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Add mjmModel opaque pointer to C API.

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PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
This commit is contained in:
Alessio Quaglino
2024-02-16 02:20:29 -08:00
committed by Copybara-Service
parent f9f7827a64
commit 5e353efaaf
9 changed files with 124 additions and 113 deletions
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src/user/user_api.cc
+44 -44
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@@ -24,16 +24,16 @@
// create model
void* mjm_createModel() {
mjmModel* mjm_createModel() {
mjCModel* modelC = new mjCModel();
return modelC;
return &modelC->spec;
}
// delete model
void mjm_deleteModel(void* modelspec) {
mjCModel* model = static_cast<mjCModel*>(modelspec);
void mjm_deleteModel(mjmModel* modelspec) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
delete model;
}
@@ -116,8 +116,8 @@ mjmLight* mjm_addLight(mjmBody* bodyspec, mjmDefault* defspec) {
// add flex to model
mjmFlex* mjm_addFlex(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmFlex* mjm_addFlex(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCFlex* flex = modelC->AddFlex();
return &flex->spec;
}
@@ -138,9 +138,9 @@ mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
// add mesh to model
mjmMesh* mjm_addMesh(void* model, mjmDefault* defspec) {
mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCMesh* mesh = modelC->AddMesh(def);
return &mesh->spec;
}
@@ -148,8 +148,8 @@ mjmMesh* mjm_addMesh(void* model, mjmDefault* defspec) {
// add height field to model
mjmHField* mjm_addHField(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmHField* mjm_addHField(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCHField* heightField = modelC->AddHField();
return &heightField->spec;
}
@@ -157,8 +157,8 @@ mjmHField* mjm_addHField(void* model) {
// add skin to model
mjmSkin* mjm_addSkin(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmSkin* mjm_addSkin(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCSkin* skin = modelC->AddSkin();
return &skin->spec;
}
@@ -166,8 +166,8 @@ mjmSkin* mjm_addSkin(void* model) {
// add texture to model
mjmTexture* mjm_addTexture(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmTexture* mjm_addTexture(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCTexture* texture = modelC->AddTexture();
return &texture->spec;
}
@@ -175,8 +175,8 @@ mjmTexture* mjm_addTexture(void* model) {
// add material to model
mjmMaterial* mjm_addMaterial(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def);
return &material->spec;
@@ -185,8 +185,8 @@ mjmMaterial* mjm_addMaterial(void* model, mjmDefault* defspec) {
// add pair to model
mjmPair* mjm_addPair(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmPair* mjm_addPair(mjmModel* model, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def);
return &pair->spec;
@@ -195,8 +195,8 @@ mjmPair* mjm_addPair(void* model, mjmDefault* defspec) {
// add pair exclusion to model
mjmExclude* mjm_addExclude(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmExclude* mjm_addExclude(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCBodyPair* bodypair = modelC->AddExclude();
return &bodypair->spec;
}
@@ -204,8 +204,8 @@ mjmExclude* mjm_addExclude(void* model) {
// add equality to model
mjmEquality* mjm_addEquality(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def);
return &equality->spec;
@@ -214,8 +214,8 @@ mjmEquality* mjm_addEquality(void* model, mjmDefault* defspec) {
// add tendon to model
mjmTendon* mjm_addTendon(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmTendon* mjm_addTendon(mjmModel* model, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def);
return &tendon->spec;
@@ -260,8 +260,8 @@ mjmWrap* mjm_wrapPulley(mjmTendon* tendonspec, double divisor) {
// add actuator to model
mjmActuator* mjm_addActuator(void* model, mjmDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def);
return &actuator->spec;
@@ -270,8 +270,8 @@ mjmActuator* mjm_addActuator(void* model, mjmDefault* defspec) {
// add sensor to model
mjmSensor* mjm_addSensor(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmSensor* mjm_addSensor(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCSensor* sensor = modelC->AddSensor();
return &sensor->spec;
}
@@ -279,8 +279,8 @@ mjmSensor* mjm_addSensor(void* model) {
// add numeric to model
mjmNumeric* mjm_addNumeric(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmNumeric* mjm_addNumeric(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCNumeric* numeric = modelC->AddNumeric();
return &numeric->spec;
}
@@ -288,8 +288,8 @@ mjmNumeric* mjm_addNumeric(void* model) {
// add text to model
mjmText* mjm_addText(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmText* mjm_addText(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCText* text = modelC->AddText();
return &text->spec;
}
@@ -297,8 +297,8 @@ mjmText* mjm_addText(void* model) {
// add tuple to model
mjmTuple* mjm_addTuple(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmTuple* mjm_addTuple(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCTuple* tuple = modelC->AddTuple();
return &tuple->spec;
}
@@ -306,8 +306,8 @@ mjmTuple* mjm_addTuple(void* model) {
// add keyframe to model
mjmKey* mjm_addKey(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmKey* mjm_addKey(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCKey* key = modelC->AddKey();
return &key->spec;
}
@@ -315,8 +315,8 @@ mjmKey* mjm_addKey(void* model) {
// add plugin to model
mjElement mjm_addPlugin(void* model) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjElement mjm_addPlugin(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCPlugin* plugin = modelC->AddPlugin();
return (mjElement)plugin;
}
@@ -324,8 +324,8 @@ mjElement mjm_addPlugin(void* model) {
// add default to model
mjmDefault* mjm_addDefault(void* model, const char* classname, int parentid) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCDef* def = modelC->AddDef(classname, parentid);
if (def) {
return &def->spec;
@@ -337,8 +337,8 @@ mjmDefault* mjm_addDefault(void* model, const char* classname, int parentid) {
// get objects
void* mjm_getModel(mjmBody* bodyspec) {
return reinterpret_cast<mjCBody*>(bodyspec->element)->model;
mjmModel* mjm_getModel(mjmBody* bodyspec) {
return &(reinterpret_cast<mjCBody*>(bodyspec->element)->model->spec);
}
@@ -351,8 +351,8 @@ mjmDefault* mjm_getDefault(mjElement element) {
// find body in model by name
mjmBody* mjm_findBody(void* modelspec, const char* name) {
mjCModel* model = static_cast<mjCModel*>(modelspec);
mjmBody* mjm_findBody(mjmModel* modelspec, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
mjCBase* body = model->FindObject(mjOBJ_BODY, std::string(name));
if (!body) {
return 0;