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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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src/user/user_api.cc
+14 -14
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@@ -52,7 +52,7 @@ static T& operator+(T& base, std::string_view suffix) {
// create model
mjSpec* mjs_createSpec() {
mjSpec* mj_makeSpec() {
mjCModel* modelC = new mjCModel;
return &modelC->spec;
}
@@ -60,7 +60,7 @@ mjSpec* mjs_createSpec() {
// copy model
mjSpec* mjs_copySpec(const mjSpec* s) {
mjSpec* mj_copySpec(const mjSpec* s) {
mjCModel* modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
return &modelC->spec;
}
@@ -68,7 +68,7 @@ mjSpec* mjs_copySpec(const mjSpec* s) {
// copy back model
void mjs_copyBack(mjSpec* s, const mjModel* m) {
void mj_copyBack(mjSpec* s, const mjModel* m) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
modelC->CopyBack(m);
}
@@ -76,7 +76,7 @@ void mjs_copyBack(mjSpec* s, const mjModel* m) {
// compile model
mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->Compile(vfs);
}
@@ -84,7 +84,7 @@ mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
// recompile spec into existing model and data while preserving the state
void mjs_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
modelC->SaveState(d);
modelC->Compile(vfs, &m);
@@ -143,7 +143,7 @@ int mjs_isWarning(mjSpec* s) {
// delete model
void mjs_deleteSpec(mjSpec* s) {
void mj_deleteSpec(mjSpec* s) {
mjCModel* model = static_cast<mjCModel*>(s->element);
delete model;
}
@@ -151,7 +151,7 @@ void mjs_deleteSpec(mjSpec* s) {
// delete object, it will call the appropriate destructor since ~mjCBase is virtual
void mjs_delete(mjElement* element) {
void mjs_delete(mjsElement* element) {
mjCBase* object = static_cast<mjCBase*>(element);
delete object;
}
@@ -430,7 +430,7 @@ mjsKey* mjs_addKey(mjSpec* s) {
mjsPlugin* mjs_addPlugin(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCPlugin* plugin = modelC->AddPlugin();
plugin->spec.instance = static_cast<mjElement*>(plugin);
plugin->spec.instance = static_cast<mjsElement*>(plugin);
return &plugin->spec;
}
@@ -458,7 +458,7 @@ mjSpec* mjs_getSpec(mjsBody* body) {
// get default
mjsDefault* mjs_getDefault(mjElement* element) {
mjsDefault* mjs_getDefault(mjsElement* element) {
return &(static_cast<mjCBase*>(element)->def->spec);
}
@@ -530,7 +530,7 @@ mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
// set frame
void mjs_setFrame(mjElement* dest, mjsFrame* frame) {
void mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
if (!frame) {
return;
}
@@ -550,14 +550,14 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
// get id
int mjs_getId(mjElement* element) {
int mjs_getId(mjsElement* element) {
return static_cast<mjCBase*>(element)->id;
}
// set default
void mjs_setDefault(mjElement* element, mjsDefault* defspec) {
void mjs_setDefault(mjsElement* element, mjsDefault* defspec) {
mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->def = static_cast<mjCDef*>(defspec->element);
}
@@ -565,7 +565,7 @@ void mjs_setDefault(mjElement* element, mjsDefault* defspec) {
// return first child of selected type
mjElement* mjs_firstChild(mjsBody* body, mjtObj type) {
mjsElement* mjs_firstChild(mjsBody* body, mjtObj type) {
mjCBody* bodyC = static_cast<mjCBody*>(body->element);
return bodyC->NextChild(NULL, type);
}
@@ -573,7 +573,7 @@ mjElement* mjs_firstChild(mjsBody* body, mjtObj type) {
// return body's next child; return NULL if child is last
mjElement* mjs_nextChild(mjsBody* body, mjElement* child) {
mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child) {
mjCBody* bodyC = static_cast<mjCBody*>(body->element);
return bodyC->NextChild(child);
}