Renamed Model to Spec in C API function names.

PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92

src/user/user_api.cc

@@ -27,7 +27,7 @@
 
 
 // create model
-mjSpec* mjm_createModel() {
+mjSpec* mjm_createSpec() {
   mjCModel* modelC = new mjCModel;
   return &modelC->spec;
 }
@@ -43,7 +43,7 @@ void mjm_copyBack(mjSpec* s, const mjModel* m) {
 
 
 // compile model
-mjModel* mjm_compileModel(mjSpec* s, const mjVFS* vfs) {
+mjModel* mjm_compile(mjSpec* s, const mjVFS* vfs) {
   mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
   return modelC->Compile(vfs);
 }
@@ -67,7 +67,7 @@ int mjm_isWarning(mjSpec* s) {
 
 
 // delete model
-void mjm_deleteModel(mjSpec* s) {
+void mjm_deleteSpec(mjSpec* s) {
   mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
   delete model;
 }
@@ -392,7 +392,7 @@ mjmDefault* mjm_findDefault(mjSpec* s, const char* classname) {
 
 
 // get default[0] from model
-mjmDefault* mjm_getModelDefault(mjSpec* s) {
+mjmDefault* mjm_getSpecDefault(mjSpec* s) {
   mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
   mjCDef* def = modelC->defaults[0];
   if (!def) {

src/user/user_api.h

@@ -727,13 +727,13 @@ typedef struct _mjmDefault {       // default specification
 //---------------------------------- API functions -------------------------------------------------
 
 // Create model.
-MJAPI mjSpec* mjm_createModel();
+MJAPI mjSpec* mjm_createSpec();
 
 // Copy back model.
 MJAPI void mjm_copyBack(mjSpec* s, const mjModel* m);
 
 // Compile model.
-MJAPI mjModel* mjm_compileModel(mjSpec* s, const mjVFS* vfs);
+MJAPI mjModel* mjm_compile(mjSpec* s, const mjVFS* vfs);
 
 // Get error message from model.
 MJAPI const char* mjm_getError(mjSpec* s);
@@ -742,7 +742,7 @@ MJAPI const char* mjm_getError(mjSpec* s);
 MJAPI int mjm_isWarning(mjSpec* s);
 
 // Delete model.
-MJAPI void mjm_deleteModel(mjSpec* s);
+MJAPI void mjm_deleteSpec(mjSpec* s);
 
 // Add child body to body, return child spec.
 MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
@@ -790,7 +790,7 @@ MJAPI mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* def);
 MJAPI mjmPair* mjm_addPair(mjSpec* s, mjmDefault* def);
 
 // Add excluded body pair to model.
-MJAPI mjmExclude* mjm_addExclude(mjSpec *model);
+MJAPI mjmExclude* mjm_addExclude(mjSpec* s);
 
 // Add equality to model.
 MJAPI mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* def);
@@ -844,7 +844,7 @@ MJAPI mjmDefault* mjm_getDefault(mjElement element);
 MJAPI mjmDefault* mjm_findDefault(mjSpec* s, const char* classname);
 
 // Get global default from model.
-MJAPI mjmDefault* mjm_getModelDefault(mjSpec* s);
+MJAPI mjmDefault* mjm_getSpecDefault(mjSpec* s);
 
 // Find body in model by name.
 MJAPI mjmBody* mjm_findBody(mjSpec* s, const char* name);
@@ -910,7 +910,7 @@ MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inert
 //---------------------------------- Initialization functions --------------------------------------
 
 // Default model attributes.
-MJAPI void mjm_defaultModel(mjSpec& model);
+MJAPI void mjm_defaultSpec(mjSpec& model);
 
 // Default body attributes.
 MJAPI void mjm_defaultBody(mjmBody& body);

src/user/user_composite.cc

@@ -223,8 +223,8 @@ void mjCComposite::SetDefault(void) {
 
 
 // make composite object
-bool mjCComposite::Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz) {
-  mjCModel* model = (mjCModel*)modelspec->element;
+bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
+  mjCModel* model = (mjCModel*)spec->element;
 
   // check geom type
   if ((def[0].spec.geom->type!=mjGEOM_SPHERE &&

src/user/user_composite.h

@@ -69,7 +69,7 @@ class mjCComposite {
   bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
   void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
 
-  bool Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz);
+  bool Make(mjSpec* spec, mjmBody* body, char* error, int error_sz);
 
   bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz);
   bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz);

src/user/user_flexcomp.cc

@@ -82,8 +82,8 @@ mjCFlexcomp::mjCFlexcomp(void) {
 
 
 // make flexcomp object
-bool mjCFlexcomp::Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz) {
-  mjCModel* model = (mjCModel*)modelspec->element;
+bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
+  mjCModel* model = (mjCModel*)spec->element;
   mjmFlex* dflex = def.spec.flex;
   int dim = dflex->dim;
   bool radial = (type==mjFCOMPTYPE_BOX ||

src/user/user_flexcomp.h

@@ -42,7 +42,7 @@ typedef enum _mjtFcompType {
 class mjCFlexcomp {
  public:
   mjCFlexcomp(void);
-  bool Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz);
+  bool Make(mjSpec* spec, mjmBody* body, char* error, int error_sz);
 
   bool MakeGrid(char* error, int error_sz);
   bool MakeBox(char* error, int error_sz);

src/user/user_init.cc

@@ -22,7 +22,7 @@
 
 
 // default model attributes
-void mjm_defaultModel(mjSpec& model) {
+void mjm_defaultSpec(mjSpec& model) {
   memset(&model, 0, sizeof(mjSpec));
 
   // default statistics

src/user/user_model.cc

@@ -83,7 +83,7 @@ static void copyvec(T1* dest, T2* src, int n) {
 
 // constructor
 mjCModel::mjCModel() {
-  mjm_defaultModel(spec);
+  mjm_defaultSpec(spec);
   spec_comment_.clear();
   spec_modelfiledir_.clear();
   spec_meshdir_.clear();