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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_objects.cc
+12 -19
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@@ -544,13 +544,6 @@ mjCBase::mjCBase() {
model = 0;
def = 0;
frame = nullptr;
// plugin variables
mjm_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
}
@@ -1193,7 +1186,7 @@ void mjCBody::Compile(void) {
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name);
}
@@ -2047,7 +2040,7 @@ void mjCGeom::Compile(void) {
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support sign distance fields", pplugin->name);
}
@@ -4487,7 +4480,7 @@ void mjCActuator::Compile(void) {
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name);
}
@@ -4921,7 +4914,7 @@ void mjCSensor::Compile(void) {
{
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->plugin_slot);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name);
}
@@ -5332,24 +5325,24 @@ void mjCKey::Compile(const mjModel* m) {
// initialize defaults
mjCPlugin::mjCPlugin(mjCModel* _model) {
name = "";
plugin_slot = -1;
nstate = 0;
nstate = -1;
parent = this;
model = _model;
name.clear();
instance_name.clear();
// public interface
mjm_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
mjm_defaultPlugin(spec);
spec.name = (mjString)&name;
spec.instance_name = (mjString)&instance_name;
spec.info = (mjString)&info;
}
// compiler
void mjCPlugin::Compile(void) {
const mjpPlugin* plugin = mjp_getPluginAtSlot(this->plugin_slot);
const mjpPlugin* plugin = mjp_getPluginAtSlot(spec.plugin_slot);
// concatenate all of the plugin's attribute values (as null-terminated strings) into
// flattened_attributes, in the order declared in the mjpPlugin