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Move mjC objects attributes to parent classes in user_objects.

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This is in preparation of adding copy constructors for all of the objects.

PiperOrigin-RevId: 615014168
Change-Id: I24801d71d74dd6756167a6c438f9573825a396b5
This commit is contained in:
Alessio Quaglino
2024-03-12 06:05:57 -07:00
committed by Copybara-Service
parent d90d57609e
commit 93cbdaee07
1 changed files with 350 additions and 283 deletions
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src/user/user_objects.h
+350 -283
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@@ -117,16 +117,25 @@ class mjCBoundingVolume {
// bounding volume hierarchy
class mjCBoundingVolumeHierarchy {
struct mjCBoundingVolumeHierarchy_ {
public:
mjCBoundingVolumeHierarchy();
int nbvh;
std::vector<mjtNum> bvh; // bounding boxes (nbvh x 6)
std::vector<int> child; // children of each node (nbvh x 2)
std::vector<int*> nodeid; // geom of elem id contained by the node (nbvh x 1)
std::vector<int> level; // levels of each node (nbvh x 1)
protected:
std::vector<mjCBoundingVolume> bvleaf_;
std::string name_;
double ipos_[3];
double iquat_[4];
};
class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
public:
mjCBoundingVolumeHierarchy();
// make bounding volume hierarchy
void CreateBVH(void);
void Set(mjtNum ipos_element[3], mjtNum iquat_element[4]);
@@ -136,11 +145,6 @@ class mjCBoundingVolumeHierarchy {
private:
int MakeBVH(std::vector<const mjCBoundingVolume*>& elements, int lev = 0);
std::vector<mjCBoundingVolume> bvleaf_;
std::string name_;
double ipos_[3];
double iquat_[4];
};
@@ -190,7 +194,38 @@ class mjCBase : public mjCBase_ {
//------------------------- class mjCBody -----------------------------------------------
// Describes a rigid body
class mjCBody : public mjCBase, private mjmBody {
class mjCBody_ : public mjCBase {
public:
mjCAlternative alt_;
mjCAlternative ialt_;
protected:
// variables computed by 'Compile' and 'AddXXX'
int parentid; // parent index in global array
int weldid; // top index of body we are welded to
int dofnum; // number of motion dofs for body
int mocapid; // mocap id, -1: not mocap
int contype; // OR over geom contypes
int conaffinity; // OR over geom conaffinities
double margin; // MAX over geom margins
mjtNum xpos0[3]; // global position in qpos0
mjtNum xquat0[4]; // global orientation in qpos0
// used internally by compiler
int lastdof; // id of last dof
int subtreedofs; // number of dofs in subtree, including self
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
// variable-size data
std::string plugin_name;
std::string plugin_instance_name;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
class mjCBody : public mjCBody_, private mjmBody {
friend class mjCJoint;
friend class mjCGeom;
friend class mjCSite;
@@ -240,33 +275,12 @@ class mjCBody : public mjCBase, private mjmBody {
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
mjCAlternative alt_;
mjCAlternative ialt_;
// variables computed by 'Compile' and 'AddXXX'
private:
mjCBody(mjCModel*); // constructor
~mjCBody(); // destructor
void Compile(void); // compiler
void GeomFrame(void); // get inertial info from geoms
int parentid; // parent index in global array
int weldid; // top index of body we are welded to
int dofnum; // number of motion dofs for body
int mocapid; // mocap id, -1: not mocap
int contype; // OR over geom contypes
int conaffinity; // OR over geom conaffinities
double margin; // MAX over geom margins
mjtNum xpos0[3]; // global position in qpos0
mjtNum xquat0[4]; // global orientation in qpos0
// used internally by compiler
int lastdof; // id of last dof
int subtreedofs; // number of dofs in subtree, including self
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
// objects allocated by Add functions
std::vector<mjCBody*> bodies; // child bodies
std::vector<mjCGeom*> geoms; // geoms attached to this body
@@ -278,12 +292,6 @@ class mjCBody : public mjCBase, private mjmBody {
void CopyFromSpec(); // copy spec into attributes
void PointToLocal(void);
// variable-size data
std::string plugin_name;
std::string plugin_instance_name;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
@@ -291,7 +299,13 @@ class mjCBody : public mjCBase, private mjmBody {
//------------------------- class mjCFrame ---------------------------------------------------------
// Describes a coordinate transformation relative to its parent
class mjCFrame : public mjCBase, private mjmFrame {
class mjCFrame_ : public mjCBase {
protected:
bool compiled; // frame already compiled
mjCAlternative alt_;
};
class mjCFrame : public mjCFrame_, private mjmFrame {
friend class mjCBase;
friend class mjCBody;
friend class mjCGeom;
@@ -309,9 +323,6 @@ class mjCFrame : public mjCBase, private mjmFrame {
void PointToLocal(void);
private:
bool compiled; // frame already compiled
mjCAlternative alt_;
mjCFrame(mjCModel* = 0, mjCFrame* = 0); // constructor
void Compile(void); // compiler
};
@@ -583,7 +594,38 @@ class mjCLight : public mjCLight_, private mjmLight {
//------------------------- class mjCFlex ----------------------------------------------------------
// Describes a flex
class mjCFlex: public mjCBase, private mjmFlex {
class mjCFlex_ : public mjCBase {
protected:
int nvert; // number of verices
int nedge; // number of edges
int nelem; // number of elements
int matid; // material id
bool rigid; // all vertices attached to the same body
bool centered; // all vertices coordinates (0,0,0)
std::vector<int> vertbodyid; // vertex body ids
std::vector<std::pair<int, int>> edge; // edge vertex ids
std::vector<int> shell; // shell fragment vertex ids (dim per fragment)
std::vector<int> elemlayer; // element layer (distance from border)
std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::vector<mjtNum> elemaabb_; // element bounding volume
// variable-size data
std::vector<std::string> vertbody_; // vertex body names
std::vector<mjtNum> vert_; // vertex positions
std::vector<int> elem_; // element vertex ids
std::vector<float> texcoord_; // vertex texture coordinates
std::string material_; // name of material used for rendering
std::string spec_material_;
std::vector<std::string> spec_vertbody_;
std::vector<mjtNum> spec_vert_;
std::vector<int> spec_elem_;
std::vector<float> spec_texcoord_;
};
class mjCFlex: public mjCFlex_, private mjmFlex {
friend class mjCDef;
friend class mjCModel;
friend class mjCFlexcomp;
@@ -615,34 +657,6 @@ class mjCFlex: public mjCBase, private mjmFlex {
void Compile(const mjVFS* vfs); // compiler
void CreateBVH(void); // create flex BVH
void CreateShellPair(void); // create shells and evpairs
int nvert; // number of verices
int nedge; // number of edges
int nelem; // number of elements
int matid; // material id
bool rigid; // all vertices attached to the same body
bool centered; // all vertices coordinates (0,0,0)
std::vector<int> vertbodyid; // vertex body ids
std::vector<std::pair<int, int>> edge; // edge vertex ids
std::vector<int> shell; // shell fragment vertex ids (dim per fragment)
std::vector<int> elemlayer; // element layer (distance from border)
std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::vector<mjtNum> elemaabb_; // element bounding volume
// variable-size data
std::vector<std::string> vertbody_; // vertex body names
std::vector<mjtNum> vert_; // vertex positions
std::vector<int> elem_; // element vertex ids
std::vector<float> texcoord_; // vertex texture coordinates
std::string material_; // name of material used for rendering
std::string spec_material_;
std::vector<std::string> spec_vertbody_;
std::vector<mjtNum> spec_vert_;
std::vector<int> spec_elem_;
std::vector<float> spec_texcoord_;
};
@@ -650,7 +664,67 @@ class mjCFlex: public mjCBase, private mjmFlex {
//------------------------- class mjCMesh ----------------------------------------------------------
// Describes a mesh
class mjCMesh: public mjCBase, private mjmMesh {
class mjCMesh_ : public mjCBase {
protected:
// 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
std::vector<float> usernormal_; // user normal data
std::vector<float> usertexcoord_; // user texcoord data
std::vector<int> userface_; // user vertex indices
std::vector<int> userfacenormal_; // user normal indices
std::string spec_content_type_;
std::string spec_file_;
std::vector<float> spec_uservert_;
std::vector<float> spec_usernormal_;
std::vector<float> spec_usertexcoord_;
std::vector<int> spec_userface_;
std::vector<int> spec_userfacenormal_;
// used by the compiler
bool visual_; // true: the mesh is only visual
std::vector<int> userfacetexcoord_; // user texcoord indices
std::vector< std::pair<int, int> > useredge_; // user half-edge data
// mesh properties that indicate a well-formed mesh
std::pair<int, int> invalidorientation_; // indices of invalid edge; -1 if none
bool validarea_; // false if the area is too small
int validvolume_; // 0: volume is too small, -1: volume is negative
bool valideigenvalue_; // false if inertia eigenvalue is too small
bool validinequality_; // false if inertia inequality is not satisfied
bool processed_; // false if the mesh has not been processed yet
// mesh properties computed by Compile
double pos_volume_[3]; // CoM position (volume)
double pos_surface_[3]; // CoM position (surface)
double quat_volume_[4]; // inertia orientation (volume)
double quat_surface_[4]; // inertia orientation (surface)
double pos_[3]; // translation applied to asset vertices
double quat_[4]; // rotation applied to asset vertices
double boxsz_volume_[3]; // half-sizes of equivalent inertia box (volume)
double boxsz_surface_[3]; // half-sizes of equivalent inertia box (surface)
double aamm_[6]; // axis-aligned bounding box in (min, max) format
double volume_; // volume of the mesh
double surface_; // surface of the mesh
// size of mesh data to be copied into mjModel
int nvert_; // number of vertices
int nnormal_; // number of normals
int ntexcoord_; // number of texcoords
int nface_; // number of faces
int szgraph_; // size of graph data in ints
bool needhull_; // needs convex hull for collisions
mjCBoundingVolumeHierarchy tree_; // bounding volume hierarchy
std::vector<double> face_aabb_; // bounding boxes of all faces
};
class mjCMesh: public mjCMesh_, private mjmMesh {
friend class mjCFlexcomp;
friend class mjXWriter;
public:
@@ -720,31 +794,6 @@ class mjCMesh: public mjCBase, private mjmMesh {
void SetBoundingVolume(int faceid);
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
std::vector<float> usernormal_; // user normal data
std::vector<float> usertexcoord_; // user texcoord data
std::vector<int> userface_; // user vertex indices
std::vector<int> userfacenormal_; // user normal indices
std::string spec_content_type_;
std::string spec_file_;
std::vector<float> spec_uservert_;
std::vector<float> spec_usernormal_;
std::vector<float> spec_usertexcoord_;
std::vector<int> spec_userface_;
std::vector<int> spec_userfacenormal_;
// used by the compiler
bool visual_; // true: the mesh is only visual
std::vector<int> userfacetexcoord_; // user texcoord indices
std::vector< std::pair<int, int> > useredge_; // user half-edge data
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
@@ -759,37 +808,7 @@ class mjCMesh: public mjCBase, private mjmMesh {
void RemoveRepeated(void); // remove repeated vertices
void CheckMesh(mjtGeomInertia type); // check if the mesh is valid
// compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], mjtGeomInertia type, const double facecen[3],
bool exactmeshinertia);
// mesh properties that indicate a well-formed mesh
std::pair<int, int> invalidorientation_; // indices of invalid edge; -1 if none
bool validarea_; // false if the area is too small
int validvolume_; // 0: volume is too small, -1: volume is negative
bool valideigenvalue_; // false if inertia eigenvalue is too small
bool validinequality_; // false if inertia inequality is not satisfied
bool processed_; // false if the mesh has not been processed yet
// mesh properties computed by Compile
double pos_volume_[3]; // CoM position
double pos_surface_[3]; // CoM position
double quat_volume_[4]; // inertia orientation
double quat_surface_[4]; // inertia orientation
double pos_[3]; // translation applied to asset vertices
double quat_[4]; // rotation applied to asset vertices
double boxsz_volume_[3]; // half-sizes of equivalent inertia box (volume)
double boxsz_surface_[3]; // half-sizes of equivalent inertia box (surface)
double aamm_[6]; // axis-aligned bounding box in (min, max) format
double volume_; // volume of the mesh
double surface_; // surface of the mesh
// mesh data to be copied into mjModel
int nvert_; // number of vertices
int nnormal_; // number of normals
int ntexcoord_; // number of texcoords
int nface_; // number of faces
int szgraph_; // size of graph data in ints
float* vert_; // vertex data (3*nvert), relative to (pos, quat)
float* normal_; // vertex normal data (3*nnormal)
double* center_; // face circumcenter data (3*nface)
@@ -799,10 +818,9 @@ class mjCMesh: public mjCBase, private mjmMesh {
int* facetexcoord_; // face texcoord indices (3*nface)
int* graph_; // convex graph data
bool needhull_; // needs convex hull for collisions
mjCBoundingVolumeHierarchy tree_; // bounding volume hierarchy
std::vector<double> face_aabb_; // bounding boxes of all faces
// compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], mjtGeomInertia type, const double facecen[3],
bool exactmeshinertia);
};
@@ -810,7 +828,36 @@ class mjCMesh: public mjCBase, private mjmMesh {
//------------------------- class mjCSkin ----------------------------------------------------------
// Describes a skin
class mjCSkin: public mjCBase, private mjmSkin {
class mjCSkin_ : public mjCBase {
protected:
// variable size attributes
std::string file_;
std::string material_;
std::vector<float> vert_;
std::vector<float> texcoord_;
std::vector<int> face_;
std::vector<std::string> bodyname_;
std::vector<float> bindpos_;
std::vector<float> bindquat_;
std::vector<std::vector<int>> vertid_;
std::vector<std::vector<float>> vertweight_;
std::string spec_file_;
std::string spec_material_;
std::vector<float> spec_vert_;
std::vector<float> spec_texcoord_;
std::vector<int> spec_face_;
std::vector<std::string> spec_bodyname_;
std::vector<float> spec_bindpos_;
std::vector<float> spec_bindquat_;
std::vector<std::vector<int>> spec_vertid_;
std::vector<std::vector<float>> spec_vertweight_;
int matid; // material id
std::vector<int> bodyid; // body ids
};
class mjCSkin: public mjCSkin_, private mjmSkin {
friend class mjCModel;
friend class mjXWriter;
@@ -840,32 +887,6 @@ class mjCSkin: public mjCBase, private mjmSkin {
~mjCSkin(); // destructor
void Compile(const mjVFS* vfs); // compiler
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
// variable size attributes
std::string file_;
std::string material_;
std::vector<float> vert_;
std::vector<float> texcoord_;
std::vector<int> face_;
std::vector<std::string> bodyname_;
std::vector<float> bindpos_;
std::vector<float> bindquat_;
std::vector<std::vector<int>> vertid_;
std::vector<std::vector<float>> vertweight_;
std::string spec_file_;
std::string spec_material_;
std::vector<float> spec_vert_;
std::vector<float> spec_texcoord_;
std::vector<int> spec_face_;
std::vector<std::string> spec_bodyname_;
std::vector<float> spec_bindpos_;
std::vector<float> spec_bindquat_;
std::vector<std::vector<int>> spec_vertid_;
std::vector<std::vector<float>> spec_vertweight_;
int matid; // material id
std::vector<int> bodyid; // body ids
};
@@ -873,7 +894,17 @@ class mjCSkin: public mjCBase, private mjmSkin {
//------------------------- class mjCHField --------------------------------------------------------
// Describes a height field
class mjCHField : public mjCBase, private mjmHField {
class mjCHField_ : public mjCBase {
protected:
std::string file_;
std::string content_type_;
std::vector<float> userdata_;
std::string spec_file_;
std::string spec_content_type_;
std::vector<float> spec_userdata_;
};
class mjCHField : public mjCHField_, private mjmHField {
friend class mjCGeom;
friend class mjCModel;
friend class mjXWriter;
@@ -899,13 +930,6 @@ class mjCHField : public mjCBase, private mjmHField {
void LoadCustom(mjResource* resource); // load from custom format
void LoadPNG(mjResource* resource); // load from PNG format
std::string file_;
std::string content_type_;
std::vector<float> userdata_;
std::string spec_file_;
std::string spec_content_type_;
std::vector<float> spec_userdata_;
};
@@ -913,7 +937,17 @@ class mjCHField : public mjCBase, private mjmHField {
//------------------------- class mjCTexture -------------------------------------------------------
// Describes a texture
class mjCTexture : public mjCBase, private mjmTexture {
class mjCTexture_ : public mjCBase {
protected:
std::string file_;
std::string content_type_;
std::vector<std::string> cubefiles_;
std::string spec_file_;
std::string spec_content_type_;
std::vector<std::string> spec_cubefiles_;
};
class mjCTexture : public mjCTexture_, private mjmTexture {
friend class mjCModel;
friend class mjXReader;
friend class mjXWriter;
@@ -955,13 +989,6 @@ class mjCTexture : public mjCBase, private mjmTexture {
unsigned int& w, unsigned int& h);
mjtByte* rgb; // rgb data
std::string file_;
std::string content_type_;
std::vector<std::string> cubefiles_;
std::string spec_file_;
std::string spec_content_type_;
std::vector<std::string> spec_cubefiles_;
};
@@ -969,7 +996,14 @@ class mjCTexture : public mjCBase, private mjmTexture {
//------------------------- class mjCMaterial ------------------------------------------------------
// Describes a material for rendering
class mjCMaterial : public mjCBase, private mjmMaterial {
class mjCMaterial_ : public mjCBase {
protected:
int texid; // id of material
std::string texture_;
std::string spec_texture_;
};
class mjCMaterial : public mjCMaterial_, private mjmMaterial {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
@@ -989,10 +1023,6 @@ class mjCMaterial : public mjCBase, private mjmMaterial {
private:
mjCMaterial(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
int texid; // id of material
std::string texture_;
std::string spec_texture_;
};
@@ -1000,7 +1030,16 @@ class mjCMaterial : public mjCBase, private mjmMaterial {
//------------------------- class mjCPair ----------------------------------------------------------
// Predefined geom pair for collision detection
class mjCPair : public mjCBase, private mjmPair {
class mjCPair_ : public mjCBase {
protected:
int signature; // body1<<16 + body2
std::string geomname1_;
std::string geomname2_;
std::string spec_geomname1_;
std::string spec_geomname2_;
};
class mjCPair : public mjCPair_, private mjmPair {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -1028,12 +1067,6 @@ class mjCPair : public mjCBase, private mjmPair {
mjCGeom* geom1; // geom1
mjCGeom* geom2; // geom2
int signature; // body1<<16 + body2
std::string geomname1_;
std::string geomname2_;
std::string spec_geomname1_;
std::string spec_geomname2_;
};
@@ -1041,7 +1074,19 @@ class mjCPair : public mjCBase, private mjmPair {
//------------------------- class mjCBodyPair ------------------------------------------------------
// Body pair specification, use to exclude pairs
class mjCBodyPair : public mjCBase, private mjmExclude {
class mjCBodyPair_ : public mjCBase {
protected:
int body1; // id of body1
int body2; // id of body2
int signature; // body1<<16 + body2
std::string bodyname1_; // name of geom 1
std::string bodyname2_; // name of geom 2
std::string spec_bodyname1_;
std::string spec_bodyname2_;
};
class mjCBodyPair : public mjCBodyPair_, private mjmExclude {
friend class mjCBody;
friend class mjCModel;
@@ -1063,15 +1108,6 @@ class mjCBodyPair : public mjCBase, private mjmExclude {
private:
mjCBodyPair(mjCModel*); // constructor
void Compile(void); // compiler
int body1; // id of body1
int body2; // id of body2
int signature; // body1<<16 + body2
std::string bodyname1_; // name of geom 1
std::string bodyname2_; // name of geom 2
std::string spec_bodyname1_;
std::string spec_bodyname2_;
};
@@ -1079,7 +1115,17 @@ class mjCBodyPair : public mjCBase, private mjmExclude {
//------------------------- class mjCEquality ------------------------------------------------------
// Describes an equality constraint
class mjCEquality : public mjCBase, private mjmEquality {
class mjCEquality_ : public mjCBase {
protected:
int obj1id;
int obj2id;
std::string name1_;
std::string name2_;
std::string spec_name1_;
std::string spec_name2_;
};
class mjCEquality : public mjCEquality_, private mjmEquality {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -1097,14 +1143,6 @@ class mjCEquality : public mjCBase, private mjmEquality {
private:
mjCEquality(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
int obj1id; // id of object 1
int obj2id; // id of object 2
std::string name1_;
std::string name2_;
std::string spec_name1_;
std::string spec_name2_;
};
@@ -1112,7 +1150,18 @@ class mjCEquality : public mjCBase, private mjmEquality {
//------------------------- class mjCTendon --------------------------------------------------------
// Describes a tendon
class mjCTendon : public mjCBase, private mjmTendon {
class mjCTendon_ : public mjCBase {
protected:
int matid; // material id for rendering
// variable-size data
std::string material_;
std::string spec_material_;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
class mjCTendon : public mjCTendon_, private mjmTendon {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
@@ -1151,14 +1200,6 @@ class mjCTendon : public mjCBase, private mjmTendon {
mjCTendon(mjCModel* = 0, mjCDef* = 0); // constructor
~mjCTendon(); // destructor
void Compile(void); // compiler
int matid; // material id for rendering
// variable-size data
std::string material_;
std::string spec_material_;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
@@ -1166,7 +1207,15 @@ class mjCTendon : public mjCBase, private mjmTendon {
//------------------------- class mjCWrap ----------------------------------------------------------
// Describes a tendon wrap object
class mjCWrap : public mjCBase, private mjmWrap {
class mjCWrap_ : public mjCBase {
public:
mjtWrap type; // wrap object type
int sideid; // side site id; -1 if not applicable
double prm; // parameter: divisor, coefficient
std::string sidesite; // name of side site
};
class mjCWrap : public mjCWrap_, private mjmWrap {
friend class mjCTendon;
friend class mjCModel;
@@ -1175,12 +1224,7 @@ class mjCWrap : public mjCBase, private mjmWrap {
using mjCBase::info;
void PointToLocal();
mjtWrap type; // wrap object type
mjCBase* obj; // wrap object pointer
int sideid; // side site id; -1 if not applicable
double prm; // parameter: divisor, coefficient
std::string sidesite; // name of side site
private:
mjCWrap(mjCModel*, mjCTendon*); // constructor
@@ -1194,21 +1238,27 @@ class mjCWrap : public mjCBase, private mjmWrap {
//------------------------- class mjCPlugin --------------------------------------------------------
// Describes an instance of a plugin
class mjCPlugin : public mjCBase {
class mjCPlugin_ : public mjCBase {
public:
int nstate; // state size for the plugin instance
std::map<std::string, std::string, std::less<>> config_attribs; // raw config attributes from XML
std::vector<char> flattened_attributes; // config attributes flattened in plugin-declared order;
protected:
std::string instance_name;
};
class mjCPlugin : public mjCPlugin_ {
friend class mjCModel;
friend class mjXWriter;
public:
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
std::vector<char> flattened_attributes; // config attributes flattened in plugin-declared order
private:
mjCPlugin(mjCModel*); // constructor
void Compile(void); // compiler
std::string instance_name;
};
@@ -1216,7 +1266,24 @@ class mjCPlugin : public mjCBase {
//------------------------- class mjCActuator ------------------------------------------------------
// Describes an actuator
class mjCActuator : public mjCBase, private mjmActuator {
class mjCActuator_ : public mjCBase {
protected:
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_;
std::vector<double> userdata_;
std::string spec_target_;
std::string spec_slidersite_;
std::string spec_refsite_;
std::vector<double> spec_userdata_;
};
class mjCActuator : public mjCActuator_, private mjmActuator {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
@@ -1242,20 +1309,6 @@ class mjCActuator : public mjCBase, private mjmActuator {
void Compile(void); // compiler
void CopyFromSpec();
void PointToLocal();
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_;
std::vector<double> userdata_;
std::string spec_target_;
std::string spec_slidersite_;
std::string spec_refsite_;
std::vector<double> spec_userdata_;
};
@@ -1263,7 +1316,22 @@ class mjCActuator : public mjCBase, private mjmActuator {
//------------------------- class mjCSensor --------------------------------------------------------
// Describes a sensor
class mjCSensor : public mjCBase, private mjmSensor {
class mjCSensor_ : public mjCBase {
protected:
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_;
std::string spec_objname_;
std::string spec_refname_;
std::vector<double> spec_userdata_;
};
class mjCSensor : public mjCSensor_, private mjmSensor {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
@@ -1286,17 +1354,6 @@ class mjCSensor : public mjCBase, private mjmSensor {
void MakePointerLocal();
mjCBase* obj; // sensorized object
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_;
std::string spec_objname_;
std::string spec_refname_;
std::vector<double> spec_userdata_;
};
@@ -1304,7 +1361,13 @@ class mjCSensor : public mjCBase, private mjmSensor {
//------------------------- class mjCNumeric -------------------------------------------------------
// Describes a custom data field
class mjCNumeric : public mjCBase, private mjmNumeric {
class mjCNumeric_ : public mjCBase {
protected:
std::vector<double> data_;
std::vector<double> spec_data_;
};
class mjCNumeric : public mjCNumeric_, private mjmNumeric {
friend class mjCModel;
friend class mjXWriter;
@@ -1320,9 +1383,6 @@ class mjCNumeric : public mjCBase, private mjmNumeric {
mjCNumeric(mjCModel*); // constructor
~mjCNumeric(); // destructor
void Compile(void); // compiler
std::vector<double> data_;
std::vector<double> spec_data_;
};
@@ -1330,7 +1390,13 @@ class mjCNumeric : public mjCBase, private mjmNumeric {
//------------------------- class mjCText ----------------------------------------------------------
// Describes a custom text field
class mjCText : public mjCBase, private mjmText {
class mjCText_ : public mjCBase {
protected:
std::string data_;
std::string spec_data_;
};
class mjCText : public mjCText_, private mjmText {
friend class mjCModel;
friend class mjXWriter;
@@ -1346,9 +1412,6 @@ class mjCText : public mjCBase, private mjmText {
mjCText(mjCModel*); // constructor
~mjCText(); // destructor
void Compile(void); // compiler
std::string data_;
std::string spec_data_;
};
@@ -1356,7 +1419,18 @@ class mjCText : public mjCBase, private mjmText {
//------------------------- class mjCTuple ---------------------------------------------------------
// Describes a custom tuple field
class mjCTuple : public mjCBase, private mjmTuple {
class mjCTuple_ : public mjCBase {
protected:
std::vector<mjCBase*> obj; // object pointers
std::vector<mjtObj> objtype_;
std::vector<std::string> objname_;
std::vector<double> objprm_;
std::vector<mjtObj> spec_objtype_;
std::vector<std::string> spec_objname_;
std::vector<double> spec_objprm_;
};
class mjCTuple : public mjCTuple_, private mjmTuple {
friend class mjCModel;
friend class mjXWriter;
@@ -1372,16 +1446,6 @@ class mjCTuple : public mjCBase, private mjmTuple {
mjCTuple(mjCModel*); // constructor
~mjCTuple(); // destructor
void Compile(void); // compiler
std::vector<mjCBase*> obj; // object pointers
// variable-size data
std::vector<mjtObj> objtype_;
std::vector<std::string> objname_;
std::vector<double> objprm_;
std::vector<mjtObj> spec_objtype_;
std::vector<std::string> spec_objname_;
std::vector<double> spec_objprm_;
};
@@ -1389,7 +1453,23 @@ class mjCTuple : public mjCBase, private mjmTuple {
//------------------------- class mjCKey -----------------------------------------------------------
// Describes a keyframe
class mjCKey : public mjCBase, private mjmKey {
class mjCKey_ : public mjCBase {
protected:
std::vector<double> qpos_;
std::vector<double> qvel_;
std::vector<double> act_;
std::vector<double> mpos_;
std::vector<double> mquat_;
std::vector<double> ctrl_;
std::vector<double> spec_qpos_;
std::vector<double> spec_qvel_;
std::vector<double> spec_act_;
std::vector<double> spec_mpos_;
std::vector<double> spec_mquat_;
std::vector<double> spec_ctrl_;
};
class mjCKey : public mjCKey_, private mjmKey {
friend class mjCModel;
friend class mjXWriter;
@@ -1405,19 +1485,6 @@ class mjCKey : public mjCBase, private mjmKey {
mjCKey(mjCModel*); // constructor
~mjCKey(); // destructor
void Compile(const mjModel* m); // compiler
std::vector<double> qpos_;
std::vector<double> qvel_;
std::vector<double> act_;
std::vector<double> mpos_;
std::vector<double> mquat_;
std::vector<double> ctrl_;
std::vector<double> spec_qpos_;
std::vector<double> spec_qvel_;
std::vector<double> spec_act_;
std::vector<double> spec_mpos_;
std::vector<double> spec_mquat_;
std::vector<double> spec_ctrl_;
};