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Use OnePlugin for parsing Composite and Flexcomp plugins.

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PiperOrigin-RevId: 608265172
Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
This commit is contained in:
Alessio Quaglino
2024-02-19 02:01:13 -08:00
committed by Copybara-Service
parent 55e2c76c01
commit b77dfc683a
9 changed files with 76 additions and 58 deletions
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src/user/user_composite.cc
+26 -18
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@@ -64,7 +64,13 @@ mjCComposite::mjCComposite(void) {
pin.clear();
flatinertia = 0;
mj_defaultSolRefImp(solrefsmooth, solimpsmooth);
plugin_instance = nullptr;
// plugin variables
mjm_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
// cable
curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO;
@@ -423,9 +429,10 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// compute volume
std::vector<mjtNum> volume(uservert.size()/3);
mjtNum t = 1;
if (dim == 2 && plugin_instance) {
if (dim == 2 && plugin.active) {
try {
t = std::stod(plugin_instance->config_attribs["thickness"], nullptr);
mjCPlugin* pplugin = (mjCPlugin*)plugin.instance;
t = std::stod(pplugin->config_attribs["thickness"], nullptr);
} catch (const std::invalid_argument& e) {
return comperr(error, "Invalid thickness attribute", error_sz);
}
@@ -502,19 +509,20 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
mjm_setString(s->name, txt);
// add plugin
if (plugin_instance) {
mjmPlugin* plugin = &b->plugin;
plugin->active = true;
plugin->instance = (mjElement)plugin_instance;
mjm_setString(plugin->instance_name, plugin_instance_name.c_str());
mjm_setString(plugin->name, plugin_name.c_str());
if (plugin.active) {
mjmPlugin* pplugin = &b->plugin;
mjCPlugin* cplugin = (mjCPlugin*)plugin.instance;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjm_setString(pplugin->name, mjm_getString(plugin.name));
if (i==0 && !plugin_instance->config_attribs["face"].empty()) {
if (i==0 && !cplugin->config_attribs["face"].empty()) {
return comperr(error, "Face attribute already exists in plugin", error_sz);
}
plugin_instance->config_attribs["face"] = userface;
plugin_instance->config_attribs["edge"] = "";
cplugin->config_attribs["face"] = userface;
cplugin->config_attribs["edge"] = "";
// update density
if (dim == 2) {
@@ -856,12 +864,12 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
}
// add plugin
if (plugin_instance) {
mjmPlugin* plugin = &body->plugin;
plugin->active = true;
plugin->instance = (mjElement)plugin_instance;
mjm_setString(plugin->name, plugin_name.c_str());
mjm_setString(plugin->instance_name, plugin_instance_name.c_str());
if (plugin.active) {
mjmPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
// update orientation