diff --git a/src/user/user_api.cc b/src/user/user_api.cc index 3469f367..a0ca98e6 100644 --- a/src/user/user_api.cc +++ b/src/user/user_api.cc @@ -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(defspec->element) : 0; mjCBody* body = reinterpret_cast(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(defspec->element) : 0; mjCBody* body = reinterpret_cast(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(defspec->element) : 0; mjCBody* body = reinterpret_cast(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(defspec->element) : 0; mjCBody* body = reinterpret_cast(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(defspec->element) : 0; mjCBody* body = reinterpret_cast(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(defspec->element) : 0; mjCBody* body = reinterpret_cast(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(defspec->element) : 0; mjCModel* modelC = reinterpret_cast(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(s->element); mjCDef* def = defspec ? reinterpret_cast(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(s->element); mjCDef* def = defspec ? reinterpret_cast(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(s->element); mjCDef* def = defspec ? reinterpret_cast(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(s->element); mjCDef* def = defspec ? reinterpret_cast(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(s->element); mjCDef* def = defspec ? reinterpret_cast(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(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(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(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(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(element); baseC->def = reinterpret_cast(defspec->element); } diff --git a/src/user/user_api.h b/src/user/user_api.h index db24d853..a9ac8bde 100644 --- a/src/user/user_api.h +++ b/src/user/user_api.h @@ -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); diff --git a/src/user/user_objects.h b/src/user/user_objects.h index fa29ea16..1e24ab34 100644 --- a/src/user/user_objects.h +++ b/src/user/user_objects.h @@ -1622,7 +1622,7 @@ class mjCDef { int parentid; // id of parent class std::vector childid; // ids of child classes - mjmDefault spec; + mjsDefault spec; // default objects (TODO: they should become private) mjCJoint joint; diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc index 667364d3..48f5547f 100644 --- a/src/xml/xml_native_reader.cc +++ b/src/xml/xml_native_reader.cc @@ -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()); diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h index 50d28a9a..c0b36748 100644 --- a/src/xml/xml_native_reader.h +++ b/src/xml/xml_native_reader.h @@ -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