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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.h
+13 -10
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@@ -173,10 +173,6 @@ class mjCBase {
mjCModel* model; // pointer to model that created object
mjCFrame* frame; // pointer to frame transformation
// plugin support
mjmPlugin plugin;
std::string plugin_name;
std::string plugin_instance_name;
protected:
mjCBase(); // constructor
virtual ~mjCBase() = default; // destructor
@@ -233,7 +229,6 @@ class mjCBody : public mjCBase, private mjmBody {
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
using mjCBase::plugin;
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
@@ -278,6 +273,8 @@ class mjCBody : public mjCBase, private mjmBody {
void PointToLocal(void);
// variable-size data
std::string plugin_name;
std::string plugin_instance_name;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
@@ -415,6 +412,8 @@ class mjCGeom : public mjCBase, private mjmGeom {
mjtNum fluid[mjNFLUID]; // compile-time fluid-interaction parameters
// variable-size data
std::string plugin_name;
std::string plugin_instance_name;
std::string hfieldname_;
std::string meshname_;
std::string material_;
@@ -427,7 +426,6 @@ class mjCGeom : public mjCBase, private mjmGeom {
// inherited
using mjCBase::classname;
using mjCBase::info;
using mjCBase::plugin;
};
@@ -625,7 +623,6 @@ class mjCMesh: public mjCBase, private mjmMesh {
mjmMesh spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::plugin;
using mjCBase::info;
void CopyFromSpec(void);
@@ -687,6 +684,9 @@ class mjCMesh: public mjCBase, private mjmMesh {
private:
// variable size attributes
std::string plugin_name;
std::string plugin_instance_name;
std::string content_type_; // content type of file
std::string file_; // mesh file
std::vector<float> uservert_; // user vertex data
@@ -1164,7 +1164,7 @@ class mjCPlugin : public mjCBase {
friend class mjXWriter;
public:
int plugin_slot; // global registered slot number of the plugin
mjmPlugin spec;
int nstate; // state size for the plugin instance
mjCBase* parent; // parent object (only used when generating error message)
std::map<std::string, std::string, std::less<>> config_attribs; // raw config attributes from XML
@@ -1173,6 +1173,7 @@ class mjCPlugin : public mjCBase {
private:
mjCPlugin(mjCModel*); // constructor
void Compile(void); // compiler
std::string instance_name;
};
@@ -1190,7 +1191,6 @@ class mjCActuator : public mjCBase, private mjmActuator {
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
using mjCBase::plugin;
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
@@ -1211,6 +1211,8 @@ class mjCActuator : public mjCBase, private mjmActuator {
int trnid[2]; // id of transmission target
// variable-size data
std::string plugin_name;
std::string plugin_instance_name;
std::string target_;
std::string slidersite_;
std::string refsite_;
@@ -1236,7 +1238,6 @@ class mjCSensor : public mjCBase, private mjmSensor {
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
using mjCBase::plugin;
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
@@ -1253,6 +1254,8 @@ class mjCSensor : public mjCBase, private mjmSensor {
int refid; // id of reference frame
// variable-size data
std::string plugin_name;
std::string plugin_instance_name;
std::string objname_;
std::string refname_;
std::vector<double> userdata_;