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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_mesh.cc
+4 -4
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@@ -204,8 +204,8 @@ void mjCMesh::PointToLocal() {
spec.userface = &spec_face_;
spec.usertexcoord = &spec_texcoord_;
spec.userfacetexcoord = &spec_facetexcoord_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = &plugin_instance_name;
spec.plugin.plugin_name = &plugin_name;
spec.plugin.name = &plugin_instance_name;
spec.info = &info;
file = nullptr;
content_type = nullptr;
@@ -249,8 +249,8 @@ void mjCMesh::CopyFromSpec() {
maxhullvert_ = spec.maxhullvert;
plugin.active = spec.plugin.active;
plugin.element = spec.plugin.element;
plugin.plugin_name = spec.plugin.plugin_name;
plugin.name = spec.plugin.name;
plugin.instance_name = spec.plugin.instance_name;
// clear precompiled asset. TODO: use asset cache
if (center_) mju_free(center_);
@@ -271,7 +271,7 @@ void mjCMesh::CopyFromSpec() {
mjCMesh::~mjCMesh() {
if (center_) mju_free(center_);
if (graph_) mju_free(graph_);
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty()) {
model->DeleteElement(spec.plugin.element);
}
}