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Add mjmFlex to C API.

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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
This commit is contained in:
Alessio Quaglino
2024-02-12 08:46:57 -08:00
committed by Copybara-Service
parent ab209c41be
commit b224367a9b
11 changed files with 368 additions and 203 deletions
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src/user/user_objects.cc
+16 -16
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@@ -596,7 +596,7 @@ void mjCBody::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
}
@@ -605,7 +605,7 @@ void mjCBody::PointToLocal() {
void mjCBody::CopyFromSpec() {
*static_cast<mjmBody*>(this) = spec;
userdata_ = spec_userdata_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
spec.info = (mjString)&info;
mju_copy4(alt_.axisangle, alt.axisangle);
mju_copy(alt_.xyaxes, alt.xyaxes, 6);
@@ -1262,7 +1262,7 @@ void mjCJoint::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.info = (mjString)&info;
}
@@ -1271,7 +1271,7 @@ void mjCJoint::PointToLocal() {
void mjCJoint::CopyFromSpec() {
*static_cast<mjmJoint*>(this) = spec;
userdata_ = spec_userdata_;
userdata = (mjDouble)&spec_userdata_;
userdata = (mjDoubleVec)&spec_userdata_;
}
@@ -1460,7 +1460,7 @@ void mjCGeom::PointToLocal(void) {
spec.name = (mjString)&name;
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.material = (mjString)&spec_material_;
spec.meshname = (mjString)&spec_meshname_;
spec.hfieldname = (mjString)&spec_hfieldname_;
@@ -1476,7 +1476,7 @@ void mjCGeom::CopyFromSpec() {
hfieldname_ = spec_hfieldname_;
meshname_ = spec_meshname_;
material_ = spec_material_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
hfieldname = (mjString)&hfieldname_;
meshname = (mjString)&meshname_;
material = (mjString)&material_;
@@ -2061,7 +2061,7 @@ void mjCSite::PointToLocal() {
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
}
@@ -2070,7 +2070,7 @@ void mjCSite::CopyFromSpec() {
*static_cast<mjmSite*>(this) = spec;
userdata_ = spec_userdata_;
material_ = spec_material_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
material = (mjString)&material_;
mju_copy4(alt_.axisangle, alt.axisangle);
mju_copy(alt_.xyaxes, alt.xyaxes, 6);
@@ -2201,7 +2201,7 @@ void mjCCamera::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.targetbody = (mjString)&spec_targetbody_;
spec.info = (mjString)&info;
}
@@ -2212,7 +2212,7 @@ void mjCCamera::CopyFromSpec() {
*static_cast<mjmCamera*>(this) = spec;
userdata_ = spec_userdata_;
targetbody_ = spec_targetbody_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
targetbody = (mjString)&targetbody_;
mju_copy4(alt_.axisangle, alt.axisangle);
mju_copy(alt_.xyaxes, alt.xyaxes, 6);
@@ -3717,7 +3717,7 @@ void mjCTendon::PointToLocal() {
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.info = (mjString)&info;
}
@@ -3728,7 +3728,7 @@ void mjCTendon::CopyFromSpec() {
material_ = spec_material_;
userdata_ = spec_userdata_;
material = (mjString)&material_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
}
@@ -4097,7 +4097,7 @@ void mjCActuator::MakePointerLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.target = (mjString)&spec_target_;
spec.refsite = (mjString)&spec_refsite_;
spec.slidersite = (mjString)&spec_slidersite_;
@@ -4114,7 +4114,7 @@ void mjCActuator::CopyFromSpec() {
target_ = spec_target_;
refsite_ = spec_refsite_;
slidersite_ = spec_slidersite_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
target = (mjString)&target_;
refsite = (mjString)&refsite_;
slidersite = (mjString)&slidersite_;
@@ -4359,7 +4359,7 @@ void mjCSensor::MakePointerLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDouble)&spec_userdata_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.objname = (mjString)&spec_objname_;
spec.refname = (mjString)&spec_refname_;
spec.plugin.name = (mjString)&plugin_name;
@@ -4374,7 +4374,7 @@ void mjCSensor::CopyFromSpec() {
userdata_ = spec_userdata_;
objname_ = spec_objname_;
refname_ = spec_refname_;
userdata = (mjDouble)&userdata_;
userdata = (mjDoubleVec)&userdata_;
objname = (mjString)&objname_;
refname = (mjString)&refname_;
plugin.active = spec.plugin.active;