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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_writer.cc
+23 -16
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@@ -26,6 +26,7 @@
#include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "user/user_api.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_util.h"
@@ -417,7 +418,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
}
// write plugin
if (pgeom->is_plugin) {
if (pgeom->plugin.active) {
OnePlugin(InsertEnd(elem, "plugin"), pgeom);
}
}
@@ -725,7 +726,7 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
// plugins: write config attributes
if (pact->is_plugin) {
if (pact->plugin.active) {
OnePlugin(elem, pact);
}
@@ -756,13 +757,15 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// write plugin
void mjXWriter::OnePlugin(XMLElement* elem, mjCBase* object) {
if (!object->plugin_instance_name.empty()) {
WriteAttrTxt(elem, "instance", object->plugin_instance_name);
const std::string instance_name = std::string(mjm_getString(object->plugin.instance_name));
const std::string plugin_name = std::string(mjm_getString(object->plugin.name));
if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name);
} else {
WriteAttrTxt(elem, "plugin", object->plugin_name);
WriteAttrTxt(elem, "plugin", plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
object->plugin_instance->plugin_slot);
const char* c = &object->plugin_instance->flattened_attributes[0];
((mjCPlugin*)object->plugin.instance)->plugin_slot);
const char* c = &((mjCPlugin*)object->plugin.instance)->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {
@@ -1424,7 +1427,7 @@ void mjXWriter::Asset(XMLElement* root) {
for (int i=0; i<nmesh; i++) {
// create element and write
mjCMesh* pmesh = (mjCMesh*)model->GetObject(mjOBJ_MESH, i);
if (pmesh->is_plugin) {
if (pmesh->plugin.active) {
elem = InsertEnd(section, "mesh");
WriteAttrTxt(elem, "name", pmesh->name);
OnePlugin(InsertEnd(elem, "plugin"), pmesh);
@@ -1487,7 +1490,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
WriteAttr(elem, "gravcomp", 1, &body->gravcomp);
}
// userdata
WriteVector(elem, "user", body->userdata);
WriteVector(elem, "user", body->get_userdata());
// write inertial
if (body->explicitinertial &&
@@ -1526,7 +1529,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
}
// write plugin
if (body->is_plugin) {
if (body->plugin.active) {
OnePlugin(InsertEnd(elem, "plugin"), body);
}
@@ -1709,7 +1712,7 @@ void mjXWriter::Actuator(XMLElement* root) {
for (int i=0; i<num; i++) {
mjCActuator* pact = (mjCActuator*)model->GetObject(mjOBJ_ACTUATOR, i);
XMLElement* elem;
if (pact->is_plugin) {
if (pact->plugin.active) {
elem = InsertEnd(section, "plugin");
} else {
elem = InsertEnd(section, "general");
@@ -1737,6 +1740,8 @@ void mjXWriter::Sensor(XMLElement* root) {
for (int i=0; i<num; i++) {
XMLElement* elem = 0;
mjCSensor* psen = model->sensors[i];
std::string instance_name = "";
std::string plugin_name = "";
// write sensor type and type-specific attributes
switch (psen->type) {
@@ -1923,13 +1928,15 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
}
if (!psen->plugin_instance_name.empty()) {
WriteAttrTxt(elem, "instance", psen->plugin_instance_name);
instance_name = std::string(mjm_getString(psen->plugin.instance_name));
plugin_name = std::string(mjm_getString(psen->plugin.name));
if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name);
} else {
WriteAttrTxt(elem, "plugin", psen->plugin_name);
WriteAttrTxt(elem, "plugin", plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
psen->plugin_instance->plugin_slot);
const char* c = &psen->plugin_instance->flattened_attributes[0];
((mjCPlugin*)psen->plugin.instance)->plugin_slot);
const char* c = &((mjCPlugin*)psen->plugin.instance)->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {