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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_flexcomp.cc
+29 -29
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@@ -72,7 +72,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
rigid = false;
centered = false;
mjm_defaultPlugin(plugin);
mjs_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
@@ -82,9 +82,9 @@ mjCFlexcomp::mjCFlexcomp(void) {
// make flexcomp object
bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
mjmFlex* dflex = def.spec.flex;
mjsFlex* dflex = def.spec.flex;
int dim = dflex->dim;
bool radial = (type==mjFCOMPTYPE_BOX ||
type==mjFCOMPTYPE_CYLINDER ||
@@ -94,7 +94,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
type==mjFCOMPTYPE_GMSH);
// check parent body name
if (std::string(mjm_getString(body->name)).empty()) {
if (std::string(mjs_getString(body->name)).empty()) {
return comperr(error, "Parent body must have name", error_sz);
}
@@ -381,7 +381,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
// create flex, copy parameters
mjCFlex* flex = model->AddFlex();
mjmFlex* pf = &flex->spec;
mjsFlex* pf = &flex->spec;
int id = flex->id;
*flex = def.flex;
@@ -389,13 +389,13 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
flex->model = model;
flex->id = id;
mjm_setString(pf->name, name.c_str());
mjm_setInt(pf->elem, element.data(), element.size());
mjm_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
mjs_setString(pf->name, name.c_str());
mjs_setInt(pf->elem, element.data(), element.size());
mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
// rigid: set parent name, nothing else to do
if (rigid) {
mjm_appendString(pf->vertbody, mjm_getString(body->name));
mjs_appendString(pf->vertbody, mjs_getString(body->name));
return true;
}
@@ -418,22 +418,22 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
// pinned: parent body
if (pinned[i]) {
mjm_appendString(pf->vertbody, mjm_getString(body->name));
mjs_appendString(pf->vertbody, mjs_getString(body->name));
// add plugin
if (plugin.active) {
mjmPlugin* pplugin = &body->plugin;
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
}
// not pinned: new body
else {
// add new body at vertex coordinates
mjmBody* pb = mjm_addBody(body, 0);
mjsBody* pb = mjs_addBody(body, 0);
// set frame and inertial
pb->pos[0] = point[3*i];
@@ -448,7 +448,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
// add radial slider
if (radial) {
mjmJoint* jnt = mjm_addJoint(pb, 0);
mjsJoint* jnt = mjs_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
@@ -461,7 +461,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
else {
for (int j=0; j<3; j++) {
// add joint to body
mjmJoint* jnt = mjm_addJoint(pb, 0);
mjsJoint* jnt = mjs_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
@@ -474,8 +474,8 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
// construct body name, add to vertbody
char txt[100];
mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
mjm_setString(pb->name, txt);
mjm_appendString(pf->vertbody, mjm_getString(pb->name));
mjs_setString(pb->name, txt);
mjs_appendString(pf->vertbody, mjs_getString(pb->name));
// clear flex vertex coordinates if allocated
if (!centered) {
@@ -486,26 +486,26 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
// add plugin
if (plugin.active) {
mjmPlugin* pplugin = &pb->plugin;
mjsPlugin* pplugin = &pb->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
}
}
if (!centered) {
mjm_setDouble(pf->vert, point.data(), point.size());
mjs_setDouble(pf->vert, point.data(), point.size());
}
// create edge equality constraint
if (equality) {
mjmEquality* pe = mjm_addEquality(&model->spec, &def.spec);
mjm_setDefault(pe->element, &model->defaults[0]->spec);
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
mjs_setDefault(pe->element, &model->defaults[0]->spec);
pe->type = mjEQ_FLEX;
pe->active = true;
mjm_setString(pe->name1, name.c_str());
mjs_setString(pe->name1, name.c_str());
}
return true;
@@ -885,8 +885,8 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
}
// load resource
string filename = mjuu_makefullname(mjm_getString(model->spec.modelfiledir),
mjm_getString(model->spec.meshdir), file);
string filename = mjuu_makefullname(mjs_getString(model->spec.modelfiledir),
mjs_getString(model->spec.meshdir), file);
mjResource* resource = nullptr;
try {
@@ -992,8 +992,8 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
}
// open resource
string filename = mjuu_makefullname(mjm_getString(model->spec.modelfiledir),
mjm_getString(model->spec.meshdir), file);
string filename = mjuu_makefullname(mjs_getString(model->spec.modelfiledir),
mjs_getString(model->spec.meshdir), file);
mjResource* resource = nullptr;
try {