Rename mjmDefault -> mjsDefault
PiperOrigin-RevId: 619180662 Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
fa8893b443
commit
4d2aa46e56
+17
-17
@@ -116,7 +116,7 @@ void mjs_deleteSpec(mjSpec* s) {
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// add child body to body, return child spec
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mjsBody* mjs_addBody(mjsBody* bodyspec, mjmDefault* defspec) {
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mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element)->AddBody(def);
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return &body->spec;
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@@ -125,7 +125,7 @@ mjsBody* mjs_addBody(mjsBody* bodyspec, mjmDefault* defspec) {
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// add site to body, return site spec
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mjsSite* mjs_addSite(mjsBody* bodyspec, mjmDefault* defspec) {
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mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
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mjCSite* site = body->AddSite(def);
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@@ -135,7 +135,7 @@ mjsSite* mjs_addSite(mjsBody* bodyspec, mjmDefault* defspec) {
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// add joint to body
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mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjmDefault* defspec) {
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mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
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mjCJoint* joint = body->AddJoint(def);
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@@ -154,7 +154,7 @@ mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
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// add geom to body
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mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjmDefault* defspec) {
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mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
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mjCGeom* geom = body->AddGeom(def);
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@@ -164,7 +164,7 @@ mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjmDefault* defspec) {
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// add camera to body
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mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjmDefault* defspec) {
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mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
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mjCCamera* camera = body->AddCamera(def);
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@@ -174,7 +174,7 @@ mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjmDefault* defspec) {
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// add light to body
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mjsLight* mjs_addLight(mjsBody* bodyspec, mjmDefault* defspec) {
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mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
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mjCLight* light = body->AddLight(def);
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@@ -207,7 +207,7 @@ mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
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// add mesh to model
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mjsMesh* mjs_addMesh(mjSpec* s, mjmDefault* defspec) {
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mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCMesh* mesh = modelC->AddMesh(def);
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@@ -244,7 +244,7 @@ mjsTexture* mjs_addTexture(mjSpec* s) {
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// add material to model
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mjsMaterial* mjs_addMaterial(mjSpec* s, mjmDefault* defspec) {
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mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCMaterial* material = modelC->AddMaterial(def);
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@@ -254,7 +254,7 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, mjmDefault* defspec) {
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// add pair to model
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mjsPair* mjs_addPair(mjSpec* s, mjmDefault* defspec) {
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mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCPair* pair = modelC->AddPair(def);
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@@ -273,7 +273,7 @@ mjsExclude* mjs_addExclude(mjSpec* s) {
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// add equality to model
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mjsEquality* mjs_addEquality(mjSpec* s, mjmDefault* defspec) {
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mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCEquality* equality = modelC->AddEquality(def);
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@@ -283,7 +283,7 @@ mjsEquality* mjs_addEquality(mjSpec* s, mjmDefault* defspec) {
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// add tendon to model
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mjsTendon* mjs_addTendon(mjSpec* s, mjmDefault* defspec) {
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mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCTendon* tendon = modelC->AddTendon(def);
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@@ -329,7 +329,7 @@ mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
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// add actuator to model
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mjsActuator* mjs_addActuator(mjSpec* s, mjmDefault* defspec) {
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mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCActuator* actuator = modelC->AddActuator(def);
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@@ -394,7 +394,7 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
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// add default to model
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mjmDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
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mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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*id = (int)modelC->defaults.size();
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mjCDef* def = modelC->AddDef(classname, parentid);
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@@ -415,14 +415,14 @@ mjSpec* mjs_getSpec(mjsBody* body) {
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// get default
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mjmDefault* mjs_getDefault(mjElement element) {
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mjsDefault* mjs_getDefault(mjElement element) {
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return &(reinterpret_cast<mjCBase*>(element)->def->spec);
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}
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// Find default with given name in model.
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mjmDefault* mjs_findDefault(mjSpec* s, const char* classname) {
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mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* cdef = modelC->FindDef(classname);
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if (!cdef) {
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@@ -434,7 +434,7 @@ mjmDefault* mjs_findDefault(mjSpec* s, const char* classname) {
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// get default[0] from model
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mjmDefault* mjs_getSpecDefault(mjSpec* s) {
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mjsDefault* mjs_getSpecDefault(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = modelC->defaults[0];
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if (!def) {
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@@ -514,7 +514,7 @@ int mjs_getId(mjElement element) {
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// set default
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void mjs_setDefault(mjElement element, mjmDefault* defspec) {
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void mjs_setDefault(mjElement element, mjsDefault* defspec) {
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mjCBase* baseC = reinterpret_cast<mjCBase*>(element);
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baseC->def = reinterpret_cast<mjCDef*>(defspec->element);
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}
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