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Replace name attribute with setters and getters in the C API of mjSpec.

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PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
This commit is contained in:
Alessio Quaglino
2025-07-03 02:29:49 -07:00
committed by Copybara-Service
parent 1c5d47c94b
commit 594e17074a
22 changed files with 290 additions and 400 deletions
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src/user/user_composite.cc
+7 -7
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@@ -255,7 +255,7 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
// add name to model
mjsText* pte = mjs_addText(&model->spec);
mjs_setString(pte->name, ("composite_" + prefix).c_str());
mjs_setName(pte->element, ("composite_" + prefix).c_str());
mjs_setString(pte->data, ("rope_" + prefix).c_str());
// populate uservert if not specified
@@ -372,7 +372,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
// add body
body = mjs_addBody(body, 0);
mjs_setString(body->name, this_body);
mjs_setName(body->element, this_body);
if (first) {
mjuu_setvec(body->pos, offset[0]+uservert[3*ix],
offset[1]+uservert[3*ix+1],
@@ -391,7 +391,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
// add geom
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
mjs_setDefault(geom->element, mjs_getDefault(body->element));
mjs_setString(geom->name, txt_geom);
mjs_setName(geom->element, txt_geom);
if (def[0].spec.geom->type == mjGEOM_CYLINDER ||
def[0].spec.geom->type == mjGEOM_CAPSULE) {
mjuu_zerovec(geom->fromto, 6);
@@ -422,7 +422,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
jnt->damping = jnt->type == mjJNT_FREE ? 0 : jnt->damping;
jnt->armature = jnt->type == mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type == mjJNT_FREE ? 0 : jnt->frictionloss;
mjs_setString(jnt->name, this_joint);
mjs_setName(jnt->element, this_joint);
}
// exclude contact pair
@@ -436,7 +436,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
if (last || first) {
mjsSite* site = mjs_addSite(body, &def[0].spec);
mjs_setDefault(site->element, mjs_getDefault(body->element));
mjs_setString(site->name, txt_site);
mjs_setName(site->element, txt_site);
mjuu_setvec(site->pos, last ? length : 0, 0, 0);
mjuu_setvec(site->quat, 1, 0, 0, 0);
}
@@ -480,7 +480,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
// add skin, set name and material
mjsSkin* skin = mjs_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjs_setString(skin->name, txt);
mjs_setName(skin->element, txt);
mjs_setString(skin->material, skinmaterial.c_str());
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;
@@ -967,7 +967,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
char txt[100];
mjsSkin* skin = mjs_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjs_setString(skin->name, txt);
mjs_setName(skin->element, txt);
mjs_setString(skin->material, skinmaterial.c_str());
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;