Use OnePlugin for parsing Composite and Flexcomp plugins.

PiperOrigin-RevId: 608265172 Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
2024-02-19 02:01:13 -08:00
parent 55e2c76c01
commit b77dfc683a
9 changed files with 76 additions and 58 deletions
@@ -19,6 +19,7 @@
 #include <vector>

 #include <mujoco/mujoco.h>
+#include "user/user_api.h"
 #include "user/user_model.h"
 #include "user/user_objects.h"

@@ -87,10 +88,9 @@ class mjCFlexcomp {
  std::vector<float> texcoord;    // vertex texture coordinates

  // plugin support
-  bool is_plugin;
  std::string plugin_name;
  std::string plugin_instance_name;
-  mjCPlugin* plugin_instance;
+  mjmPlugin plugin;
 };

 #endif  // MUJOCO_SRC_USER_USER_FLEXCOMP_H_