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Add mjSpec bindings.

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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
This commit is contained in:
Alessio Quaglino
2024-07-01 12:04:52 -07:00
committed by Copybara-Service
parent f2c3be470f
commit 9106f40e2b
19 changed files with 1588 additions and 10 deletions
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introspect/codegen/generate_structs.py
+9 -3
View File
@@ -166,9 +166,15 @@ class MjStructVisitor:
elif (node.get('kind') == 'TypedefDecl' and
node['type']['qualType'].startswith('struct mj') and
node['name'] not in _EXCLUDED):
struct = self._structs[node['type']['qualType']]
self._typedefs[node['name']] = ast_nodes.StructDecl(
name=node['name'], declname=struct.declname, fields=struct.fields)
declname = node['type']['qualType']
try:
struct = self._structs[declname]
except KeyError:
self._typedefs[node['name']] = ast_nodes.StructDecl(
name=node['name'], declname=declname, fields=())
else:
self._typedefs[node['name']] = ast_nodes.StructDecl(
name=node['name'], declname=struct.declname, fields=struct.fields)
def resolve_all_anonymous(self) -> None:
"""Replaces anonymous struct placeholders with corresponding decl."""
introspect/functions.py
+112
View File
@@ -9813,6 +9813,118 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc="Return body's next child of the same type; return NULL if child is last.", # pylint: disable=line-too-long
)),
('mjs_asBody',
FunctionDecl(
name='mjs_asBody',
return_type=PointerType(
inner_type=ValueType(name='mjsBody'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.', # pylint: disable=line-too-long
)),
('mjs_asGeom',
FunctionDecl(
name='mjs_asGeom',
return_type=PointerType(
inner_type=ValueType(name='mjsGeom'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.', # pylint: disable=line-too-long
)),
('mjs_asJoint',
FunctionDecl(
name='mjs_asJoint',
return_type=PointerType(
inner_type=ValueType(name='mjsJoint'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.', # pylint: disable=line-too-long
)),
('mjs_asSite',
FunctionDecl(
name='mjs_asSite',
return_type=PointerType(
inner_type=ValueType(name='mjsSite'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.', # pylint: disable=line-too-long
)),
('mjs_asCamera',
FunctionDecl(
name='mjs_asCamera',
return_type=PointerType(
inner_type=ValueType(name='mjsCamera'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.', # pylint: disable=line-too-long
)),
('mjs_asLight',
FunctionDecl(
name='mjs_asLight',
return_type=PointerType(
inner_type=ValueType(name='mjsLight'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.', # pylint: disable=line-too-long
)),
('mjs_asFrame',
FunctionDecl(
name='mjs_asFrame',
return_type=PointerType(
inner_type=ValueType(name='mjsFrame'),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.', # pylint: disable=line-too-long
)),
('mjs_setString',
FunctionDecl(
name='mjs_setString',