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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/xml/xml_native_reader.cc
+22 -22
View File
@@ -2263,7 +2263,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def)
ReadAttrTxt(eplugin, "plugin", comp.plugin_name);
ReadAttrTxt(eplugin, "instance", comp.plugin_instance_name);
if (comp.plugin_instance_name.empty()) {
comp.plugin_instance = (mjCPlugin*)mjm_addPlugin(model);
comp.plugin_instance = (mjCPlugin*)mjm_addPlugin(&model->spec);
comp.plugin_instance->name = "composite"+comp.prefix;
comp.plugin_instance_name = comp.plugin_instance->name;
} else {
@@ -2594,7 +2594,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
if (fcomp.plugin_instance_name.empty()) {
fcomp.plugin_instance = (mjCPlugin*)mjm_addPlugin(model);
fcomp.plugin_instance = (mjCPlugin*)mjm_addPlugin(&model->spec);
fcomp.plugin_instance->name = "flexcomp_" + fcomp.name;
fcomp.plugin_instance_name = fcomp.plugin_instance->name;
} else {
@@ -2625,7 +2625,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
mjm_setString(plugin->name, name.c_str());
mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(model);
plugin->instance = mjm_addPlugin(&model->spec);
ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
} else {
model->hasImplicitPluginElem = true;
@@ -2655,7 +2655,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
}
if (parentid>=0) {
thisid = (int)model->defaults.size();
def = mjm_addDefault(model, text.c_str(), parentid);
def = mjm_addDefault(&model->spec, text.c_str(), parentid);
if (!def) {
throw mjXError(section, "repeated default class name");
}
@@ -2784,7 +2784,7 @@ void mjXReader::Extension(XMLElement* section) {
throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements");
}
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(model);
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(&model->spec);
GetXMLPos(child, pp);
ReadAttrTxt(child, "name", pp->name, /* required = */ true);
if (pp->name.empty()) {
@@ -2821,7 +2821,7 @@ void mjXReader::Custom(XMLElement* section) {
// numeric
if (name=="numeric") {
// create custom
mjmNumeric* pnum = mjm_addNumeric(model);
mjmNumeric* pnum = mjm_addNumeric(&model->spec);
// write error info
mjm_setString(pnum->info,
@@ -2853,7 +2853,7 @@ void mjXReader::Custom(XMLElement* section) {
// text
else if (name=="text") {
// create custom
mjmText* pte = mjm_addText(model);
mjmText* pte = mjm_addText(&model->spec);
// write error info
mjm_setString(pte->info,
@@ -2874,7 +2874,7 @@ void mjXReader::Custom(XMLElement* section) {
// tuple
else if (name=="tuple") {
// create custom
mjmTuple* ptu = mjm_addTuple(model);
mjmTuple* ptu = mjm_addTuple(&model->spec);
// write error info
mjm_setString(ptu->info,
@@ -3082,7 +3082,7 @@ void mjXReader::Asset(XMLElement* section) {
// texture sub-element
if (name=="texture") {
// create texture
mjmTexture* ptex = mjm_addTexture(model);
mjmTexture* ptex = mjm_addTexture(&model->spec);
// write error info
mjm_setString(ptex->info,
@@ -3150,28 +3150,28 @@ void mjXReader::Asset(XMLElement* section) {
// material sub-element
else if (name=="material") {
// create material and parse
mjmMaterial* pmat = mjm_addMaterial(model, def);
mjmMaterial* pmat = mjm_addMaterial(&model->spec, def);
OneMaterial(elem, pmat);
}
// mesh sub-element
else if (name=="mesh") {
// create mesh and parse
mjmMesh* pmesh = mjm_addMesh(model, def);
mjmMesh* pmesh = mjm_addMesh(&model->spec, def);
OneMesh(elem, pmesh);
}
// skin sub-element... deprecate ???
else if (name=="skin") {
// create skin and parse
mjmSkin* pskin = mjm_addSkin(model);
mjmSkin* pskin = mjm_addSkin(&model->spec);
OneSkin(elem, pskin);
}
// hfield sub-element
else if (name=="hfield") {
// create hfield
mjmHField* phf = mjm_addHField(model);
mjmHField* phf = mjm_addHField(&model->spec);
// write error info
mjm_setString(phf->info,
@@ -3453,13 +3453,13 @@ void mjXReader::Contact(XMLElement* section) {
// geom pair to include
if (name=="pair") {
// create pair and parse
mjmPair* ppair = mjm_addPair(model, def);
mjmPair* ppair = mjm_addPair(&model->spec, def);
OnePair(elem, ppair);
}
// body pair to exclude
else if (name=="exclude") {
mjmExclude* pexclude = mjm_addExclude(model);
mjmExclude* pexclude = mjm_addExclude(&model->spec);
string exname, exbody1, exbody2;
// write error info
@@ -3496,7 +3496,7 @@ void mjXReader::Equality(XMLElement* section) {
}
// create equality constraint and parse
mjmEquality* pequality = mjm_addEquality(model, def);
mjmEquality* pequality = mjm_addEquality(&model->spec, def);
OneEquality(elem, pequality);
// advance to next element
@@ -3526,14 +3526,14 @@ void mjXReader::Deformable(XMLElement* section) {
// flex sub-element
if (name=="flex") {
// create flex and parse
mjmFlex* pflex = mjm_addFlex(model);
mjmFlex* pflex = mjm_addFlex(&model->spec);
OneFlex(elem, pflex);
}
// skin sub-element
else if (name=="skin") {
// create skin and parse
mjmSkin* pskin = mjm_addSkin(model);
mjmSkin* pskin = mjm_addSkin(&model->spec);
OneSkin(elem, pskin);
}
@@ -3560,7 +3560,7 @@ void mjXReader::Tendon(XMLElement* section) {
}
// create equality constraint and parse
mjmTendon* pten = mjm_addTendon(model, def);
mjmTendon* pten = mjm_addTendon(&model->spec, def);
OneTendon(elem, pten);
// process wrap sub-elements
@@ -3626,7 +3626,7 @@ void mjXReader::Actuator(XMLElement* section) {
}
// create actuator and parse
mjmActuator* pact = mjm_addActuator(model, def);
mjmActuator* pact = mjm_addActuator(&model->spec, def);
OneActuator(elem, pact);
// advance to next element
@@ -3642,7 +3642,7 @@ void mjXReader::Sensor(XMLElement* section) {
XMLElement* elem = FirstChildElement(section);
while (elem) {
// create sensor, get string type
mjmSensor* psen = mjm_addSensor(model);
mjmSensor* psen = mjm_addSensor(&model->spec);
string type = elem->Value();
string text, name, objname, refname;
std::vector<double> userdata;
@@ -3960,7 +3960,7 @@ void mjXReader::Keyframe(XMLElement* section) {
string text, name = "";
// add keyframe
mjmKey* pk = mjm_addKey(model);
mjmKey* pk = mjm_addKey(&model->spec);
// read name, time
ReadAttrTxt(elem, "name", name);
src/xml/xml_urdf.cc
+7 -7
View File
@@ -202,7 +202,7 @@ void mjXURDF::Parse(
// override the pose for the base link and add a free joint
for (int i = 0; i < (int)urName.size(); i++) {
if (urParent[i] < 0) {
mjmBody* world = mjm_findBody(model, "world");
mjmBody* world = mjm_findBody(&model->spec, "world");
mjmBody* pbody = mjm_findChild(world, urName[i].c_str());
mjuu_copyvec(pbody->pos, pos, 3);
mjuu_copyvec(pbody->quat, quat, 4);
@@ -228,7 +228,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
// get body name and pointer to mjmBody
ReadAttrTxt(body_elem, "name", name, true);
name = GetPrefixedName(name);
world = mjm_findBody(model, "world");
world = mjm_findBody(&model->spec, "world");
pbody = mjm_findChild(world, name.c_str());
if (!pbody) {
throw mjXError(body_elem, "URDF body not found"); // SHOULD NOT OCCUR
@@ -386,7 +386,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
elem = FindSubElem(joint_elem, "parent", true);
ReadAttrTxt(elem, "link", name, true);
name = GetPrefixedName(name);
world = mjm_findBody(model, "world");
world = mjm_findBody(&model->spec, "world");
parent = mjm_findChild(world, name.c_str());
if (!parent) { // SHOULD NOT OCCUR
throw mjXError(elem, "invalid parent name in URDF joint definition");
@@ -396,7 +396,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
elem = FindSubElem(joint_elem, "child", true);
ReadAttrTxt(elem, "link", name, true);
name = GetPrefixedName(name);
world = mjm_findBody(model, "world");
world = mjm_findBody(&model->spec, "world");
pbody = mjm_findChild(world, name.c_str());
if (!pbody) { // SHOULD NOT OCCUR
throw mjXError(elem, "invalid child name in URDF joint definition");
@@ -577,14 +577,14 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
// does not exist: create
if (!mesh) {
pmesh = mjm_addMesh(model, 0);
pmesh = mjm_addMesh(&model->spec, 0);
}
// exists with different scale: append name with '1', create
else if (mesh->spec.scale[0]!=meshscale[0] ||
mesh->spec.scale[1]!=meshscale[1] ||
mesh->spec.scale[2]!=meshscale[2]) {
pmesh = mjm_addMesh(model, 0);
pmesh = mjm_addMesh(&model->spec, 0);
meshname = meshname + "1";
}
@@ -681,7 +681,7 @@ void mjXURDF::AddToTree(int n) {
// get pointer to parent in mjCModel tree
mjmBody *parent = 0, *child = 0, *world = 0;
if (urParent[n]>=0) {
world = mjm_findBody(model, "world");
world = mjm_findBody(&model->spec, "world");
parent = mjm_findChild(world, urName[urParent[n]].c_str());
if (!parent)