dsite = *comp.def[0].spec.site;
ReadAttr(esite, "size", 3, dsite.size, text, false, false);
ReadAttrInt(esite, "group", &dsite.group);
ReadAttrTxt(esite, "material", material);
@@ -2379,33 +2379,35 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
comp.add[kind] = true;
// get element
mjCDef *el = &comp.defjoint[(mjtCompKind)kind].back();
mjmDefault* dspec = &comp.defjoint[(mjtCompKind)kind].back().spec;
mjmJoint& djoint = *dspec->joint;
mjmEquality& dequality = *dspec->equality;
// particle joint
if (MapValue(ejnt, "type", &n, joint_map, joint_sz)) {
el->joint.spec.type = (mjtJoint)n;
djoint.type = (mjtJoint)n;
}
ReadAttr(ejnt, "axis", 3, el->joint.spec.axis, text);
ReadAttr(ejnt, "axis", 3, djoint.axis, text);
// solreffix, solimpfix
ReadAttr(ejnt, "solreffix", mjNREF, el->equality.spec.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, el->equality.spec.solimp, text, false, false);
ReadAttr(ejnt, "solreffix", mjNREF, dequality.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, dequality.solimp, text, false, false);
// joint attributes
MapValue(elem, "limited", &el->joint.spec.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &el->joint.spec.group);
ReadAttr(ejnt, "solreflimit", mjNREF, el->joint.spec.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, el->joint.spec.solimp_limit, text, false, false);
MapValue(elem, "limited", &djoint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &djoint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, djoint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, djoint.solimp_limit, text, false, false);
ReadAttr(ejnt,
"solreffriction", mjNREF, el->joint.spec.solref_friction, text, false, false);
"solreffriction", mjNREF, djoint.solref_friction, text, false, false);
ReadAttr(ejnt,
"solimpfriction", mjNIMP, el->joint.spec.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &el->joint.spec.stiffness, text);
ReadAttr(ejnt, "range", 2, el->joint.spec.range, text);
ReadAttr(ejnt, "margin", 1, &el->joint.spec.margin, text);
ReadAttr(ejnt, "armature", 1, &el->joint.spec.armature, text);
ReadAttr(ejnt, "damping", 1, &el->joint.spec.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &el->joint.spec.frictionloss, text);
"solimpfriction", mjNIMP, djoint.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &djoint.stiffness, text);
ReadAttr(ejnt, "range", 2, djoint.range, text);
ReadAttr(ejnt, "margin", 1, &djoint.margin, text);
ReadAttr(ejnt, "armature", 1, &djoint.armature, text);
ReadAttr(ejnt, "damping", 1, &djoint.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &djoint.frictionloss, text);
// advance
ejnt = NextSiblingElement(ejnt, "joint");
@@ -2419,29 +2421,33 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
MapValue(eten, "kind", &kind, tkind_map, 2, true);
comp.add[kind] = true;
// get default structs
mjmTendon& dtendon = *comp.def[kind].spec.tendon;
mjmEquality& dequality = *comp.def[kind].spec.equality;
// solreffix, solimpfix
ReadAttr(eten, "solreffix", mjNREF, comp.def[kind].equality.spec.solref, text, false, false);
ReadAttr(eten, "solimpfix", mjNIMP, comp.def[kind].equality.spec.solimp, text, false, false);
ReadAttr(eten, "solreffix", mjNREF, dequality.solref, text, false, false);
ReadAttr(eten, "solimpfix", mjNIMP, dequality.solimp, text, false, false);
// tendon attributes
std::string material;
MapValue(elem, "limited", &comp.def[kind].tendon.spec.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &comp.def[kind].tendon.spec.group);
ReadAttr(eten, "solreflimit", mjNREF, comp.def[kind].tendon.spec.solref_limit, text, false, false);
ReadAttr(eten, "solimplimit", mjNIMP, comp.def[kind].tendon.spec.solimp_limit, text, false, false);
MapValue(elem, "limited", &dtendon.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &dtendon.group);
ReadAttr(eten, "solreflimit", mjNREF, dtendon.solref_limit, text, false, false);
ReadAttr(eten, "solimplimit", mjNIMP, dtendon.solimp_limit, text, false, false);
ReadAttr(eten,
"solreffriction", mjNREF, comp.def[kind].tendon.spec.solref_friction, text, false, false);
"solreffriction", mjNREF, dtendon.solref_friction, text, false, false);
ReadAttr(eten,
"solimpfriction", mjNIMP, comp.def[kind].tendon.spec.solimp_friction, text, false, false);
ReadAttr(eten, "range", 2, comp.def[kind].tendon.spec.range, text);
ReadAttr(eten, "margin", 1, &comp.def[kind].tendon.spec.margin, text);
ReadAttr(eten, "stiffness", 1, &comp.def[kind].tendon.spec.stiffness, text);
ReadAttr(eten, "damping", 1, &comp.def[kind].tendon.spec.damping, text);
ReadAttr(eten, "frictionloss", 1, &comp.def[kind].tendon.spec.frictionloss, text);
"solimpfriction", mjNIMP, dtendon.solimp_friction, text, false, false);
ReadAttr(eten, "range", 2, dtendon.range, text);
ReadAttr(eten, "margin", 1, &dtendon.margin, text);
ReadAttr(eten, "stiffness", 1, &dtendon.stiffness, text);
ReadAttr(eten, "damping", 1, &dtendon.damping, text);
ReadAttr(eten, "frictionloss", 1, &dtendon.frictionloss, text);
ReadAttrTxt(eten, "material", material);
mjm_setString(comp.def[kind].tendon.spec.material, material.c_str());
ReadAttr(eten, "rgba", 4, comp.def[kind].tendon.spec.rgba, text);
ReadAttr(eten, "width", 1, &comp.def[kind].tendon.spec.width, text);
mjm_setString(dtendon.material, material.c_str());
ReadAttr(eten, "rgba", 4, dtendon.rgba, text);
ReadAttr(eten, "width", 1, &dtendon.width, text);
// advance
eten = NextSiblingElement(eten, "tendon");
@@ -2481,6 +2487,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
// create out-of-DOM element
mjCFlexcomp fcomp;
mjmFlex& dflex = *fcomp.def.spec.flex;
// common properties
ReadAttrTxt(elem, "name", fcomp.name, true);
@@ -2494,15 +2501,15 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
ReadAttr(elem, "inertiabox", 1, &fcomp.inertiabox, text);
ReadAttrTxt(elem, "file", fcomp.file);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(fcomp.def.flex.spec.material, material.c_str());
mjm_setString(dflex.material, material.c_str());
}
ReadAttr(elem, "rgba", 4, fcomp.def.flex.spec.rgba, text);
ReadAttr(elem, "rgba", 4, dflex.rgba, text);
if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
fcomp.def.flex.spec.flatskin = (n==1);
dflex.flatskin = (n==1);
}
ReadAttrInt(elem, "dim", &fcomp.def.flex.spec.dim);
ReadAttr(elem, "radius", 1, &fcomp.def.flex.spec.radius, text);
ReadAttrInt(elem, "group", &fcomp.def.flex.spec.group);
ReadAttrInt(elem, "dim", &dflex.dim);
ReadAttr(elem, "radius", 1, &dflex.radius, text);
ReadAttrInt(elem, "group", &dflex.group);
// pose
ReadAttr(elem, "pos", 3, fcomp.pos, text);
@@ -2529,30 +2536,30 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
if (MapValue(edge, "equality", &n, bool_map, 2)) {
fcomp.equality = (n==1);
}
ReadAttr(edge, "solref", mjNREF, fcomp.def.equality.spec.solref, text, false, false);
ReadAttr(edge, "solimp", mjNIMP, fcomp.def.equality.spec.solimp, text, false, false);
ReadAttr(edge, "stiffness", 1, &fcomp.def.flex.spec.edgestiffness, text);
ReadAttr(edge, "damping", 1, &fcomp.def.flex.spec.edgedamping, text);
ReadAttr(edge, "solref", mjNREF, fcomp.def.spec.equality->solref, text, false, false);
ReadAttr(edge, "solimp", mjNIMP, fcomp.def.spec.equality->solimp, text, false, false);
ReadAttr(edge, "stiffness", 1, &dflex.edgestiffness, text);
ReadAttr(edge, "damping", 1, &dflex.edgedamping, text);
}
// contact
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {
ReadAttrInt(cont, "contype", &fcomp.def.flex.spec.contype);
ReadAttrInt(cont, "conaffinity", &fcomp.def.flex.spec.conaffinity);
ReadAttrInt(cont, "condim", &fcomp.def.flex.spec.condim);
ReadAttrInt(cont, "priority", &fcomp.def.flex.spec.priority);
ReadAttr(cont, "friction", 3, fcomp.def.flex.spec.friction, text, false, false);
ReadAttr(cont, "solmix", 1, &fcomp.def.flex.spec.solmix, text);
ReadAttr(cont, "solref", mjNREF, fcomp.def.flex.spec.solref, text, false, false);
ReadAttr(cont, "solimp", mjNIMP, fcomp.def.flex.spec.solimp, text, false, false);
ReadAttr(cont, "margin", 1, &fcomp.def.flex.spec.margin, text);
ReadAttr(cont, "gap", 1, &fcomp.def.flex.spec.gap, text);
ReadAttrInt(cont, "contype", &dflex.contype);
ReadAttrInt(cont, "conaffinity", &dflex.conaffinity);
ReadAttrInt(cont, "condim", &dflex.condim);
ReadAttrInt(cont, "priority", &dflex.priority);
ReadAttr(cont, "friction", 3, dflex.friction, text, false, false);
ReadAttr(cont, "solmix", 1, &dflex.solmix, text);
ReadAttr(cont, "solref", mjNREF, dflex.solref, text, false, false);
ReadAttr(cont, "solimp", mjNIMP, dflex.solimp, text, false, false);
ReadAttr(cont, "margin", 1, &dflex.margin, text);
ReadAttr(cont, "gap", 1, &dflex.gap, text);
if (MapValue(cont, "internal", &n, bool_map, 2)) {
fcomp.def.flex.spec.internal = (n==1);
dflex.internal = (n==1);
}
MapValue(cont, "selfcollide", &fcomp.def.flex.spec.selfcollide, flexself_map, 5);
ReadAttrInt(cont, "activelayers", &fcomp.def.flex.spec.activelayers);
MapValue(cont, "selfcollide", &dflex.selfcollide, flexself_map, 5);
ReadAttrInt(cont, "activelayers", &dflex.activelayers);
}
// pin
@@ -2633,7 +2640,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
void mjXReader::Default(XMLElement* section, int parentid) {
XMLElement* elem;
string text, name;
mjCDef* def;
mjmDefault* def;
int thisid;
// create new default, except at top level (already added in mjCModel ctor)
@@ -2648,14 +2655,14 @@ void mjXReader::Default(XMLElement* section, int parentid) {
}
if (parentid>=0) {
thisid = (int)model->defaults.size();
def = model->AddDef(text, parentid);
def = mjm_addDefault(model, text.c_str(), parentid);
if (!def) {
throw mjXError(section, "repeated default class name");
}
} else {
thisid = 0;
def = model->defaults[0];
def->name = text;
def = &model->defaults[0]->spec;
mjm_setString(def->name, text.c_str());
}
// iterate over elements other than nested defaults
@@ -2665,34 +2672,34 @@ void mjXReader::Default(XMLElement* section, int parentid) {
name = elem->Value();
// read mesh
if (name=="mesh") OneMesh(elem, &def->mesh.spec);
if (name=="mesh") OneMesh(elem, def->mesh);
// read material
else if (name=="material") OneMaterial(elem, &def->material.spec);
else if (name=="material") OneMaterial(elem, def->material);
// read joint
else if (name=="joint") OneJoint(elem, &def->joint.spec);
else if (name=="joint") OneJoint(elem, def->joint);
// read geom
else if (name=="geom") OneGeom(elem, &def->geom.spec);
else if (name=="geom") OneGeom(elem, def->geom);
// read site
else if (name=="site") OneSite(elem, def->site.spec);
else if (name=="site") OneSite(elem, def->site);
// read camera
else if (name=="camera") OneCamera(elem, &def->camera.spec);
else if (name=="camera") OneCamera(elem, def->camera);
// read light
else if (name=="light") OneLight(elem, &def->light.spec);
else if (name=="light") OneLight(elem, def->light);
// read pair
else if (name=="pair") OnePair(elem, &def->pair.spec);
else if (name=="pair") OnePair(elem, def->pair);
// read equality
else if (name=="equality") OneEquality(elem, &def->equality.spec);
else if (name=="equality") OneEquality(elem, def->equality);
// read tendon
else if (name=="tendon") OneTendon(elem, &def->tendon.spec);
else if (name=="tendon") OneTendon(elem, def->tendon);
// read actuator
else if (name=="general" ||
@@ -2704,21 +2711,22 @@ void mjXReader::Default(XMLElement* section, int parentid) {
name=="cylinder" ||
name=="muscle" ||
name=="adhesion") {
OneActuator(elem, &def->actuator.spec);
OneActuator(elem, def->actuator);
}
// copy into private attributes
mjm_finalize(def->geom.spec.element);
mjm_finalize(def->joint.spec.element);
mjm_finalize(def->site.spec.element);
mjm_finalize(def->camera.spec.element);
mjm_finalize(def->light.spec.element);
mjm_finalize(def->actuator.spec.element);
mjm_finalize(def->material.spec.element);
mjm_finalize(def->equality.spec.element);
mjm_finalize(def->tendon.spec.element);
mjm_finalize(def->flex.spec.element);
mjm_finalize(def->pair.spec.element);
mjm_finalize(def->joint->element);
mjm_finalize(def->geom->element);
mjm_finalize(def->site->element);
mjm_finalize(def->camera->element);
mjm_finalize(def->light->element);
mjm_finalize(def->flex->element);
mjm_finalize(def->mesh->element);
mjm_finalize(def->material->element);
mjm_finalize(def->pair->element);
mjm_finalize(def->equality->element);
mjm_finalize(def->tendon->element);
mjm_finalize(def->actuator->element);
// advance
elem = NextSiblingElement(elem);
@@ -3066,9 +3074,9 @@ void mjXReader::Asset(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
def = &model->defaults[0]->spec;
}
// texture sub-element
@@ -3248,9 +3256,9 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
name = elem->Value();
// get class if specified, otherwise use body
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = (mjCDef*)mjm_getDefault(pbody->element);
def = (mjmDefault*)mjm_getDefault(pbody->element);
}
// inertial sub-element
@@ -3318,7 +3326,7 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
else if (name=="site") {
// create site and parse
mjmSite* site = mjm_addSite(pbody, def);
OneSite(elem, *site);
OneSite(elem, site);
mjm_setFrame(site->element, frame);
}
@@ -3370,9 +3378,9 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
// body sub-element
else if (name=="body") {
// read childdef
mjCDef* childdef = 0;
mjmDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = model->FindDef(text);
childdef = &model->FindDef(text)->spec;
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
@@ -3437,9 +3445,9 @@ void mjXReader::Contact(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
def = &model->defaults[0]->spec;
}
// geom pair to include
@@ -3482,9 +3490,9 @@ void mjXReader::Equality(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
def = &model->defaults[0]->spec;
}
// create equality constraint and parse
@@ -3510,9 +3518,9 @@ void mjXReader::Deformable(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
def = &model->defaults[0]->spec;
}
// flex sub-element
@@ -3546,9 +3554,9 @@ void mjXReader::Tendon(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
def = &model->defaults[0]->spec;
}
// create equality constraint and parse
@@ -3612,9 +3620,9 @@ void mjXReader::Actuator(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
mjmDefault* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
def = &model->defaults[0]->spec;
}
// create actuator and parse
@@ -4003,12 +4011,12 @@ void mjXReader::Keyframe(XMLElement* section) {
// get defaults class
mjCDef* mjXReader::GetClass(XMLElement* section) {
mjmDefault* mjXReader::GetClass(XMLElement* section) {
string text;
mjCDef* def = 0;
mjmDefault* def = 0;
if (ReadAttrTxt(section, "class", text)) {
def = model->FindDef(text);
def = &model->FindDef(text)->spec;
if (!def) {
throw mjXError(section, "unknown default class");
}