Renamed Elasticity to Cable and libcable to libelasticity for consistency.

PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c

.github/workflows/build.yml

@@ -150,12 +150,12 @@ jobs:
       if: ${{ runner.os != 'Windows' }}
       working-directory: build
       run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
-           cp lib/libcable.* ${{ matrix.tmpdir }}/mujoco_install/plugin
+           cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/plugin
     - name: Copy plugins (Windows)
       if: ${{ runner.os == 'Windows' }}
       working-directory: build
       run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
-           cp bin/Release/cable.dll ${{ matrix.tmpdir }}/mujoco_install/plugin
+           cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/plugin
     - name: Configure samples
       working-directory: sample
       run: >

doc/changelog.rst

@@ -29,6 +29,7 @@ General
 - Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
 - Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
   See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
+- Renamed the cable plugin library to elasticity.
 
 Version 2.3.0 (October 18, 2022)
 --------------------------------

plugin/elasticity/CMakeLists.txt

@@ -22,19 +22,19 @@ set(MUJOCO_ELASTICITY_SRCS
     cable.h
 )
 
-add_library(cable SHARED)
+add_library(elasticity SHARED)
-target_sources(cable PRIVATE ${MUJOCO_ELASTICITY_SRCS})
+target_sources(elasticity PRIVATE ${MUJOCO_ELASTICITY_SRCS})
-target_include_directories(cable PRIVATE ${MUJOCO_ELASTICITY_INCLUDE})
+target_include_directories(elasticity PRIVATE ${MUJOCO_ELASTICITY_INCLUDE})
-target_link_libraries(cable PRIVATE mujoco)
+target_link_libraries(elasticity PRIVATE mujoco)
 target_compile_options(
-  cable
+  elasticity
   PRIVATE ${AVX_COMPILE_OPTIONS}
           ${MUJOCO_MACOS_COMPILE_OPTIONS}
           ${EXTRA_COMPILE_OPTIONS}
           ${MUJOCO_CXX_FLAGS}
 )
 target_link_options(
-  cable
+  elasticity
   PRIVATE
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}

plugin/elasticity/cable.cc

@@ -89,10 +89,10 @@ bool CheckAttr(const char* name, const mjModel* m, int instance) {
 
 
 // factory function
-std::optional<Elasticity> Elasticity::Create(
+std::optional<Cable> Cable::Create(
   const mjModel* m, mjData* d, int instance) {
   if (CheckAttr("twist", m, instance) && CheckAttr("bend", m, instance)) {
-    return Elasticity(m, d, instance);
+    return Cable(m, d, instance);
   } else {
     mju_warning("Invalid parameter specification in cable plugin");
     return std::nullopt;
@@ -100,7 +100,7 @@ std::optional<Elasticity> Elasticity::Create(
 }
 
 // plugin constructor
-Elasticity::Elasticity(const mjModel* m, mjData* d, int instance) {
+Cable::Cable(const mjModel* m, mjData* d, int instance) {
   // parameters were validated by the factor function
   std::string flat = mj_getPluginConfig(m, instance, "flat");
   mjtNum G = strtod(mj_getPluginConfig(m, instance, "twist"), nullptr);
@@ -173,7 +173,7 @@ Elasticity::Elasticity(const mjModel* m, mjData* d, int instance) {
   }
 }
 
-void Elasticity::Compute(const mjModel* m, mjData* d, int instance) {
+void Cable::Compute(const mjModel* m, mjData* d, int instance) {
   for (int b = 0; b < n; b++)  {
     // index into body array
     int i = i0 + b;
@@ -234,20 +234,20 @@ mjPLUGIN_DYNAMIC_LIBRARY_INIT {
   plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
 
   plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto elasticity_or_null = Elasticity::Create(m, d, instance);
+    auto elasticity_or_null = Cable::Create(m, d, instance);
     if (!elasticity_or_null.has_value()) {
       return -1;
     }
     d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Elasticity(std::move(*elasticity_or_null)));
+        new Cable(std::move(*elasticity_or_null)));
 return 0;
   };
   plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Elasticity*>(d->plugin_data[instance]);
+    delete reinterpret_cast<Cable*>(d->plugin_data[instance]);
     d->plugin_data[instance] = 0;
   };
   plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto* elasticity = reinterpret_cast<Elasticity*>(d->plugin_data[instance]);
+    auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
     elasticity->Compute(m, d, instance);
   };
 

plugin/elasticity/cable.h

@@ -25,14 +25,14 @@
 
 namespace mujoco::plugin::elasticity {
 
-class Elasticity {
+class Cable {
  public:
-  // Creates a new Elasticity instance (allocated with `new`) or
+  // Creates a new Cable instance (allocated with `new`) or
   // returns null on failure.
-  static std::optional<Elasticity> Create(const mjModel* m, mjData* d,
+  static std::optional<Cable> Create(const mjModel* m, mjData* d,
                                           int instance);
-  Elasticity(Elasticity&&) = default;
+  Cable(Cable&&) = default;
-  ~Elasticity() = default;
+  ~Cable() = default;
 
   void Compute(const mjModel* m, mjData* d, int instance);
 
@@ -44,7 +44,7 @@ class Elasticity {
   std::vector<mjtNum> omega0;     // reference curvature          (n x 3)
 
  private:
-  Elasticity(const mjModel* m, mjData* d, int instance);
+  Cable(const mjModel* m, mjData* d, int instance);
 };
 
 }  // namespace mujoco::plugin::elasticity

test/plugin/elasticity/CMakeLists.txt

@@ -12,6 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-mujoco_test(cable_test)
+mujoco_test(elasticity_test)
-target_link_libraries(cable_test fixture gmock cable)
+target_link_libraries(elasticity_test fixture gmock elasticity)