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Add engine internal error macro mjERROR to prepend calling function to error function.

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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
This commit is contained in:
Kyle Bayes
2023-06-19 03:28:44 -07:00
committed by Copybara-Service
parent c9e9cd8b35
commit ac1f41160d
28 changed files with 218 additions and 162 deletions
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src/engine/engine_passive.c
+4 -4
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@@ -168,11 +168,11 @@ void mj_passive(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->capabilityflags & mjPLUGIN_PASSIVE) {
if (!plugin->compute) {
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_PASSIVE);
}
@@ -474,7 +474,7 @@ void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
virtual_inertia[1] = geom_fluid_coefs[i++];
virtual_inertia[2] = geom_fluid_coefs[i++];
if (i != mjNFLUID) {
mju_error("Error in reading geom_fluid_coefs: wrong number of entries.");
mjERROR("wrong number of entries.");
}
}
@@ -504,6 +504,6 @@ void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
geom_fluid_coefs[i++] = virtual_inertia[1];
geom_fluid_coefs[i++] = virtual_inertia[2];
if (i != mjNFLUID) {
mju_error("Error in writing geom_fluid_coefs: wrong number of entries.");
mjERROR("wrong number of entries.");
}
}