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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_urdf.cc
+7 -7
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@@ -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)