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Replace mjs_setActivePlugins with mjs_activatePlugin.

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PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
This commit is contained in:
Alessio Quaglino
2024-09-30 09:45:25 -07:00
committed by Copybara-Service
parent cf13413c0b
commit 6832df3091
11 changed files with 76 additions and 92 deletions
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test/user/user_api_test.cc
+4 -24
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@@ -131,22 +131,12 @@ TEST_F(MujocoTest, TreeTraversal) {
}
TEST_F(PluginTest, ActivatePlugin) {
std::string plugin_name = "mujoco.elasticity.cable";
mjSpec* spec = mj_makeSpec();
// get slot of requested plugin
int plugin_slot = -1;
const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
EXPECT_THAT(plugin, NotNull());
// activated plugin in the slot
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
mjs_setActivePlugins(spec, &active_plugins);
mjs_activatePlugin(spec, "mujoco.elasticity.cable");
// associate plugin to body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjs_setString(body->plugin.name, plugin_name.c_str());
mjs_setString(body->plugin.name, "mujoco.elasticity.cable");
body->plugin.element = mjs_addPlugin(spec)->element;
body->plugin.active = true;
mjsGeom* geom = mjs_addGeom(body, 0);
@@ -166,18 +156,8 @@ TEST_F(PluginTest, ActivatePlugin) {
}
TEST_F(PluginTest, DeletePlugin) {
std::string plugin_name = "mujoco.pid";
mjSpec* spec = mj_makeSpec();
// get slot of requested plugin
int plugin_slot = -1;
const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
ASSERT_THAT(plugin, NotNull());
// activated plugin in the slot
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
mjs_setActivePlugins(spec, &active_plugins);
mjs_activatePlugin(spec, "mujoco.pid");
// create body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
@@ -190,7 +170,7 @@ TEST_F(PluginTest, DeletePlugin) {
// add actuator
mjsActuator* actuator = mjs_addActuator(spec, 0);
mjs_setString(actuator->target, "j1");
mjs_setString(actuator->plugin.name, plugin_name.c_str());
mjs_setString(actuator->plugin.name, "mujoco.pid");
actuator->plugin.element = mjs_addPlugin(spec)->element;
actuator->plugin.active = true;
actuator->trntype = mjTRN_JOINT;