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rename mjspec api structs and functions mjm -> mjs

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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
This commit is contained in:
Yuval Tassa
2024-03-21 18:04:06 -07:00
committed by Copybara-Service
parent f0ad80f268
commit 4660a297d1
22 changed files with 960 additions and 959 deletions
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src/user/user_composite.h
+16 -16
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@@ -69,25 +69,25 @@ class mjCComposite {
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
bool Make(mjSpec* spec, mjmBody* body, char* error, int error_sz);
bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeBox(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeBox(mjCModel* model, mjsBody* body, char* error, int error_sz);
void MakeShear(mjCModel* model);
void MakeSkin2(mjCModel* model, mjtNum inflate);
void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
void MakeClothBones(mjCModel* model, mjmSkin* skin);
void MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin);
void MakeCableBones(mjCModel* model, mjmSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin);
void MakeClothBones(mjCModel* model, mjsSkin* skin);
void MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin);
void MakeCableBones(mjCModel* model, mjsSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
void MakeSkin3(mjCModel* model);
void MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
void MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
void MakeSkin3Box(mjsSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
void MakeSkin3Smooth(mjsSkin* skin, int c0, int c1, int side,
const std::map<std::string, int>& vmap, const char* format);
void BoxProject(double* pos);
@@ -116,7 +116,7 @@ class mjCComposite {
// plugin support
std::string plugin_name;
std::string plugin_instance_name;
mjmPlugin plugin;
mjsPlugin plugin;
// skin
bool skin; // generate skin
@@ -136,11 +136,11 @@ class mjCComposite {
int dim; // dimensionality
private:
mjmBody* AddRopeBody(mjCModel* model, mjmBody* body, int ix, int ix1);
mjmBody* AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
mjsBody* AddRopeBody(mjCModel* model, mjsBody* body, int ix, int ix1);
mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
// temporary skin vectors
void CopyIntoSkin(mjmSkin* skin);
void CopyIntoSkin(mjsSkin* skin);
std::vector<int> face;
std::vector<float> vert;
std::vector<float> bindpos;