chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rename mjmDefault -> mjsDefault

Browse Source 
PiperOrigin-RevId: 619180662
Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
This commit is contained in:
Yuval Tassa
2024-03-26 07:18:57 -07:00
committed by Copybara-Service
parent fa8893b443
commit 4d2aa46e56
5 changed files with 53 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_api.cc
+17 -17
View File
@@ -116,7 +116,7 @@ void mjs_deleteSpec(mjSpec* s) {
// add child body to body, return child spec
mjsBody* mjs_addBody(mjsBody* bodyspec, mjmDefault* defspec) {
mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element)->AddBody(def);
return &body->spec;
@@ -125,7 +125,7 @@ mjsBody* mjs_addBody(mjsBody* bodyspec, mjmDefault* defspec) {
// add site to body, return site spec
mjsSite* mjs_addSite(mjsBody* bodyspec, mjmDefault* defspec) {
mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCSite* site = body->AddSite(def);
@@ -135,7 +135,7 @@ mjsSite* mjs_addSite(mjsBody* bodyspec, mjmDefault* defspec) {
// add joint to body
mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjmDefault* defspec) {
mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddJoint(def);
@@ -154,7 +154,7 @@ mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
// add geom to body
mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjmDefault* defspec) {
mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCGeom* geom = body->AddGeom(def);
@@ -164,7 +164,7 @@ mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjmDefault* defspec) {
// add camera to body
mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjmDefault* defspec) {
mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCCamera* camera = body->AddCamera(def);
@@ -174,7 +174,7 @@ mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjmDefault* defspec) {
// add light to body
mjsLight* mjs_addLight(mjsBody* bodyspec, mjmDefault* defspec) {
mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCLight* light = body->AddLight(def);
@@ -207,7 +207,7 @@ mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
// add mesh to model
mjsMesh* mjs_addMesh(mjSpec* s, mjmDefault* defspec) {
mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCMesh* mesh = modelC->AddMesh(def);
@@ -244,7 +244,7 @@ mjsTexture* mjs_addTexture(mjSpec* s) {
// add material to model
mjsMaterial* mjs_addMaterial(mjSpec* s, mjmDefault* defspec) {
mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def);
@@ -254,7 +254,7 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, mjmDefault* defspec) {
// add pair to model
mjsPair* mjs_addPair(mjSpec* s, mjmDefault* defspec) {
mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def);
@@ -273,7 +273,7 @@ mjsExclude* mjs_addExclude(mjSpec* s) {
// add equality to model
mjsEquality* mjs_addEquality(mjSpec* s, mjmDefault* defspec) {
mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def);
@@ -283,7 +283,7 @@ mjsEquality* mjs_addEquality(mjSpec* s, mjmDefault* defspec) {
// add tendon to model
mjsTendon* mjs_addTendon(mjSpec* s, mjmDefault* defspec) {
mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def);
@@ -329,7 +329,7 @@ mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
// add actuator to model
mjsActuator* mjs_addActuator(mjSpec* s, mjmDefault* defspec) {
mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def);
@@ -394,7 +394,7 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
// add default to model
mjmDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
*id = (int)modelC->defaults.size();
mjCDef* def = modelC->AddDef(classname, parentid);
@@ -415,14 +415,14 @@ mjSpec* mjs_getSpec(mjsBody* body) {
// get default
mjmDefault* mjs_getDefault(mjElement element) {
mjsDefault* mjs_getDefault(mjElement element) {
return &(reinterpret_cast<mjCBase*>(element)->def->spec);
}
// Find default with given name in model.
mjmDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDef(classname);
if (!cdef) {
@@ -434,7 +434,7 @@ mjmDefault* mjs_findDefault(mjSpec* s, const char* classname) {
// get default[0] from model
mjmDefault* mjs_getSpecDefault(mjSpec* s) {
mjsDefault* mjs_getSpecDefault(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = modelC->defaults[0];
if (!def) {
@@ -514,7 +514,7 @@ int mjs_getId(mjElement element) {
// set default
void mjs_setDefault(mjElement element, mjmDefault* defspec) {
void mjs_setDefault(mjElement element, mjsDefault* defspec) {
mjCBase* baseC = reinterpret_cast<mjCBase*>(element);
baseC->def = reinterpret_cast<mjCDef*>(defspec->element);
}
src/user/user_api.h
+19 -19
View File
@@ -708,7 +708,7 @@ typedef struct _mjsKey { // keyframe specification
} mjsKey;
typedef struct _mjmDefault { // default specification
typedef struct _mjsDefault { // default specification
mjString name; // name
mjElement element; // internal, do not modify
mjsJoint* joint; // joint defaults
@@ -723,7 +723,7 @@ typedef struct _mjmDefault { // default specification
mjsEquality* equality; // equality defaults
mjsTendon* tendon; // tendon defaults
mjsActuator* actuator; // actuator defaults
} mjmDefault;
} mjsDefault;
//---------------------------------- API functions -------------------------------------------------
@@ -754,25 +754,25 @@ MJAPI int mjs_isWarning(mjSpec* s);
MJAPI void mjs_deleteSpec(mjSpec* s);
// Add child body to body, return child spec.
MJAPI mjsBody* mjs_addBody(mjsBody* body, mjmDefault* def);
MJAPI mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
// Add site to body, return site spec.
MJAPI mjsSite* mjs_addSite(mjsBody* body, mjmDefault* def);
MJAPI mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
// Add joint to body.
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, mjmDefault* def);
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, mjsDefault* def);
// Add freejoint to body.
MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
// Add geom to body.
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, mjmDefault* def);
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, mjsDefault* def);
// Add camera to body.
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, mjmDefault* def);
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, mjsDefault* def);
// Add light to body.
MJAPI mjsLight* mjs_addLight(mjsBody* body, mjmDefault* def);
MJAPI mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
// Add frame to body.
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
@@ -781,7 +781,7 @@ MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
// Add mesh to model.
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjmDefault* def);
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
// Add height field to model.
MJAPI mjsHField* mjs_addHField(mjSpec* s);
@@ -793,19 +793,19 @@ MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material to model.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjmDefault* def);
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
// Add pair to model.
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjmDefault* def);
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjsDefault* def);
// Add excluded body pair to model.
MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
// Add equality to model.
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjmDefault* def);
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* def);
// Add tendon to model.
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjmDefault* def);
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* def);
// Wrap site using tendon.
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
@@ -820,7 +820,7 @@ MJAPI mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
MJAPI mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
// Add actuator to model.
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjmDefault* def);
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
// Add sensor to model.
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
@@ -841,19 +841,19 @@ MJAPI mjsKey* mjs_addKey(mjSpec* s);
MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
// Add default to model.
MJAPI mjmDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
// Get model spec from body.
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Get default corresponding to an mjElement.
MJAPI mjmDefault* mjs_getDefault(mjElement element);
MJAPI mjsDefault* mjs_getDefault(mjElement element);
// Find default in model by class name.
MJAPI mjmDefault* mjs_findDefault(mjSpec* s, const char* classname);
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
// Get global default from model.
MJAPI mjmDefault* mjs_getSpecDefault(mjSpec* s);
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
// Find body in model by name.
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
@@ -910,7 +910,7 @@ MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
// Set default.
MJAPI void mjs_setDefault(mjElement element, mjmDefault* def);
MJAPI void mjs_setDefault(mjElement element, mjsDefault* def);
// Set frame.
MJAPI void mjs_setFrame(mjElement dest, mjsFrame* frame);
src/user/user_objects.h
+1 -1
View File
@@ -1622,7 +1622,7 @@ class mjCDef {
int parentid; // id of parent class
std::vector<int> childid; // ids of child classes
mjmDefault spec;
mjsDefault spec;
// default objects (TODO: they should become private)
mjCJoint joint;
src/xml/xml_native_reader.cc
+14 -14
View File
@@ -2241,7 +2241,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* pact) {
// make composite
void mjXReader::OneComposite(XMLElement* elem, mjsBody* pbody, mjmDefault* def) {
void mjXReader::OneComposite(XMLElement* elem, mjsBody* pbody, mjsDefault* def) {
string text;
int n;
@@ -2371,7 +2371,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* pbody, mjmDefault* def)
comp.add[kind] = true;
// get element
mjmDefault* dspec = &comp.defjoint[(mjtCompKind)kind].back().spec;
mjsDefault* dspec = &comp.defjoint[(mjtCompKind)kind].back().spec;
mjsJoint& djoint = *dspec->joint;
mjsEquality& dequality = *dspec->equality;
@@ -2623,7 +2623,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
void mjXReader::Default(XMLElement* section, int parentid) {
XMLElement* elem;
string text, name;
mjmDefault* def;
mjsDefault* def;
int thisid;
// create new default, except at top level (already added in mjCModel ctor)
@@ -3044,7 +3044,7 @@ void mjXReader::Asset(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
}
@@ -3226,7 +3226,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
name = elem->Value();
// get class if specified, otherwise use body
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getDefault(frame ? frame->element : pbody->element);
}
@@ -3336,7 +3336,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
// frame sub-element
else if (name=="frame") {
// read childdef
mjmDefault* childdef = 0;
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(model, text.c_str());
mjs_findDefault(model, text.c_str());
@@ -3368,7 +3368,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
// body sub-element
else if (name=="body") {
// read childdef
mjmDefault* childdef = 0;
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(model, text.c_str());
mjs_findDefault(model, text.c_str());
@@ -3436,7 +3436,7 @@ void mjXReader::Contact(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
}
@@ -3481,7 +3481,7 @@ void mjXReader::Equality(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
}
@@ -3509,7 +3509,7 @@ void mjXReader::Deformable(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
}
@@ -3545,7 +3545,7 @@ void mjXReader::Tendon(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
}
@@ -3611,7 +3611,7 @@ void mjXReader::Actuator(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjmDefault* def = GetClass(elem);
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
}
@@ -4001,9 +4001,9 @@ void mjXReader::Keyframe(XMLElement* section) {
// get defaults class
mjmDefault* mjXReader::GetClass(XMLElement* section) {
mjsDefault* mjXReader::GetClass(XMLElement* section) {
string text;
mjmDefault* def = nullptr;
mjsDefault* def = nullptr;
if (ReadAttrTxt(section, "class", text)) {
def = mjs_findDefault(model, text.c_str());
src/xml/xml_native_reader.h
+2 -2
View File
@@ -78,12 +78,12 @@ class mjXReader : public mjXBase {
void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjmDefault* def);
void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsDefault* def);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody);
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
mjXSchema schema; // schema used for validation
mjmDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
bool readingdefaults; // true while reading defaults