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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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_api.cc
+3 -2
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@@ -315,10 +315,11 @@ mjmKey* mjm_addKey(mjmModel* model) {
// add plugin to model // add plugin to model
mjElement mjm_addPlugin(mjmModel* model) { mjmPlugin* mjm_addPlugin(mjmModel* model) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
mjCPlugin* plugin = modelC->AddPlugin(); mjCPlugin* plugin = modelC->AddPlugin();
return (mjElement)plugin; plugin->plugin.instance = (mjElement)plugin;
return &plugin->plugin;
} }
src/user/user_api.h
+4 -1
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@@ -761,7 +761,7 @@ MJAPI mjmTuple* mjm_addTuple(mjmModel* model);
MJAPI mjmKey* mjm_addKey(mjmModel* model); MJAPI mjmKey* mjm_addKey(mjmModel* model);
// Add plugin to model. // Add plugin to model.
MJAPI mjElement mjm_addPlugin(mjmModel* model); MJAPI mjmPlugin* mjm_addPlugin(mjmModel* model);
// Add default to model. // Add default to model.
MJAPI mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid); MJAPI mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid);
@@ -895,6 +895,9 @@ MJAPI void mjm_defaultTuple(mjmTuple& tuple);
// Default keyframe attributes. // Default keyframe attributes.
MJAPI void mjm_defaultKey(mjmKey& key); MJAPI void mjm_defaultKey(mjmKey& key);
// Default plugin attributes.
MJAPI void mjm_defaultPlugin(mjmPlugin& plugin);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
src/user/user_composite.cc
+26 -18
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@@ -64,7 +64,13 @@ mjCComposite::mjCComposite(void) {
pin.clear(); pin.clear();
flatinertia = 0; flatinertia = 0;
mj_defaultSolRefImp(solrefsmooth, solimpsmooth); 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 // cable
curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO; curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO;
@@ -423,9 +429,10 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// compute volume // compute volume
std::vector<mjtNum> volume(uservert.size()/3); std::vector<mjtNum> volume(uservert.size()/3);
mjtNum t = 1; mjtNum t = 1;
if (dim == 2 && plugin_instance) { if (dim == 2 && plugin.active) {
try { 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) { } catch (const std::invalid_argument& e) {
return comperr(error, "Invalid thickness attribute", error_sz); 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); mjm_setString(s->name, txt);
// add plugin // add plugin
if (plugin_instance) { if (plugin.active) {
mjmPlugin* plugin = &b->plugin; mjmPlugin* pplugin = &b->plugin;
plugin->active = true; mjCPlugin* cplugin = (mjCPlugin*)plugin.instance;
plugin->instance = (mjElement)plugin_instance; pplugin->active = true;
mjm_setString(plugin->instance_name, plugin_instance_name.c_str()); pplugin->instance = (mjElement)plugin.instance;
mjm_setString(plugin->name, plugin_name.c_str()); 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); return comperr(error, "Face attribute already exists in plugin", error_sz);
} }
plugin_instance->config_attribs["face"] = userface; cplugin->config_attribs["face"] = userface;
plugin_instance->config_attribs["edge"] = ""; cplugin->config_attribs["edge"] = "";
// update density // update density
if (dim == 2) { if (dim == 2) {
@@ -856,12 +864,12 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
} }
// add plugin // add plugin
if (plugin_instance) { if (plugin.active) {
mjmPlugin* plugin = &body->plugin; mjmPlugin* pplugin = &body->plugin;
plugin->active = true; pplugin->active = true;
plugin->instance = (mjElement)plugin_instance; pplugin->instance = (mjElement)plugin.instance;
mjm_setString(plugin->name, plugin_name.c_str()); mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(plugin->instance_name, plugin_instance_name.c_str()); mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
} }
// update orientation // update orientation
src/user/user_composite.h
+1 -2
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@@ -114,10 +114,9 @@ class mjCComposite {
std::vector<std::string> username; std::vector<std::string> username;
// plugin support // plugin support
bool is_plugin;
std::string plugin_name; std::string plugin_name;
std::string plugin_instance_name; std::string plugin_instance_name;
mjCPlugin* plugin_instance; mjmPlugin plugin;
// skin // skin
bool skin; // generate skin bool skin; // generate skin
src/user/user_flexcomp.cc
+18 -13
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@@ -71,7 +71,12 @@ mjCFlexcomp::mjCFlexcomp(void) {
mjuu_setvec(quat, 1, 0, 0, 0); mjuu_setvec(quat, 1, 0, 0, 0);
rigid = false; rigid = false;
centered = false; centered = false;
plugin_instance = nullptr;
mjm_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
} }
@@ -404,12 +409,12 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
mjm_appendString(pf->vertbody, mjm_getString(body->name)); mjm_appendString(pf->vertbody, mjm_getString(body->name));
// add plugin // add plugin
if (plugin_instance) { if (plugin.active) {
mjmPlugin* plugin = &body->plugin; mjmPlugin* pplugin = &body->plugin;
plugin->active = true; pplugin->active = true;
plugin->instance = (mjElement)plugin_instance; pplugin->instance = (mjElement)plugin.instance;
mjm_setString(plugin->name, plugin_name.c_str()); mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(plugin->instance_name, plugin_instance_name.c_str()); mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
} }
} }
@@ -468,12 +473,12 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
} }
// add plugin // add plugin
if (plugin_instance) { if (plugin.active) {
mjmPlugin* plugin = &pb->plugin; mjmPlugin* pplugin = &pb->plugin;
plugin->active = true; pplugin->active = true;
plugin->instance = (mjElement)plugin_instance; pplugin->instance = (mjElement)plugin.instance;
mjm_setString(plugin->name, plugin_name.c_str()); mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(plugin->instance_name, plugin_instance_name.c_str()); mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
} }
} }
} }
src/user/user_flexcomp.h
+2 -2
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@@ -19,6 +19,7 @@
#include <vector> #include <vector>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "user/user_api.h"
#include "user/user_model.h" #include "user/user_model.h"
#include "user/user_objects.h" #include "user/user_objects.h"
@@ -87,10 +88,9 @@ class mjCFlexcomp {
std::vector<float> texcoord; // vertex texture coordinates std::vector<float> texcoord; // vertex texture coordinates
// plugin support // plugin support
bool is_plugin;
std::string plugin_name; std::string plugin_name;
std::string plugin_instance_name; std::string plugin_instance_name;
mjCPlugin* plugin_instance; mjmPlugin plugin;
}; };
#endif // MUJOCO_SRC_USER_USER_FLEXCOMP_H_ #endif // MUJOCO_SRC_USER_USER_FLEXCOMP_H_
src/user/user_init.cc
+6
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@@ -366,3 +366,9 @@ void mjm_defaultKey(mjmKey& key) {
} }
// default plugin attributes
void mjm_defaultPlugin(mjmPlugin& plugin) {
memset(&plugin, 0, sizeof(mjmPlugin));
}
src/user/user_objects.cc
+8 -2
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@@ -546,8 +546,7 @@ mjCBase::mjCBase() {
frame = nullptr; frame = nullptr;
// plugin variables // plugin variables
plugin.active = false; mjm_defaultPlugin(plugin);
plugin.instance = nullptr;
plugin_name = ""; plugin_name = "";
plugin_instance_name = ""; plugin_instance_name = "";
plugin.name = (mjString)&plugin_name; plugin.name = (mjString)&plugin_name;
@@ -5337,6 +5336,13 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
nstate = 0; nstate = 0;
parent = this; parent = this;
model = _model; model = _model;
// public interface
mjm_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
} }
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 // plugin
XMLElement* eplugin = FirstChildElement(elem, "plugin"); XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) { if (eplugin) {
ReadAttrTxt(eplugin, "plugin", comp.plugin_name); OnePlugin(eplugin, &comp.plugin);
ReadAttrTxt(eplugin, "instance", comp.plugin_instance_name);
if (comp.plugin_instance_name.empty()) { 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 = "composite"+comp.prefix; ((mjCPlugin*)comp.plugin.instance)->name = comp.plugin_instance_name;
comp.plugin_instance_name = comp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
} }
ReadPluginConfigs(eplugin, comp.plugin_instance);
} }
// cable // cable
@@ -2604,16 +2599,11 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
// plugin // plugin
XMLElement* eplugin = FirstChildElement(elem, "plugin"); XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) { if (eplugin) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name); OnePlugin(eplugin, &fcomp.plugin);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
if (fcomp.plugin_instance_name.empty()) { 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 = "flexcomp_" + fcomp.name; ((mjCPlugin*)fcomp.plugin.instance)->name = fcomp.plugin_instance_name;
fcomp.plugin_instance_name = fcomp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
} }
ReadPluginConfigs(eplugin, fcomp.plugin_instance);
} }
// make flexcomp // make flexcomp
@@ -2638,7 +2628,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
mjm_setString(plugin->name, name.c_str()); mjm_setString(plugin->name, name.c_str());
mjm_setString(plugin->instance_name, instance_name.c_str()); mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) { if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(&model->spec); plugin->instance = mjm_addPlugin(&model->spec)->instance;
ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance); ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
} else { } else {
model->hasImplicitPluginElem = true; model->hasImplicitPluginElem = true;
@@ -2797,7 +2787,7 @@ void mjXReader::Extension(XMLElement* section) {
throw mjXError( throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements"); 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); GetXMLPos(child, pp);
ReadAttrTxt(child, "name", pp->name, /* required = */ true); ReadAttrTxt(child, "name", pp->name, /* required = */ true);
if (pp->name.empty()) { if (pp->name.empty()) {