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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/xml/xml_native_reader.cc
+8 -18
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@@ -2273,16 +2273,11 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def)
// plugin
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", comp.plugin_name);
ReadAttrTxt(eplugin, "instance", comp.plugin_instance_name);
OnePlugin(eplugin, &comp.plugin);
if (comp.plugin_instance_name.empty()) {
comp.plugin_instance = (mjCPlugin*)mjm_addPlugin(&model->spec);
comp.plugin_instance->name = "composite"+comp.prefix;
comp.plugin_instance_name = comp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
comp.plugin_instance_name = "composite" + comp.prefix;
((mjCPlugin*)comp.plugin.instance)->name = comp.plugin_instance_name;
}
ReadPluginConfigs(eplugin, comp.plugin_instance);
}
// cable
@@ -2604,16 +2599,11 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
// plugin
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
OnePlugin(eplugin, &fcomp.plugin);
if (fcomp.plugin_instance_name.empty()) {
fcomp.plugin_instance = (mjCPlugin*)mjm_addPlugin(&model->spec);
fcomp.plugin_instance->name = "flexcomp_" + fcomp.name;
fcomp.plugin_instance_name = fcomp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
fcomp.plugin_instance_name = "flexcomp_" + fcomp.name;
((mjCPlugin*)fcomp.plugin.instance)->name = fcomp.plugin_instance_name;
}
ReadPluginConfigs(eplugin, fcomp.plugin_instance);
}
// make flexcomp
@@ -2638,7 +2628,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
mjm_setString(plugin->name, name.c_str());
mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(&model->spec);
plugin->instance = mjm_addPlugin(&model->spec)->instance;
ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
} else {
model->hasImplicitPluginElem = true;
@@ -2797,7 +2787,7 @@ void mjXReader::Extension(XMLElement* section) {
throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements");
}
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(&model->spec);
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(&model->spec)->instance;
GetXMLPos(child, pp);
ReadAttrTxt(child, "name", pp->name, /* required = */ true);
if (pp->name.empty()) {