rename mjspec api structs and functions mjm -> mjs
PiperOrigin-RevId: 618017976 Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
f0ad80f268
commit
4660a297d1
+72
-72
@@ -432,18 +432,18 @@ mjCDef::mjCDef(void) {
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name.clear();
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parentid = -1;
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childid.clear();
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mjm_defaultJoint(joint.spec);
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mjm_defaultGeom(geom.spec);
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mjm_defaultSite(site.spec);
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mjm_defaultCamera(camera.spec);
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mjm_defaultLight(light.spec);
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mjm_defaultFlex(flex.spec);
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mjm_defaultMesh(mesh.spec);
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mjm_defaultMaterial(material.spec);
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mjm_defaultPair(pair.spec);
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mjm_defaultEquality(equality.spec);
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mjm_defaultTendon(tendon.spec);
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mjm_defaultActuator(actuator.spec);
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mjs_defaultJoint(joint.spec);
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mjs_defaultGeom(geom.spec);
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mjs_defaultSite(site.spec);
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mjs_defaultCamera(camera.spec);
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mjs_defaultLight(light.spec);
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mjs_defaultFlex(flex.spec);
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mjs_defaultMesh(mesh.spec);
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mjs_defaultMaterial(material.spec);
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mjs_defaultPair(pair.spec);
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mjs_defaultEquality(equality.spec);
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mjs_defaultTendon(tendon.spec);
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mjs_defaultActuator(actuator.spec);
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// make sure all the pointers are local
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PointToLocal();
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@@ -626,7 +626,7 @@ mjCBody::mjCBody(mjCModel* _model) {
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// set model pointer
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model = _model;
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mjm_defaultBody(spec);
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mjs_defaultBody(spec);
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parentid = -1;
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weldid = -1;
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dofnum = 0;
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@@ -668,7 +668,7 @@ mjCBody& mjCBody::operator=(const mjCBody& other) {
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if (this != &other) {
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spec = other.spec;
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*static_cast<mjCBody_*>(this) = static_cast<const mjCBody_&>(other);
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*static_cast<mjmBody*>(this) = static_cast<const mjmBody&>(other);
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*static_cast<mjsBody*>(this) = static_cast<const mjsBody&>(other);
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std::map<mjCFrame*, int> fmap;
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mjCFrame *np = nullptr;
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bodies.clear();
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@@ -751,7 +751,7 @@ void mjCBody::PointToLocal() {
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void mjCBody::CopyFromSpec() {
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*static_cast<mjmBody*>(this) = spec;
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*static_cast<mjsBody*>(this) = spec;
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userdata_ = spec_userdata_;
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userdata = (mjDoubleVec)&userdata_;
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mju_copy4(alt_.axisangle, alt.axisangle);
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@@ -1367,7 +1367,7 @@ void mjCBody::Compile(void) {
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// initialize frame
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mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) {
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mjm_defaultFrame(spec);
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mjs_defaultFrame(spec);
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compiled = false;
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model = _model;
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body = NULL;
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@@ -1388,7 +1388,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCFrame_*>(this) = static_cast<const mjCFrame_&>(other);
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*static_cast<mjmFrame*>(this) = static_cast<const mjmFrame&>(other);
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*static_cast<mjsFrame*>(this) = static_cast<const mjsFrame&>(other);
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}
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PointToLocal();
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return *this;
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@@ -1429,7 +1429,7 @@ void mjCFrame::PointToLocal() {
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void mjCFrame::CopyFromSpec() {
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*static_cast<mjmFrame*>(this) = spec;
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*static_cast<mjsFrame*>(this) = spec;
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mju_copy3(pos, spec.pos);
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mju_copy4(quat, spec.quat);
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mju_copy4(alt_.axisangle, alt.axisangle);
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@@ -1467,7 +1467,7 @@ void mjCFrame::Compile() {
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// initialize default joint
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mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
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mjm_defaultJoint(spec);
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mjs_defaultJoint(spec);
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// clear internal variables
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spec_userdata_.clear();
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@@ -1501,7 +1501,7 @@ mjCJoint& mjCJoint::operator=(const mjCJoint& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCJoint_*>(this) = static_cast<const mjCJoint_&>(other);
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*static_cast<mjmJoint*>(this) = static_cast<const mjmJoint&>(other);
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*static_cast<mjsJoint*>(this) = static_cast<const mjsJoint&>(other);
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}
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PointToLocal();
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return *this;
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@@ -1525,7 +1525,7 @@ void mjCJoint::PointToLocal() {
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void mjCJoint::CopyFromSpec() {
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*static_cast<mjmJoint*>(this) = spec;
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*static_cast<mjsJoint*>(this) = spec;
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userdata_ = spec_userdata_;
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userdata = (mjDoubleVec)&spec_userdata_;
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}
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@@ -1664,7 +1664,7 @@ int mjCJoint::Compile(void) {
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// initialize default geom
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mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
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mjm_defaultGeom(spec);
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mjs_defaultGeom(spec);
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mass_ = 0;
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body = 0;
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@@ -1712,7 +1712,7 @@ mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCGeom_*>(this) = static_cast<const mjCGeom_&>(other);
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*static_cast<mjmGeom*>(this) = static_cast<const mjmGeom&>(other);
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*static_cast<mjsGeom*>(this) = static_cast<const mjsGeom&>(other);
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}
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PointToLocal();
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return *this;
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@@ -1737,7 +1737,7 @@ void mjCGeom::PointToLocal(void) {
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void mjCGeom::CopyFromSpec() {
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*static_cast<mjmGeom*>(this) = spec;
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*static_cast<mjsGeom*>(this) = spec;
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userdata_ = spec_userdata_;
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hfieldname_ = spec_hfieldname_;
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meshname_ = spec_meshname_;
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@@ -2294,7 +2294,7 @@ void mjCGeom::Compile(void) {
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// initialize default site
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mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
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mjm_defaultSite(spec);
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mjs_defaultSite(spec);
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// clear internal variables
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body = 0;
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@@ -2330,7 +2330,7 @@ mjCSite& mjCSite::operator=(const mjCSite& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCSite_*>(this) = static_cast<const mjCSite_&>(other);
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*static_cast<mjmSite*>(this) = static_cast<const mjmSite&>(other);
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*static_cast<mjsSite*>(this) = static_cast<const mjsSite&>(other);
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}
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PointToLocal();
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return *this;
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@@ -2350,7 +2350,7 @@ void mjCSite::PointToLocal() {
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void mjCSite::CopyFromSpec() {
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*static_cast<mjmSite*>(this) = spec;
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*static_cast<mjsSite*>(this) = spec;
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userdata_ = spec_userdata_;
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material_ = spec_material_;
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userdata = (mjDoubleVec)&userdata_;
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@@ -2454,7 +2454,7 @@ void mjCSite::Compile(void) {
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// initialize defaults
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mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
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mjm_defaultCamera(spec);
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mjs_defaultCamera(spec);
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// clear private variables
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body = 0;
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@@ -2489,7 +2489,7 @@ mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCCamera_*>(this) = static_cast<const mjCCamera_&>(other);
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*static_cast<mjmCamera*>(this) = static_cast<const mjmCamera&>(other);
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*static_cast<mjsCamera*>(this) = static_cast<const mjsCamera&>(other);
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}
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PointToLocal();
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return *this;
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@@ -2509,7 +2509,7 @@ void mjCCamera::PointToLocal() {
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void mjCCamera::CopyFromSpec() {
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*static_cast<mjmCamera*>(this) = spec;
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*static_cast<mjsCamera*>(this) = spec;
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userdata_ = spec_userdata_;
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targetbody_ = spec_targetbody_;
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userdata = (mjDoubleVec)&userdata_;
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@@ -2608,7 +2608,7 @@ void mjCCamera::Compile(void) {
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// initialize defaults
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mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
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mjm_defaultLight(spec);
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mjs_defaultLight(spec);
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// clear private variables
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body = 0;
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@@ -2640,7 +2640,7 @@ mjCLight& mjCLight::operator=(const mjCLight& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCLight_*>(this) = static_cast<const mjCLight_&>(other);
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*static_cast<mjmLight*>(this) = static_cast<const mjmLight&>(other);
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*static_cast<mjsLight*>(this) = static_cast<const mjsLight&>(other);
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}
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PointToLocal();
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return *this;
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@@ -2659,7 +2659,7 @@ void mjCLight::PointToLocal() {
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void mjCLight::CopyFromSpec() {
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*static_cast<mjmLight*>(this) = spec;
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*static_cast<mjsLight*>(this) = spec;
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targetbody_ = spec_targetbody_;
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targetbody = (mjString)&targetbody_;
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}
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@@ -2704,7 +2704,7 @@ void mjCLight::Compile(void) {
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// constructor
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mjCHField::mjCHField(mjCModel* _model) {
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mjm_defaultHField(spec);
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mjs_defaultHField(spec);
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// set model pointer
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model = _model;
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@@ -2733,7 +2733,7 @@ mjCHField& mjCHField::operator=(const mjCHField& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCHField_*>(this) = static_cast<const mjCHField_&>(other);
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*static_cast<mjmHField*>(this) = static_cast<const mjmHField&>(other);
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*static_cast<mjsHField*>(this) = static_cast<const mjsHField&>(other);
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}
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PointToLocal();
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return *this;
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@@ -2753,7 +2753,7 @@ void mjCHField::PointToLocal() {
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void mjCHField::CopyFromSpec() {
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*static_cast<mjmHField*>(this) = spec;
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*static_cast<mjsHField*>(this) = spec;
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file_ = spec_file_;
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content_type_ = spec_content_type_;
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userdata_ = spec_userdata_;
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@@ -2956,7 +2956,7 @@ void mjCHField::Compile(const mjVFS* vfs) {
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// initialize defaults
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mjCTexture::mjCTexture(mjCModel* _model) {
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mjm_defaultTexture(spec);
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mjs_defaultTexture(spec);
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// set model pointer
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model = _model;
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@@ -3010,7 +3010,7 @@ void mjCTexture::PointToLocal() {
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void mjCTexture::CopyFromSpec() {
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*static_cast<mjmTexture*>(this) = spec;
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*static_cast<mjsTexture*>(this) = spec;
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file_ = spec_file_;
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content_type_ = spec_content_type_;
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cubefiles_ = spec_cubefiles_;
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@@ -3698,7 +3698,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
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// initialize defaults
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mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
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mjm_defaultMaterial(spec);
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mjs_defaultMaterial(spec);
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// clear internal
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spec_texture_.clear();
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@@ -3732,7 +3732,7 @@ mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCMaterial_*>(this) = static_cast<const mjCMaterial_&>(other);
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*static_cast<mjmMaterial*>(this) = static_cast<const mjmMaterial&>(other);
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*static_cast<mjsMaterial*>(this) = static_cast<const mjsMaterial&>(other);
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}
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PointToLocal();
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return *this;
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@@ -3751,7 +3751,7 @@ void mjCMaterial::PointToLocal() {
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void mjCMaterial::CopyFromSpec() {
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*static_cast<mjmMaterial*>(this) = spec;
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*static_cast<mjsMaterial*>(this) = spec;
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texture_ = spec_texture_;
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texture = (mjString)&texture_;
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}
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@@ -3769,7 +3769,7 @@ void mjCMaterial::Compile(void) {
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// constructor
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mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
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mjm_defaultPair(spec);
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mjs_defaultPair(spec);
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// set defaults
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spec_geomname1_.clear();
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@@ -3808,7 +3808,7 @@ mjCPair& mjCPair::operator=(const mjCPair& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCPair_*>(this) = static_cast<const mjCPair_&>(other);
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*static_cast<mjmPair*>(this) = static_cast<const mjmPair&>(other);
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*static_cast<mjsPair*>(this) = static_cast<const mjsPair&>(other);
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this->geom1 = nullptr;
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this->geom2 = nullptr;
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}
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@@ -3840,7 +3840,7 @@ void mjCPair::NameSpace(const mjCModel* m) {
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void mjCPair::CopyFromSpec() {
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*static_cast<mjmPair*>(this) = spec;
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*static_cast<mjsPair*>(this) = spec;
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geomname1_ = spec_geomname1_;
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geomname2_ = spec_geomname2_;
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geomname1 = (mjString)&geomname1_;
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@@ -4020,7 +4020,7 @@ mjCBodyPair& mjCBodyPair::operator=(const mjCBodyPair& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCBodyPair_*>(this) = static_cast<const mjCBodyPair_&>(other);
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*static_cast<mjmExclude*>(this) = static_cast<const mjmExclude&>(other);
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*static_cast<mjsExclude*>(this) = static_cast<const mjsExclude&>(other);
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}
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PointToLocal();
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return *this;
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@@ -4049,7 +4049,7 @@ void mjCBodyPair::NameSpace(const mjCModel* m) {
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void mjCBodyPair::CopyFromSpec() {
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*static_cast<mjmExclude*>(this) = spec;
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*static_cast<mjsExclude*>(this) = spec;
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bodyname1_ = spec_bodyname1_;
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bodyname2_ = spec_bodyname2_;
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bodyname1 = (mjString)&bodyname1_;
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@@ -4104,7 +4104,7 @@ void mjCBodyPair::Compile(void) {
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// initialize default constraint
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mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
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mjm_defaultEquality(spec);
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mjs_defaultEquality(spec);
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// clear internal variables
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spec_name1_.clear();
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@@ -4139,7 +4139,7 @@ mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCEquality_*>(this) = static_cast<const mjCEquality_&>(other);
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*static_cast<mjmEquality*>(this) = static_cast<const mjmEquality&>(other);
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*static_cast<mjsEquality*>(this) = static_cast<const mjsEquality&>(other);
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}
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PointToLocal();
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return *this;
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@@ -4169,7 +4169,7 @@ void mjCEquality::NameSpace(const mjCModel* m) {
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void mjCEquality::CopyFromSpec() {
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*static_cast<mjmEquality*>(this) = spec;
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*static_cast<mjsEquality*>(this) = spec;
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name1_ = spec_name1_;
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name2_ = spec_name2_;
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name1 = (mjString)&name1_;
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@@ -4266,7 +4266,7 @@ void mjCEquality::Compile(void) {
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// constructor
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mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
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mjm_defaultTendon(spec);
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mjs_defaultTendon(spec);
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// clear internal variables
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spec_material_.clear();
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@@ -4302,7 +4302,7 @@ mjCTendon& mjCTendon::operator=(const mjCTendon& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCTendon_*>(this) = static_cast<const mjCTendon_&>(other);
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*static_cast<mjmTendon*>(this) = static_cast<const mjmTendon&>(other);
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*static_cast<mjsTendon*>(this) = static_cast<const mjsTendon&>(other);
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for (int i=0; i<other.path.size(); i++) {
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path.push_back(new mjCWrap(*other.path[i]));
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path.back()->tendon = this;
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@@ -4340,7 +4340,7 @@ void mjCTendon::NameSpace(const mjCModel* m) {
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void mjCTendon::CopyFromSpec() {
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*static_cast<mjmTendon*>(this) = spec;
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*static_cast<mjsTendon*>(this) = spec;
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material_ = spec_material_;
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userdata_ = spec_userdata_;
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material = (mjString)&material_;
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@@ -4622,7 +4622,7 @@ mjCWrap& mjCWrap::operator=(const mjCWrap& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCWrap_*>(this) = static_cast<const mjCWrap_&>(other);
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*static_cast<mjmWrap*>(this) = static_cast<const mjmWrap&>(other);
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*static_cast<mjsWrap*>(this) = static_cast<const mjsWrap&>(other);
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||||
obj = nullptr;
|
||||
}
|
||||
PointToLocal();
|
||||
@@ -4723,7 +4723,7 @@ void mjCWrap::ResolveReferences(const mjCModel* m) {
|
||||
|
||||
// initialize defaults
|
||||
mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
|
||||
mjm_defaultActuator(spec);
|
||||
mjs_defaultActuator(spec);
|
||||
|
||||
// clear private variables
|
||||
ptarget = nullptr;
|
||||
@@ -4761,7 +4761,7 @@ mjCActuator& mjCActuator::operator=(const mjCActuator& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCActuator_*>(this) = static_cast<const mjCActuator_&>(other);
|
||||
*static_cast<mjmActuator*>(this) = static_cast<const mjmActuator&>(other);
|
||||
*static_cast<mjsActuator*>(this) = static_cast<const mjsActuator&>(other);
|
||||
ptarget = nullptr;
|
||||
}
|
||||
PointToLocal();
|
||||
@@ -4803,7 +4803,7 @@ void mjCActuator::NameSpace(const mjCModel* m) {
|
||||
|
||||
|
||||
void mjCActuator::CopyFromSpec() {
|
||||
*static_cast<mjmActuator*>(this) = spec;
|
||||
*static_cast<mjsActuator*>(this) = spec;
|
||||
userdata_ = spec_userdata_;
|
||||
target_ = spec_target_;
|
||||
refsite_ = spec_refsite_;
|
||||
@@ -5066,7 +5066,7 @@ void mjCActuator::Compile(void) {
|
||||
|
||||
// initialize defaults
|
||||
mjCSensor::mjCSensor(mjCModel* _model) {
|
||||
mjm_defaultSensor(spec);
|
||||
mjs_defaultSensor(spec);
|
||||
|
||||
// set model
|
||||
model = _model;
|
||||
@@ -5098,7 +5098,7 @@ mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCSensor_*>(this) = static_cast<const mjCSensor_&>(other);
|
||||
*static_cast<mjmSensor*>(this) = static_cast<const mjmSensor&>(other);
|
||||
*static_cast<mjsSensor*>(this) = static_cast<const mjsSensor&>(other);
|
||||
obj = nullptr;
|
||||
ref = nullptr;
|
||||
}
|
||||
@@ -5133,7 +5133,7 @@ void mjCSensor::NameSpace(const mjCModel* m) {
|
||||
|
||||
|
||||
void mjCSensor::CopyFromSpec() {
|
||||
*static_cast<mjmSensor*>(this) = spec;
|
||||
*static_cast<mjsSensor*>(this) = spec;
|
||||
userdata_ = spec_userdata_;
|
||||
objname_ = spec_objname_;
|
||||
refname_ = spec_refname_;
|
||||
@@ -5552,7 +5552,7 @@ void mjCSensor::Compile(void) {
|
||||
|
||||
// constructor
|
||||
mjCNumeric::mjCNumeric(mjCModel* _model) {
|
||||
mjm_defaultNumeric(spec);
|
||||
mjs_defaultNumeric(spec);
|
||||
|
||||
// set model pointer
|
||||
model = _model;
|
||||
@@ -5579,7 +5579,7 @@ mjCNumeric& mjCNumeric::operator=(const mjCNumeric& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCNumeric_*>(this) = static_cast<const mjCNumeric_&>(other);
|
||||
*static_cast<mjmNumeric*>(this) = static_cast<const mjmNumeric&>(other);
|
||||
*static_cast<mjsNumeric*>(this) = static_cast<const mjsNumeric&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
@@ -5597,7 +5597,7 @@ void mjCNumeric::PointToLocal() {
|
||||
|
||||
|
||||
void mjCNumeric::CopyFromSpec() {
|
||||
*static_cast<mjmNumeric*>(this) = spec;
|
||||
*static_cast<mjsNumeric*>(this) = spec;
|
||||
data_ = spec_data_;
|
||||
data = (mjDoubleVec)&data_;
|
||||
}
|
||||
@@ -5640,7 +5640,7 @@ void mjCNumeric::Compile(void) {
|
||||
|
||||
// constructor
|
||||
mjCText::mjCText(mjCModel* _model) {
|
||||
mjm_defaultText(spec);
|
||||
mjs_defaultText(spec);
|
||||
|
||||
// set model pointer
|
||||
model = _model;
|
||||
@@ -5667,7 +5667,7 @@ mjCText& mjCText::operator=(const mjCText& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCText_*>(this) = static_cast<const mjCText_&>(other);
|
||||
*static_cast<mjmText*>(this) = static_cast<const mjmText&>(other);
|
||||
*static_cast<mjsText*>(this) = static_cast<const mjsText&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
@@ -5685,7 +5685,7 @@ void mjCText::PointToLocal() {
|
||||
|
||||
|
||||
void mjCText::CopyFromSpec() {
|
||||
*static_cast<mjmText*>(this) = spec;
|
||||
*static_cast<mjsText*>(this) = spec;
|
||||
data_ = spec_data_;
|
||||
data = (mjString)&data_;
|
||||
}
|
||||
@@ -5716,7 +5716,7 @@ void mjCText::Compile(void) {
|
||||
|
||||
// constructor
|
||||
mjCTuple::mjCTuple(mjCModel* _model) {
|
||||
mjm_defaultTuple(spec);
|
||||
mjs_defaultTuple(spec);
|
||||
|
||||
// set model pointer
|
||||
model = _model;
|
||||
@@ -5746,7 +5746,7 @@ mjCTuple& mjCTuple::operator=(const mjCTuple& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCTuple_*>(this) = static_cast<const mjCTuple_&>(other);
|
||||
*static_cast<mjmTuple*>(this) = static_cast<const mjmTuple&>(other);
|
||||
*static_cast<mjsTuple*>(this) = static_cast<const mjsTuple&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
@@ -5777,7 +5777,7 @@ void mjCTuple::NameSpace(const mjCModel* m) {
|
||||
|
||||
|
||||
void mjCTuple::CopyFromSpec() {
|
||||
*static_cast<mjmTuple*>(this) = spec;
|
||||
*static_cast<mjsTuple*>(this) = spec;
|
||||
objtype_ = spec_objtype_;
|
||||
objname_ = spec_objname_;
|
||||
objprm_ = spec_objprm_;
|
||||
@@ -5848,7 +5848,7 @@ void mjCTuple::Compile(void) {
|
||||
|
||||
// constructor
|
||||
mjCKey::mjCKey(mjCModel* _model) {
|
||||
mjm_defaultKey(spec);
|
||||
mjs_defaultKey(spec);
|
||||
|
||||
// set model pointer
|
||||
model = _model;
|
||||
@@ -5880,7 +5880,7 @@ mjCKey& mjCKey::operator=(const mjCKey& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCKey_*>(this) = static_cast<const mjCKey_&>(other);
|
||||
*static_cast<mjmKey*>(this) = static_cast<const mjmKey&>(other);
|
||||
*static_cast<mjsKey*>(this) = static_cast<const mjsKey&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
@@ -5903,7 +5903,7 @@ void mjCKey::PointToLocal() {
|
||||
|
||||
|
||||
void mjCKey::CopyFromSpec() {
|
||||
*static_cast<mjmKey*>(this) = spec;
|
||||
*static_cast<mjsKey*>(this) = spec;
|
||||
qpos_ = spec_qpos_;
|
||||
qvel_ = spec_qvel_;
|
||||
act_ = spec_act_;
|
||||
@@ -6031,7 +6031,7 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
|
||||
instance_name.clear();
|
||||
|
||||
// public interface
|
||||
mjm_defaultPlugin(spec);
|
||||
mjs_defaultPlugin(spec);
|
||||
spec.name = (mjString)&name;
|
||||
spec.instance_name = (mjString)&instance_name;
|
||||
spec.info = (mjString)&info;
|
||||
|
||||
Reference in New Issue
Block a user