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add mjs_detachDefault to delete a default class from mjSpec

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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
This commit is contained in:
Tom Power
2025-03-19 10:30:08 -07:00
committed by Copybara-Service
parent a1b9ffd124
commit be64747166
18 changed files with 261 additions and 24 deletions
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src/user/user_api.cc
+26 -7
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@@ -227,7 +227,7 @@ const char* mjs_getError(mjSpec* s) {
// Detach body from mjSpec, return 0 if success.
// detach body from mjSpec, return 0 on success
int mjs_detachBody(mjSpec* s, mjsBody* b) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCBody* body = static_cast<mjCBody*>(b->element);
@@ -241,7 +241,22 @@ int mjs_detachBody(mjSpec* s, mjsBody* b) {
return 0;
}
// detach default from mjSpec, return 0 on success
int mjs_detachDefault(mjSpec* s, mjsDefault* def) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
if (!def) {
modelC->SetError(mjCError(0, "Cannot detach, default is null"));
return -1;
}
mjCDef* defC = static_cast<mjCDef*>(def->element);
try {
*modelC -= *defC;
} catch (mjCError& e) {
modelC->SetError(e);
return -1;
}
return 0;
}
// check if model has warnings
int mjs_isWarning(mjSpec* s) {
@@ -292,15 +307,19 @@ int mjs_setDeepCopy(mjSpec* s, int deepcopy) {
// delete object, return 0 if success
// delete object, return 0 on success
int mjs_delete(mjsElement* element) {
mjCBase* object = static_cast<mjCBase*>(element);
mjCModel* model;
if (element->elemtype == mjOBJ_DEFAULT)
model = static_cast<mjCDef*>(element)->model;
else
model = static_cast<mjCBase*>(element)->model;
try {
// it will call the appropriate destructor since ~mjCBase is virtual
object->model->DeleteElement(element);
model->DeleteElement(element);
return 0;
} catch (mjCError& e) {
object->model->SetError(e);
model->SetError(e);
return -1;
}
}
@@ -625,7 +644,7 @@ mjsDefault* mjs_getDefault(mjsElement* element) {
// Find default with given name in model.
const mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDefault(classname);
if (!cdef) {