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Rename mjmDefault -> mjsDefault

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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
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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
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@@ -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;