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Move mjCWrap type to mjsWrap.

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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
This commit is contained in:
Sam Haves
2025-10-20 16:27:59 -07:00
committed by Copybara-Service
parent 88ac02dad3
commit 59f14485e0
8 changed files with 111 additions and 27 deletions
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src/user/user_objects.cc
+30 -20
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@@ -6138,8 +6138,8 @@ void mjCTendon::CopyFromSpec() {
// clear precompiled
for (int i=0; i < path.size(); i++) {
if (path[i]->type == mjWRAP_CYLINDER) {
path[i]->type = mjWRAP_SPHERE;
if (path[i]->Type() == mjWRAP_CYLINDER) {
path[i]->spec.type = mjWRAP_SPHERE;
}
}
}
@@ -6175,7 +6175,7 @@ void mjCTendon::WrapSite(std::string wrapname, std::string_view wrapinfo) {
wrap->info = wrapinfo;
// set parameters, add to path
wrap->type = mjWRAP_SITE;
wrap->spec.type = mjWRAP_SITE;
wrap->name = wrapname;
wrap->id = (int)path.size();
path.push_back(wrap);
@@ -6190,7 +6190,7 @@ void mjCTendon::WrapGeom(std::string wrapname, std::string sidesite, std::string
wrap->info = wrapinfo;
// set parameters, add to path
wrap->type = mjWRAP_SPHERE; // replace with cylinder later if needed
wrap->spec.type = mjWRAP_SPHERE; // replace with cylinder later if needed
wrap->name = wrapname;
wrap->sidesite = sidesite;
wrap->id = (int)path.size();
@@ -6206,7 +6206,7 @@ void mjCTendon::WrapJoint(std::string wrapname, double coef, std::string_view wr
wrap->info = wrapinfo;
// set parameters, add to path
wrap->type = mjWRAP_JOINT;
wrap->spec.type = mjWRAP_JOINT;
wrap->name = wrapname;
wrap->prm = coef;
wrap->id = (int)path.size();
@@ -6222,7 +6222,7 @@ void mjCTendon::WrapPulley(double divisor, std::string_view wrapinfo) {
wrap->info = wrapinfo;
// set parameters, add to path
wrap->type = mjWRAP_PULLEY;
wrap->spec.type = mjWRAP_PULLEY;
wrap->prm = divisor;
wrap->id = (int)path.size();
path.push_back(wrap);
@@ -6253,7 +6253,7 @@ void mjCTendon::ResolveReferences(const mjCModel* m) {
for (int i=0; i < path.size(); i++) {
std::string pname = path[i]->name;
std::string psidesite = path[i]->sidesite;
if (path[i]->type == mjWRAP_PULLEY) {
if (path[i]->Type() == mjWRAP_PULLEY) {
npulley++;
}
try {
@@ -6280,6 +6280,11 @@ void mjCTendon::ResolveReferences(const mjCModel* m) {
// compiler
void mjCTendon::Compile(void) {
// compile all wraps in the path
for (mjCWrap* wrap : path) {
wrap->Compile();
}
CopyFromSpec();
// resize userdata
@@ -6297,7 +6302,7 @@ void mjCTendon::Compile(void) {
}
// determine type
bool spatial = (path[0]->type != mjWRAP_JOINT);
bool spatial = (path[0]->Type() != mjWRAP_JOINT);
// require at least two objects in spatial path
if (spatial && sz < 2) {
@@ -6318,7 +6323,7 @@ void mjCTendon::Compile(void) {
// fixed
if (!spatial) {
// make sure all objects are joints
if (path[i]->type != mjWRAP_JOINT) {
if (path[i]->Type() != mjWRAP_JOINT) {
throw mjCError(this, "tendon '%s' (id = %d): spatial object found in fixed path at pos %d",
name.c_str(), id, i);
}
@@ -6332,10 +6337,10 @@ void mjCTendon::Compile(void) {
name.c_str(), id);
}
switch (path[i]->type) {
switch (path[i]->Type()) {
case mjWRAP_PULLEY:
// pulley should not follow other pulley
if (i > 0 && path[i-1]->type == mjWRAP_PULLEY) {
if (i > 0 && path[i-1]->Type() == mjWRAP_PULLEY) {
throw mjCError(this, "tendon '%s' (id = %d): consecutive pulleys (pos %d)",
name.c_str(), id, i);
}
@@ -6348,15 +6353,15 @@ void mjCTendon::Compile(void) {
case mjWRAP_SITE:
// site needs a neighbor that is not a pulley
if ((i == 0 || path[i-1]->type == mjWRAP_PULLEY) &&
(i == sz-1 || path[i+1]->type == mjWRAP_PULLEY)) {
if ((i == 0 || path[i-1]->Type() == mjWRAP_PULLEY) &&
(i == sz-1 || path[i+1]->Type() == mjWRAP_PULLEY)) {
throw mjCError(this,
"tendon '%s' (id = %d): site %d needs a neighbor that is not a pulley",
name.c_str(), id, i);
}
// site cannot be repeated
if (i < sz-1 && path[i+1]->type == mjWRAP_SITE && path[i]->obj->id == path[i+1]->obj->id) {
if (i < sz-1 && path[i+1]->Type() == mjWRAP_SITE && path[i]->obj->id == path[i+1]->obj->id) {
throw mjCError(this,
"tendon '%s' (id = %d): site %d is repeated",
name.c_str(), id, i);
@@ -6367,7 +6372,7 @@ void mjCTendon::Compile(void) {
case mjWRAP_SPHERE:
case mjWRAP_CYLINDER:
// geom must be bracketed by sites
if (i == 0 || i == sz-1 || path[i-1]->type != mjWRAP_SITE || path[i+1]->type != mjWRAP_SITE) {
if (i == 0 || i == sz-1 || path[i-1]->Type() != mjWRAP_SITE || path[i+1]->Type() != mjWRAP_SITE) {
throw mjCError(this,
"tendon '%s' (id = %d): geom at pos %d not bracketed by sites",
name.c_str(), id, i);
@@ -6442,7 +6447,7 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
tendon = _tendon;
// clear variables
type = mjWRAP_NONE;
spec.type = mjWRAP_NONE;
obj = nullptr;
sideid = -1;
prm = 0;
@@ -6450,6 +6455,7 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
// point to local
PointToLocal();
CopyFromSpec();
}
@@ -6478,7 +6484,9 @@ void mjCWrap::PointToLocal() {
spec.info = &info;
}
void mjCWrap::CopyFromSpec() {
*static_cast<mjsWrap*>(this) = spec;
}
void mjCWrap::NameSpace(const mjCModel* m) {
name = m->prefix + name + m->suffix;
@@ -6487,13 +6495,15 @@ void mjCWrap::NameSpace(const mjCModel* m) {
}
}
void mjCWrap::Compile(void) {
CopyFromSpec();
}
void mjCWrap::ResolveReferences(const mjCModel* m) {
mjCBase *pside;
// handle wrap object types
switch (type) {
switch (spec.type) {
case mjWRAP_JOINT: // joint
// find joint by name
obj = m->FindObject(mjOBJ_JOINT, name);
@@ -6516,7 +6526,7 @@ void mjCWrap::ResolveReferences(const mjCModel* m) {
// set/check geom type
if (((mjCGeom*)obj)->type == mjGEOM_CYLINDER) {
type = mjWRAP_CYLINDER;
spec.type = mjWRAP_CYLINDER;
} else if (((mjCGeom*)obj)->type != mjGEOM_SPHERE) {
throw mjCError(this,
"geom '%s' in tendon %d, wrap %d is not sphere or cylinder",