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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_objects.cc
+18 -27
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@@ -957,8 +957,8 @@ void mjCBody::PointToLocal() {
spec.name = &name;
spec.childclass = &classname;
spec.userdata = &spec_userdata_;
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;
userdata = nullptr;
}
@@ -969,8 +969,8 @@ void mjCBody::CopyFromSpec() {
userdata_ = spec_userdata_;
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;
}
@@ -994,7 +994,7 @@ mjCBody::~mjCBody() {
cameras.clear();
lights.clear();
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty()) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -2161,7 +2161,7 @@ mjCGeom::mjCGeom(const mjCGeom& other) {
mjCGeom::~mjCGeom() {
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty()) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -2189,8 +2189,8 @@ void mjCGeom::PointToLocal(void) {
spec.material = &spec_material_;
spec.meshname = &spec_meshname_;
spec.hfieldname = &spec_hfieldname_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = &plugin_instance_name;
spec.plugin.plugin_name = &plugin_name;
spec.plugin.name = &plugin_instance_name;
userdata = nullptr;
hfieldname = nullptr;
meshname = nullptr;
@@ -2207,8 +2207,8 @@ void mjCGeom::CopyFromSpec() {
material_ = spec_material_;
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;
}
@@ -5586,7 +5586,7 @@ mjCActuator::mjCActuator(const mjCActuator& other) {
mjCActuator::~mjCActuator() {
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty()) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -5644,8 +5644,8 @@ void mjCActuator::PointToLocal() {
spec.target = &spec_target_;
spec.refsite = &spec_refsite_;
spec.slidersite = &spec_slidersite_;
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;
userdata = nullptr;
target = nullptr;
@@ -5677,8 +5677,8 @@ void mjCActuator::CopyFromSpec() {
slidersite_ = spec_slidersite_;
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;
}
@@ -5951,7 +5951,7 @@ mjCSensor::mjCSensor(const mjCSensor& other) {
mjCSensor::~mjCSensor() {
if (spec.plugin.active && spec.plugin.instance_name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty()) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -5978,8 +5978,8 @@ void mjCSensor::PointToLocal() {
spec.userdata = &spec_userdata_;
spec.objname = &spec_objname_;
spec.refname = &spec_refname_;
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;
userdata = nullptr;
objname = nullptr;
@@ -6008,8 +6008,8 @@ void mjCSensor::CopyFromSpec() {
refname_ = spec_refname_;
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;
}
@@ -6921,13 +6921,13 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
parent = this;
model = _model;
name.clear();
instance_name.clear();
plugin_name.clear();
// public interface
mjs_defaultPlugin(&spec);
elemtype = mjOBJ_PLUGIN;
spec.plugin_name = &plugin_name;
spec.name = &name;
spec.instance_name = &instance_name;
spec.info = &info;
}
@@ -6951,15 +6951,6 @@ mjCPlugin& mjCPlugin::operator=(const mjCPlugin& other) {
void mjCPlugin::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
if (!instance_name.empty()) {
instance_name = m->prefix + instance_name + m->suffix;
}
}
// compiler
void mjCPlugin::Compile(void) {
const mjpPlugin* plugin = mjp_getPluginAtSlot(spec.plugin_slot);