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Remove mjCPlugin from xml_native_reader.

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PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
This commit is contained in:
Alessio Quaglino
2024-02-20 03:45:42 -08:00
committed by Copybara-Service
parent b56d4bf8a5
commit 78dc5aee9f
13 changed files with 93 additions and 80 deletions
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src/user/user_model.cc
+5 -5
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@@ -3044,7 +3044,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
{
int adr = 0;
for (int i = 0; i < nplugin; ++i) {
m->plugin[i] = plugins[i]->plugin_slot;
m->plugin[i] = plugins[i]->spec.plugin_slot;
const int size = plugins[i]->flattened_attributes.size();
std::memcpy(m->plugin_attr + adr,
plugins[i]->flattened_attributes.data(), size);
@@ -3575,8 +3575,8 @@ void mjCModel::ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
}
// implicit plugin instance
if (*plugin_instance && (*plugin_instance)->plugin_slot == -1) {
(*plugin_instance)->plugin_slot = plugin_slot;
if (*plugin_instance && (*plugin_instance)->spec.plugin_slot == -1) {
(*plugin_instance)->spec.plugin_slot = plugin_slot;
(*plugin_instance)->parent = obj;
}
@@ -3588,10 +3588,10 @@ void mjCModel::ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
throw mjCError(
obj, "unrecognized name '%s' for plugin instance", plugin_instance_name.c_str());
}
if (plugin_slot != -1 && plugin_slot != (*plugin_instance)->plugin_slot) {
if (plugin_slot != -1 && plugin_slot != (*plugin_instance)->spec.plugin_slot) {
throw mjCError(
obj, "'plugin' attribute does not match that of the instance");
}
plugin_slot = (*plugin_instance)->plugin_slot;
plugin_slot = (*plugin_instance)->spec.plugin_slot;
}
}