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) {
+bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
-  mjCModel* model = (mjCModel*)modelspec->element;
+  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) {
+bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
-  mjCModel* model = (mjCModel*)modelspec->element;
+  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();

src/xml/xml.cc

@@ -344,7 +344,7 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
   }
 
   // create model, set filedir
-  model = mjm_createModel();
+  model = mjm_createSpec();
   const char* dir;
   int ndir = 0;
   mju_getResourceDir(resource, &dir, &ndir);
@@ -393,7 +393,7 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
   // catch known errors
   catch (mjXError err) {
     mjCopyError(error, err.message, error_sz);
-    mjm_deleteModel(model);
+    mjm_deleteSpec(model);
     return nullptr;
   }
 

src/xml/xml_api.cc

@@ -67,7 +67,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
 void GlobalModel::Set(mjSpec* model) {
   std::lock_guard<std::mutex> lock(*mutex_);
   if (model_ != nullptr) {
-    mjm_deleteModel(model_);
+    mjm_deleteSpec(model_);
   }
   model_ = model;
 }
@@ -93,13 +93,13 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
   // parse new model
   std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
       mjParseXML(filename, vfs, error, error_sz),
-      [](mjSpec* m) { mjm_deleteModel(m); });
+      [](mjSpec* m) { mjm_deleteSpec(m); });
   if (!model) {
     return nullptr;
   }
 
   // compile new model
-  mjModel* m = mjm_compileModel(model.get(), vfs);
+  mjModel* m = mjm_compile(model.get(), vfs);
   if (!m) {
     mjCopyError(error, mjm_getError(model.get()), error_sz);
     return nullptr;

src/xml/xml_native_reader.cc

@@ -2643,7 +2643,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
     }
   } else {
     thisid = 0;
-    def = mjm_getModelDefault(model);
+    def = mjm_getSpecDefault(model);
     mjm_setString(def->name, text.c_str());
   }
 
@@ -3046,7 +3046,7 @@ void mjXReader::Asset(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // texture sub-element
@@ -3418,7 +3418,7 @@ void mjXReader::Contact(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // geom pair to include
@@ -3463,7 +3463,7 @@ void mjXReader::Equality(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // create equality constraint and parse
@@ -3491,7 +3491,7 @@ void mjXReader::Deformable(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // flex sub-element
@@ -3527,7 +3527,7 @@ void mjXReader::Tendon(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // create equality constraint and parse
@@ -3593,7 +3593,7 @@ void mjXReader::Actuator(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // create actuator and parse

test/user/user_api_test.cc

@@ -38,8 +38,8 @@ using ::testing::NotNull;
 // ----------------------------- test set/get  --------------------------------
 
 TEST_F(MujocoTest, ReadWriteData) {
-  mjSpec* model = mjm_createModel();
+  mjSpec* spec = mjm_createSpec();
-  mjmBody* world = mjm_findBody(model, "world");
+  mjmBody* world = mjm_findBody(spec, "world");
   mjmBody* body = mjm_addBody(world, 0);
   mjmSite* site = mjm_addSite(body, 0);
 
@@ -59,7 +59,7 @@ TEST_F(MujocoTest, ReadWriteData) {
     EXPECT_EQ(vec[i], i);
   }
 
-  mjm_deleteModel(model);
+  mjm_deleteSpec(spec);
 }
 
 // ------------------- test recompilation multiple files ----------------------
@@ -86,12 +86,12 @@ TEST_F(PluginTest, RecompileCompare) {
 
         // load model
         std::array<char, 1000> error;
-        mjSpec* model =
+        mjSpec* spec =
             mjParseXML(xml.c_str(), nullptr, error.data(), error.size());
 
         // compile twice
-        mjModel* m_old = mjm_compileModel(model, nullptr);
+        mjModel* m_old = mjm_compile(spec, nullptr);
-        mjModel* m_new = mjm_compileModel(model, nullptr);
+        mjModel* m_new = mjm_compile(spec, nullptr);
 
         ASSERT_THAT(m_old, NotNull())
             << "Failed to compile " << xml << ": " << error.data();
@@ -108,7 +108,7 @@ TEST_F(PluginTest, RecompileCompare) {
             << "Different field: " << field << '\n';
 
         // delete models
-        mjm_deleteModel(model);
+        mjm_deleteSpec(spec);
         mj_deleteModel(m_old);
         mj_deleteModel(m_new);
       }