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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_composite.cc
+16 -16
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@@ -551,7 +551,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
mju::sprintf_arr(txt2, "%sS%d", prefix.c_str(), v1);
// create tendon
mjmTendon* ten = mjm_addTendon(model, &def[mjCOMPKIND_TENDON].spec);
mjmTendon* ten = mjm_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(ten->element, &model->defaults[0]->spec);
mjm_setString(ten->name, txt0);
ten->group = 4;
@@ -559,7 +559,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
mjm_wrapSite(ten, txt2);
// add equality constraint
mjmEquality* eq = mjm_addEquality(model, &def[mjCOMPKIND_TENDON].spec);
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_TENDON;
mjm_setString(eq->name1, mjm_getString(ten->name));
@@ -673,7 +673,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
ten->WrapSite(txt2);
// add equality constraint
mjmEquality* eq = mjm_addEquality(model, &def[mjCOMPKIND_TENDON].spec);
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_TENDON;
mjm_setString(eq->name1, ten->name.c_str());
@@ -714,7 +714,7 @@ bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int er
}
// add name to model
mjmText* pte = mjm_addText(model);
mjmText* pte = mjm_addText(&model->spec);
mjm_setString(pte->name, ("composite_" + prefix).c_str());
mjm_setString(pte->data, ("rope_" + prefix).c_str());
@@ -880,7 +880,7 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
// exclude contact pair
if (!last) {
mjmExclude* exclude = mjm_addExclude(model);
mjmExclude* exclude = mjm_addExclude(&model->spec);
mjm_setString(exclude->bodyname1, std::string(this_body).c_str());
mjm_setString(exclude->bodyname2, std::string(next_body).c_str());
}
@@ -944,7 +944,7 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
char txt2[200];
// add equality constraint
mjmEquality* eq = mjm_addEquality(model, 0);
mjmEquality* eq = mjm_addEquality(&model->spec, 0);
eq->type = mjEQ_CONNECT;
mju::sprintf_arr(txt, "%sB0", prefix.c_str());
mju::sprintf_arr(txt2, "%sB%d", prefix.c_str(), count[0]-1);
@@ -955,7 +955,7 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
mju_copy(eq->solimp, solimpsmooth, mjNIMP);
// remove contact between connected bodies
mjmExclude* pair = mjm_addExclude(model);
mjmExclude* pair = mjm_addExclude(&model->spec);
mjm_setString(pair->bodyname1, std::string(txt).c_str());
mjm_setString(pair->bodyname2, std::string(txt2).c_str());
}
@@ -1035,7 +1035,7 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
mjuu_setvec(jnt->axis, 1, 0, 0);
// add constraint
mjmEquality* eq = mjm_addEquality(model, &def[mjCOMPKIND_TWIST].spec);
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_JOINT;
mjm_setString(eq->name1, mjm_getString(jnt->name));
@@ -1053,7 +1053,7 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
mjuu_setvec(jnt->axis, 1, 0, 0);
// add constraint
mjmEquality* eq = mjm_addEquality(model, &def[mjCOMPKIND_STRETCH].spec);
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_JOINT;
mjm_setString(eq->name1, mjm_getString(jnt->name));
@@ -1174,7 +1174,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
mjuu_setvec(jnt->axis, 0, 0, 1);
// add fix constraint
mjmEquality* eq = mjm_addEquality(model, &def[mjCOMPKIND_JOINT].spec);
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_JOINT;
mjm_setString(eq->name1, mjm_getString(jnt->name));
@@ -1194,7 +1194,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
char txt2[200];
mju::sprintf_arr(txt2,
"%sJ%d_%d_%d", prefix.c_str(), ix1, iy1, iz1);
mjmEquality* eqn = mjm_addEquality(model, 0);
mjmEquality* eqn = mjm_addEquality(&model->spec, 0);
mju_copy(eqn->solref, solrefsmooth, mjNREF);
mju_copy(eqn->solimp, solimpsmooth, mjNIMP);
eqn->type = mjEQ_JOINT;
@@ -1208,7 +1208,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
}
// finalize fixed tendon
mjmEquality* eqt = mjm_addEquality(model, &def[mjCOMPKIND_TENDON].spec);
mjmEquality* eqt = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(eqt->element, &model->defaults[0]->spec);
eqt->type = mjEQ_TENDON;
mjm_setString(eqt->name1, ten->name.c_str());
@@ -1244,7 +1244,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
ten->name = txt;
// equality constraint
mjmEquality* eq = mjm_addEquality(model, &def[mjCOMPKIND_SHEAR].spec);
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_TENDON;
mjm_setString(eq->name1, txt);
@@ -1286,7 +1286,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
int N = count[0]*count[1];
// add skin, set name and material
mjmSkin* skin = mjm_addSkin(model);
mjmSkin* skin = mjm_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjm_setString(skin->name, txt);
mjm_setString(skin->material, skinmaterial.c_str());
@@ -1879,7 +1879,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
// add skin, set name and material
char txt[100];
mjmSkin* skin = mjm_addSkin(model);
mjmSkin* skin = mjm_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjm_setString(skin->name, txt);
mjm_setString(skin->material, skinmaterial.c_str());
@@ -2034,7 +2034,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
mju::sprintf_arr(cnt2, "%d", count[2]-1);
// add skin, set name and material
mjmSkin* skin = mjm_addSkin(model);
mjmSkin* skin = mjm_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjm_setString(skin->name, txt);
mjm_setString(skin->material, skinmaterial.c_str());