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Avoid changing semantics of mjsPlugin.name across XML sections.

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The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
This commit is contained in:
Alessio Quaglino
2024-10-07 07:56:17 -07:00
committed by Copybara-Service
parent 5bfc7da7de
commit 66faba9aa5
14 changed files with 53 additions and 62 deletions
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src/user/user_composite.cc
+4 -4
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@@ -67,8 +67,8 @@ mjCComposite::mjCComposite(void) {
mjs_defaultPlugin(&plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString*)&plugin_name;
plugin.instance_name = (mjString*)&plugin_instance_name;
plugin.plugin_name = (mjString*)&plugin_name;
plugin.name = (mjString*)&plugin_instance_name;
// cable
curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO;
@@ -715,8 +715,8 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->element = plugin.element;
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->plugin_name, mjs_getString(plugin.plugin_name));
mjs_setString(pplugin->name, plugin_instance_name.c_str());
}
// update orientation