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Add mjs_findElement() to find any element in a spec by name.

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Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
This commit is contained in:
Alessio Quaglino
2024-09-04 08:23:18 -07:00
committed by Copybara-Service
parent 0e8c0b80eb
commit d3dfa6f970
13 changed files with 149 additions and 156 deletions
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src/user/user_api.cc
+24 -27
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@@ -542,18 +542,34 @@ mjsDefault* mjs_getSpecDefault(mjSpec* s) {
// find body in model by name
mjsBody* mjs_findBody(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCBase* body = 0;
if (model->IsCompiled()) {
body = model->FindObject(mjOBJ_BODY, std::string(name)); // fast lookup
} else {
body = model->FindBody(model->GetWorld(), std::string(name)); // recursive search
}
mjsElement* body = mjs_findElement(s, mjOBJ_BODY, name);
return body ? &(static_cast<mjCBody*>(body)->spec) : nullptr;
}
// find element in spec by name
mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
if (model->IsCompiled()) {
return model->FindObject(type, std::string(name)); // fast lookup
}
switch (type) {
case mjOBJ_BODY:
case mjOBJ_SITE:
case mjOBJ_GEOM:
case mjOBJ_JOINT:
case mjOBJ_CAMERA:
case mjOBJ_LIGHT:
case mjOBJ_FRAME:
return model->FindTree(model->GetWorld(), type, std::string(name)); // recursive search
default:
return model->FindObject(type, std::string(name)); // always available
}
}
// find child of a body by name
mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
@@ -563,33 +579,14 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// find mesh by name
mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
return mesh ? &(static_cast<mjCMesh*>(mesh)->spec) : nullptr;
}
// find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCFrame* frame = (mjCFrame*)model->FindFrame(model->GetWorld(), std::string(name));
mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);
return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
}
// find keyframe by name
mjsKey* mjs_findKeyframe(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCKey* key = (mjCKey*)model->FindObject(mjOBJ_KEY, std::string(name));
return key ? &(static_cast<mjCKey*>(key)->spec) : nullptr;
}
// set frame
void mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
if (!frame) {