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Add mjmBody and mjmPlugin and their compiler C APIs.

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PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
This commit is contained in:
Alessio Quaglino
2024-02-07 04:16:20 -08:00
committed by Copybara-Service
parent b9c50ad79c
commit a3e49d582e
17 changed files with 626 additions and 332 deletions
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src/xml/xml_native_reader.cc
+57 -43
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@@ -873,7 +873,7 @@ void mjXReader::Parse(XMLElement* root) {
for (XMLElement* section = root->FirstChildElement("worldbody"); section;
section = section->NextSiblingElement("worldbody")) {
Body(section, model->GetWorld(), nullptr);
Body(section, &model->GetWorld()->spec, nullptr);
}
for (XMLElement* section = root->FirstChildElement("contact"); section;
@@ -1350,7 +1350,7 @@ void mjXReader::OneMesh(XMLElement* elem, mjCMesh* pmesh) {
XMLElement* eplugin = elem->FirstChildElement("plugin");
if (eplugin) {
OnePlugin(eplugin, pmesh);
OnePlugin(eplugin, &pmesh->plugin);
}
if (MapValue(elem, "smoothnormal", &n, bool_map, 2)) {
@@ -1542,7 +1542,7 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
// plugin sub-element
XMLElement* eplugin = elem->FirstChildElement("plugin");
if (eplugin) {
OnePlugin(eplugin, pgeom);
OnePlugin(eplugin, &pgeom->plugin);
}
// remaining attributes
@@ -2044,7 +2044,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
else if (type == "plugin") {
OnePlugin(elem, pact);
OnePlugin(elem, &pact->plugin);
int n;
if (MapValue(elem, "dyntype", &n, dyn_map, dyn_sz)) {
pact->dyntype = (mjtDyn)n;
@@ -2068,7 +2068,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
// make composite
void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
string text;
int n;
@@ -2091,7 +2091,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttrTxt(eplugin, "plugin", comp.plugin_name);
ReadAttrTxt(eplugin, "instance", comp.plugin_instance_name);
if (comp.plugin_instance_name.empty()) {
comp.plugin_instance = model->AddPlugin();
comp.plugin_instance = (mjCPlugin*)mjm_addPlugin(model);
comp.plugin_instance->name = "composite"+comp.prefix;
comp.plugin_instance_name = comp.plugin_instance->name;
} else {
@@ -2286,7 +2286,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
// make composite
char error[200];
bool res = comp.Make(pbody->model, pbody, error, 200);
bool res = comp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
// throw error
if (!res) {
@@ -2297,7 +2297,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
// make flexcomp
void mjXReader::OneFlexcomp(XMLElement* elem, mjCBody* pbody) {
void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
string text;
int n;
@@ -2407,7 +2407,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjCBody* pbody) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
if (fcomp.plugin_instance_name.empty()) {
fcomp.plugin_instance = model->AddPlugin();
fcomp.plugin_instance = (mjCPlugin*)mjm_addPlugin(model);
fcomp.plugin_instance->name = "flexcomp_" + fcomp.name;
fcomp.plugin_instance_name = fcomp.plugin_instance->name;
} else {
@@ -2418,7 +2418,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjCBody* pbody) {
// make flexcomp
char error[200];
bool res = fcomp.Make(pbody->model, pbody, error, 200);
bool res = fcomp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
// throw error
if (!res) {
@@ -2429,13 +2429,17 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjCBody* pbody) {
// add plugin
void mjXReader::OnePlugin(XMLElement* elem, mjCBase* object) {
object->is_plugin = true;
ReadAttrTxt(elem, "plugin", object->plugin_name);
ReadAttrTxt(elem, "instance", object->plugin_instance_name);
if (object->plugin_instance_name.empty()) {
object->plugin_instance = model->AddPlugin();
ReadPluginConfigs(elem, object->plugin_instance);
void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
plugin->active = true;
std::string name = "";
std::string instance_name = "";
ReadAttrTxt(elem, "plugin", name);
ReadAttrTxt(elem, "instance", instance_name);
mjm_setString(plugin->name, name.c_str());
mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(model);
ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
} else {
model->hasImplicitPluginElem = true;
}
@@ -2579,7 +2583,7 @@ void mjXReader::Extension(XMLElement* section) {
throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements");
}
mjCPlugin* pp = model->AddPlugin();
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(model);
GetXMLPos(child, pp);
ReadAttrTxt(child, "name", pp->name, /* required = */ true);
if (pp->name.empty()) {
@@ -2983,7 +2987,7 @@ void mjXReader::Asset(XMLElement* section) {
// body/world section parser; recursive
void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjCFrame* frame) {
string text, name;
XMLElement* elem;
int n;
@@ -2994,7 +2998,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
}
// no attributes allowed in world body
if (pbody->id==0 && section->FirstAttribute() && !frame) {
if (mjm_getId(pbody->element)==0 && section->FirstAttribute() && !frame) {
throw mjXError(section, "World body cannot have attributes");
}
@@ -3007,13 +3011,13 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// get class if specified, otherwise use body
mjCDef* def = GetClass(elem);
if (!def) {
def = pbody->def;
def = (mjCDef*)mjm_getDefault(pbody->element);
}
// inertial sub-element
if (name=="inertial") {
// no inertia allowed in world body
if (pbody->id==0) {
if (mjm_getId(pbody->element)==0) {
throw mjXError(elem, "World body cannot have inertia");
}
pbody->explicitinertial = true;
@@ -3031,12 +3035,12 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// joint sub-element
else if (name=="joint") {
// no joints allowed in world body
if (pbody->id==0) {
if (mjm_getId(pbody->element)==0) {
throw mjXError(elem, "World body cannot have joints");
}
// create joint and parse
mjCJoint* pjoint = pbody->AddJoint(def);
mjCJoint* pjoint = (mjCJoint*)mjm_addJoint(pbody, def);
OneJoint(elem, pjoint);
pjoint->SetFrame(frame);
}
@@ -3044,12 +3048,12 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// freejoint sub-element
else if (name=="freejoint") {
// no joints allowed in world body
if (pbody->id==0) {
if (mjm_getId(pbody->element)==0) {
throw mjXError(elem, "World body cannot have joints");
}
// create free joint without defaults
mjCJoint* pjoint = pbody->AddFreeJoint();
mjCJoint* pjoint = (mjCJoint*)mjm_addFreeJoint(pbody);
pjoint->SetFrame(frame);
// save defaults after creation, to make sure writing is ok
@@ -3063,7 +3067,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// geom sub-element
else if (name=="geom") {
// create geom and parse
mjCGeom* pgeom = pbody->AddGeom(def);
mjCGeom* pgeom = (mjCGeom*)mjm_addGeom(pbody, def);
OneGeom(elem, pgeom);
pgeom->SetFrame(frame);
}
@@ -3073,13 +3077,13 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// create site and parse
mjmSite* site = mjm_addSite(pbody, def);
OneSite(elem, *site);
mjm_setFrame(site, frame);
mjm_setFrame(site->element, frame);
}
// camera sub-element
else if (name=="camera") {
// create camera and parse
mjCCamera* pcam = pbody->AddCamera(def);
mjCCamera* pcam = (mjCCamera*)mjm_addCamera(pbody, def);
OneCamera(elem, pcam);
pcam->SetFrame(frame);
}
@@ -3087,14 +3091,14 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// light sub-element
else if (name=="light") {
// create light and parse
mjCLight* plight = pbody->AddLight(def);
mjCLight* plight = (mjCLight*)mjm_addLight(pbody, def);
OneLight(elem, plight);
plight->SetFrame(frame);
}
// plugin sub-element
else if (name == "plugin") {
OnePlugin(elem, pbody);
OnePlugin(elem, &(pbody->plugin));
}
// composite sub-element
@@ -3111,7 +3115,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
// frame sub-element
else if (name=="frame") {
mjCFrame* pframe = pbody->AddFrame(frame);
mjCFrame* pframe = (mjCFrame*)mjm_addFrame(pbody, frame);
GetXMLPos(elem, pframe);
ReadAttr(elem, "pos", 3, pframe->pos, text);
@@ -3133,12 +3137,16 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
}
// create child body
mjCBody* pchild = pbody->AddBody(childdef);
GetXMLPos(elem, pchild);
mjmBody* pchild = mjm_addBody(pbody, childdef);
mjm_setString(pchild->info,
std::string("line = " + std::to_string(elem->GetLineNum())).c_str());
// read attributes
ReadAttrTxt(elem, "name", pchild->name);
ReadAttrTxt(elem, "childclass", pchild->classname);
std::string name, childclass;
ReadAttrTxt(elem, "name", name);
mjm_setString(pchild->name, name.c_str());
ReadAttrTxt(elem, "childclass", childclass);
mjm_setString(pchild->classname, childclass.c_str());
ReadAttr(elem, "pos", 3, pchild->pos, text);
ReadQuat(elem, "quat", pchild->quat, text);
if (MapValue(elem, "mocap", &n, bool_map, 2)) {
@@ -3150,10 +3158,12 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
ReadAttr(elem, "gravcomp", 1, &pchild->gravcomp, text);
// read userdata
ReadVector(elem, "user", pchild->userdata, text);
std::vector<double> userdata;
ReadVector(elem, "user", userdata, text);
mjm_setDouble(pchild->userdata, userdata.data(), userdata.size());
// add frame
pchild->SetFrame(frame);
mjm_setFrame(pchild->element, frame);
// make recursive call
Body(elem, pchild, nullptr);
@@ -3373,6 +3383,8 @@ void mjXReader::Sensor(XMLElement* section) {
// create sensor, get string type
mjCSensor* psen = model->AddSensor();
string type = elem->Value();
string plugin_name = "";
string instance_name = "";
// read name, noise, userdata
ReadAttrTxt(elem, "name", psen->name);
@@ -3630,14 +3642,16 @@ void mjXReader::Sensor(XMLElement* section) {
else if (type=="plugin") {
psen->type = mjSENS_PLUGIN;
ReadAttrTxt(elem, "plugin", psen->plugin_name);
ReadAttrTxt(elem, "instance", psen->plugin_instance_name);
if (psen->plugin_instance_name.empty()) {
psen->plugin_instance = model->AddPlugin();
ReadAttrTxt(elem, "plugin", plugin_name);
ReadAttrTxt(elem, "instance", instance_name);
mjm_setString(psen->plugin.name, plugin_name.c_str());
mjm_setString(psen->plugin.instance_name, instance_name.c_str());
if (instance_name.empty()) {
psen->plugin.instance = mjm_addPlugin(model);
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, psen->plugin_instance);
ReadPluginConfigs(elem, (mjCPlugin*)psen->plugin.instance);
ReadAttrTxt(elem, "objtype", text);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname);