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Convert mjElement to struct rather than opaque pointer.

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By making mjElement the parent of mjCBase, mjCModel, and mjCDef, this CL enables safer casting using static_cast instead of reinterpret_cast and C-style casting.

PiperOrigin-RevId: 619526291
Change-Id: Ifa2b4bd3ecd95bade61f41a7005c62212f456c00
This commit is contained in:
Alessio Quaglino
2024-03-27 07:36:43 -07:00
committed by Copybara-Service
parent e6bf6fc327
commit dfe2b75378
10 changed files with 199 additions and 163 deletions
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src/user/user_api.cc
+72 -72
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@@ -58,7 +58,7 @@ mjSpec* mjs_createSpec() {
// copy model
mjSpec* mjs_copySpec(const mjSpec* s) {
mjCModel* modelC = new mjCModel(*reinterpret_cast<mjCModel*>(s->element));
mjCModel* modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
return &modelC->spec;
}
@@ -66,7 +66,7 @@ mjSpec* mjs_copySpec(const mjSpec* s) {
// copy back model
void mjs_copyBack(mjSpec* s, const mjModel* m) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
modelC->CopyBack(m);
}
@@ -74,7 +74,7 @@ void mjs_copyBack(mjSpec* s, const mjModel* m) {
// compile model
mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->Compile(vfs);
}
@@ -83,8 +83,8 @@ mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
// attach body to a frame of the parent
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
mjCFrame* frame_parent = reinterpret_cast<mjCFrame*>(parent->element);
mjCBody* child_body = reinterpret_cast<mjCBody*>(child->element);
mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
mjCBody* child_body = static_cast<mjCBody*>(child->element);
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
return 0;
}
@@ -93,7 +93,7 @@ int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
// get error message from model
const char* mjs_getError(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->GetError().message;
}
@@ -101,7 +101,7 @@ const char* mjs_getError(mjSpec* s) {
// check if model has warnings
int mjs_isWarning(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->GetError().warning;
}
@@ -109,7 +109,7 @@ int mjs_isWarning(mjSpec* s) {
// delete model
void mjs_deleteSpec(mjSpec* s) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
mjCModel* model = static_cast<mjCModel*>(s->element);
delete model;
}
@@ -117,8 +117,8 @@ void mjs_deleteSpec(mjSpec* s) {
// add child body to body, return child spec
mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element)->AddBody(def);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element)->AddBody(def);
return &body->spec;
}
@@ -126,8 +126,8 @@ mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
// add site to body, return site spec
mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCSite* site = body->AddSite(def);
return &site->spec;
}
@@ -136,8 +136,8 @@ mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
// add joint to body
mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddJoint(def);
return &joint->spec;
}
@@ -146,7 +146,7 @@ mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
// add free joint to body
mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddFreeJoint();
return &joint->spec;
}
@@ -155,8 +155,8 @@ mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
// add geom to body
mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCGeom* geom = body->AddGeom(def);
return &geom->spec;
}
@@ -165,8 +165,8 @@ mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
// add camera to body
mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCCamera* camera = body->AddCamera(def);
return &camera->spec;
}
@@ -175,8 +175,8 @@ mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
// add light to body
mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCLight* light = body->AddLight(def);
return &light->spec;
}
@@ -185,7 +185,7 @@ mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
// add flex to model
mjsFlex* mjs_addFlex(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCFlex* flex = modelC->AddFlex();
return &flex->spec;
}
@@ -196,9 +196,9 @@ mjsFlex* mjs_addFlex(mjSpec* s) {
mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
mjCFrame* parentframeC = 0;
if (parentframe) {
parentframeC = reinterpret_cast<mjCFrame*>(parentframe->element);
parentframeC = static_cast<mjCFrame*>(parentframe->element);
}
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCFrame* frameC = body->AddFrame(parentframeC);
frameC->SetParent(body);
return &frameC->spec;
@@ -208,8 +208,8 @@ mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
// add mesh to model
mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCMesh* mesh = modelC->AddMesh(def);
return &mesh->spec;
}
@@ -218,7 +218,7 @@ mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
// add height field to model
mjsHField* mjs_addHField(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCHField* heightField = modelC->AddHField();
return &heightField->spec;
}
@@ -227,7 +227,7 @@ mjsHField* mjs_addHField(mjSpec* s) {
// add skin to model
mjsSkin* mjs_addSkin(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCSkin* skin = modelC->AddSkin();
return &skin->spec;
}
@@ -236,7 +236,7 @@ mjsSkin* mjs_addSkin(mjSpec* s) {
// add texture to model
mjsTexture* mjs_addTexture(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCTexture* texture = modelC->AddTexture();
return &texture->spec;
}
@@ -245,8 +245,8 @@ mjsTexture* mjs_addTexture(mjSpec* s) {
// add material to model
mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def);
return &material->spec;
}
@@ -255,8 +255,8 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
// add pair to model
mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def);
return &pair->spec;
}
@@ -265,7 +265,7 @@ mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
// add pair exclusion to model
mjsExclude* mjs_addExclude(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCBodyPair* bodypair = modelC->AddExclude();
return &bodypair->spec;
}
@@ -274,8 +274,8 @@ mjsExclude* mjs_addExclude(mjSpec* s) {
// add equality to model
mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def);
return &equality->spec;
}
@@ -284,8 +284,8 @@ mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
// add tendon to model
mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def);
return &tendon->spec;
}
@@ -294,7 +294,7 @@ mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
// wrap site using tendon
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapSite(name);
return &tendon->path.back()->spec;
}
@@ -303,7 +303,7 @@ MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
// wrap geom using tendon
mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sidesite) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapGeom(name, sidesite);
return &tendon->path.back()->spec;
}
@@ -312,7 +312,7 @@ mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sides
// wrap joint using tendon
mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapJoint(name, coef);
return &tendon->path.back()->spec;
}
@@ -321,7 +321,7 @@ mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) {
// wrap pulley using tendon
mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapPulley(divisor);
return &tendon->path.back()->spec;
}
@@ -330,8 +330,8 @@ mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
// add actuator to model
mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def);
return &actuator->spec;
}
@@ -340,7 +340,7 @@ mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
// add sensor to model
mjsSensor* mjs_addSensor(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCSensor* sensor = modelC->AddSensor();
return &sensor->spec;
}
@@ -349,7 +349,7 @@ mjsSensor* mjs_addSensor(mjSpec* s) {
// add numeric to model
mjsNumeric* mjs_addNumeric(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCNumeric* numeric = modelC->AddNumeric();
return &numeric->spec;
}
@@ -358,7 +358,7 @@ mjsNumeric* mjs_addNumeric(mjSpec* s) {
// add text to model
mjsText* mjs_addText(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCText* text = modelC->AddText();
return &text->spec;
}
@@ -367,7 +367,7 @@ mjsText* mjs_addText(mjSpec* s) {
// add tuple to model
mjsTuple* mjs_addTuple(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCTuple* tuple = modelC->AddTuple();
return &tuple->spec;
}
@@ -376,7 +376,7 @@ mjsTuple* mjs_addTuple(mjSpec* s) {
// add keyframe to model
mjsKey* mjs_addKey(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCKey* key = modelC->AddKey();
return &key->spec;
}
@@ -385,9 +385,9 @@ mjsKey* mjs_addKey(mjSpec* s) {
// add plugin to model
mjsPlugin* mjs_addPlugin(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCPlugin* plugin = modelC->AddPlugin();
plugin->spec.instance = (mjElement)plugin;
plugin->spec.instance = static_cast<mjElement*>(plugin);
return &plugin->spec;
}
@@ -395,7 +395,7 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
// add default to model
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
*id = (int)modelC->defaults.size();
mjCDef* def = modelC->AddDef(classname, parentid);
if (def) {
@@ -409,21 +409,21 @@ mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int*
// get objects
mjSpec* mjs_getSpec(mjsBody* body) {
return &(reinterpret_cast<mjCBody*>(body->element)->model->spec);
return &(static_cast<mjCBody*>(body->element)->model->spec);
}
// get default
mjsDefault* mjs_getDefault(mjElement element) {
return &(reinterpret_cast<mjCBase*>(element)->def->spec);
mjsDefault* mjs_getDefault(mjElement* element) {
return &(static_cast<mjCBase*>(element)->def->spec);
}
// Find default with given name in model.
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDef(classname);
if (!cdef) {
return nullptr;
@@ -435,7 +435,7 @@ mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
// get default[0] from model
mjsDefault* mjs_getSpecDefault(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = modelC->defaults[0];
if (!def) {
return nullptr;
@@ -447,7 +447,7 @@ mjsDefault* mjs_getSpecDefault(mjSpec* s) {
// find body in model by name
mjsBody* mjs_findBody(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCBase* body = 0;
if (model->IsCompiled()) {
body = model->FindObject(mjOBJ_BODY, std::string(name)); // fast lookup
@@ -461,7 +461,7 @@ mjsBody* mjs_findBody(mjSpec* s, const char* name) {
// find child of a body by name
mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr;
}
@@ -470,7 +470,7 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// find mesh by name
mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
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;
}
@@ -479,7 +479,7 @@ mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
// find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCFrame* frame = (mjCFrame*)model->FindFrame(model->GetWorld(), std::string(name));
return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
}
@@ -487,12 +487,12 @@ mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
// set frame
void mjs_setFrame(mjElement dest, mjsFrame* frame) {
void mjs_setFrame(mjElement* dest, mjsFrame* frame) {
if (!frame) {
return;
}
mjCFrame* frameC = reinterpret_cast<mjCFrame*>(frame->element);
mjCBase* baseC = reinterpret_cast<mjCBase*>(dest);
mjCFrame* frameC = static_cast<mjCFrame*>(frame->element);
mjCBase* baseC = static_cast<mjCBase*>(dest);
baseC->SetFrame(frameC);
}
@@ -507,16 +507,16 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
// get id
int mjs_getId(mjElement element) {
return reinterpret_cast<mjCBase*>(element)->id;
int mjs_getId(mjElement* element) {
return static_cast<mjCBase*>(element)->id;
}
// set default
void mjs_setDefault(mjElement element, mjsDefault* defspec) {
mjCBase* baseC = reinterpret_cast<mjCBase*>(element);
baseC->def = reinterpret_cast<mjCDef*>(defspec->element);
void mjs_setDefault(mjElement* element, mjsDefault* defspec) {
mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->def = static_cast<mjCDef*>(defspec->element);
}
@@ -631,7 +631,7 @@ const double* mjs_getDouble(const mjDoubleVec source, int* size) {
// set plugin attributes
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
mjCPlugin* pluginC = reinterpret_cast<mjCPlugin*>(plugin->instance);
mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->instance);
std::map<std::string, std::string, std::less<>>* config_attribs =
reinterpret_cast<std::map<std::string, std::string, std::less<>>*>(attributes);
pluginC->config_attribs = std::move(*config_attribs);
@@ -641,7 +641,7 @@ void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
// Set active plugins.
void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCModel* modelC = static_cast<mjCModel*>(s->element);
std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
modelC->active_plugins = std::move(*active_plugins);
@@ -651,7 +651,7 @@ void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
// compute full inertia
const char* mjs_setFullInertia(mjsBody* bodyspec, double quat[4], double inertia[3]) {
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
return body->FullInertia(quat, inertia);
}
src/user/user_api.h
+37 -33
View File
@@ -29,7 +29,6 @@ extern "C" {
//---------------------------------- handles to internal objects -----------------------------------
typedef struct _mjElement* mjElement;
typedef struct _mjString* mjString;
typedef struct _mjStringVec* mjStringVec;
typedef struct _mjIntVec* mjIntVec;
@@ -77,10 +76,15 @@ typedef enum _mjtInertiaFromGeom {
} mjtInertiaFromGeom;
//---------------------------------- attribute structs (mjm) ---------------------------------------
//---------------------------------- attribute structs (mjs) ---------------------------------------
typedef struct _mjElement { // element type, do not modify
mjtObj elemtype; // element type
} mjElement;
typedef struct _mjSpec { // model specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjStatistic stat; // statistics override (if defined)
// compiler settings
@@ -144,7 +148,7 @@ typedef struct _mjsOrientation { // alternative orientation specifiers
typedef struct _mjsPlugin { // plugin specification
mjElement instance; // internal, do not modify
mjElement* instance; // object type
mjString name; // name
mjString instance_name; // instance name
int plugin_slot; // global registered slot number of the plugin
@@ -154,7 +158,7 @@ typedef struct _mjsPlugin { // plugin specification
typedef struct _mjsBody { // body specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString childclass; // childclass name
@@ -182,7 +186,7 @@ typedef struct _mjsBody { // body specification
typedef struct _mjsFrame { // frame specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString childclass; // childclass name
double pos[3]; // position
@@ -193,7 +197,7 @@ typedef struct _mjsFrame { // frame specification
typedef struct _mjsJoint { // joint specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjtJoint type; // joint type
@@ -233,7 +237,7 @@ typedef struct _mjsJoint { // joint specification
typedef struct _mjsGeom { // geom specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // classname
mjtGeom type; // geom type
@@ -282,7 +286,7 @@ typedef struct _mjsGeom { // geom specification
typedef struct _mjsSite { // site specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -306,7 +310,7 @@ typedef struct _mjsSite { // site specification
typedef struct _mjsCamera { // camera specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -335,7 +339,7 @@ typedef struct _mjsCamera { // camera specification
typedef struct _mjsLight { // light specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -362,7 +366,7 @@ typedef struct _mjsLight { // light specification
typedef struct _mjsFlex {
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -403,7 +407,7 @@ typedef struct _mjsFlex {
typedef struct _mjsMesh { // mesh specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjString content_type; // content type of file
@@ -424,7 +428,7 @@ typedef struct _mjsMesh { // mesh specification
typedef struct _mjsHField { // height field specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString content_type; // content type of file
mjString file; // file: (nrow, ncol, [elevation data])
@@ -438,7 +442,7 @@ typedef struct _mjsHField { // height field specification
typedef struct _mjsSkin { // skin specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjString file; // skin file
@@ -465,7 +469,7 @@ typedef struct _mjsSkin { // skin specification
typedef struct _mjsTexture { // texture specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjtTexture type; // texture type
@@ -499,7 +503,7 @@ typedef struct _mjsTexture { // texture specification
typedef struct _mjsMaterial { // material specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjString texture; // name of texture (empty: none)
@@ -515,7 +519,7 @@ typedef struct _mjsMaterial { // material specification
typedef struct _mjsPair {
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjString geomname1; // name of geom 1
@@ -534,7 +538,7 @@ typedef struct _mjsPair {
typedef struct _mjsExclude {
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString bodyname1; // name of geom 1
mjString bodyname2; // name of geom 2
@@ -543,7 +547,7 @@ typedef struct _mjsExclude {
typedef struct _mjsEquality { // equality specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
mjtEq type; // constraint type
@@ -558,7 +562,7 @@ typedef struct _mjsEquality { // equality specification
typedef struct _mjsTendon { // tendon specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -590,13 +594,13 @@ typedef struct _mjsTendon { // tendon specification
typedef struct _mjsWrap { // wrapping object specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString info; // message appended to errors
} mjsWrap;
typedef struct _mjsActuator { // actuator specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -640,7 +644,7 @@ typedef struct _mjsActuator { // actuator specification
typedef struct _mjsSensor { // sensor specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString classname; // class name
@@ -668,7 +672,7 @@ typedef struct _mjsSensor { // sensor specification
typedef struct _mjsNumeric { // custom numeric field specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjDoubleVec data; // initialization data
int size; // array size, can be bigger than data size
@@ -677,7 +681,7 @@ typedef struct _mjsNumeric { // custom numeric field specification
typedef struct _mjsText { // custom text specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjString data; // text string
mjString info; // message appended to compiler errors
@@ -685,7 +689,7 @@ typedef struct _mjsText { // custom text specification
typedef struct _mjsTuple { // tuple specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
mjIntVec objtype; // object types
mjStringVec objname; // object names
@@ -695,7 +699,7 @@ typedef struct _mjsTuple { // tuple specification
typedef struct _mjsKey { // keyframe specification
mjElement element; // internal, do not modify
mjElement* element; // object type
mjString name; // name
double time; // time
mjDoubleVec qpos; // qpos
@@ -710,7 +714,7 @@ typedef struct _mjsKey { // keyframe specification
typedef struct _mjsDefault { // default specification
mjString name; // name
mjElement element; // internal, do not modify
mjElement* element; // object type
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
@@ -847,7 +851,7 @@ MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid,
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Get default corresponding to an mjElement.
MJAPI mjsDefault* mjs_getDefault(mjElement element);
MJAPI mjsDefault* mjs_getDefault(mjElement* element);
// Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
@@ -868,7 +872,7 @@ MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
// Get element id.
MJAPI int mjs_getId(mjElement element);
MJAPI int mjs_getId(mjElement* element);
// Copy text to string.
MJAPI void mjs_setString(mjString dest, const char* text);
@@ -910,10 +914,10 @@ MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
// Set default.
MJAPI void mjs_setDefault(mjElement element, mjsDefault* def);
MJAPI void mjs_setDefault(mjElement* element, mjsDefault* def);
// Set frame.
MJAPI void mjs_setFrame(mjElement dest, mjsFrame* frame);
MJAPI void mjs_setFrame(mjElement* dest, mjsFrame* frame);
// Resolve alternative orientations to quat.
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
src/user/user_composite.cc
+5 -5
View File
@@ -306,7 +306,7 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
// overwrite plugin name
if (plugin_instance_name.empty() && plugin.active) {
plugin_instance_name = "composite" + prefix;
((mjCPlugin*)plugin.instance)->name = plugin_instance_name;
(static_cast<mjCPlugin*>(plugin.instance))->name = plugin_instance_name;
}
// dispatch
@@ -432,7 +432,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
mjtNum t = 1;
if (dim == 2 && plugin.active) {
try {
mjCPlugin* pplugin = (mjCPlugin*)plugin.instance;
mjCPlugin* pplugin = static_cast<mjCPlugin*>(plugin.instance);
t = std::stod(pplugin->config_attribs["thickness"], nullptr);
} catch (const std::invalid_argument& e) {
return comperr(error, "Invalid thickness attribute", error_sz);
@@ -512,9 +512,9 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// add plugin
if (plugin.active) {
mjsPlugin* pplugin = &b->plugin;
mjCPlugin* cplugin = (mjCPlugin*)plugin.instance;
mjCPlugin* cplugin = static_cast<mjCPlugin*>(plugin.instance);
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
pplugin->instance = plugin.instance;
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->name, mjs_getString(plugin.name));
@@ -868,7 +868,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtN
if (plugin.active) {
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
pplugin->instance = plugin.instance;
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
src/user/user_flexcomp.cc
+3 -3
View File
@@ -412,7 +412,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
// overwrite plugin name
if (plugin.active && plugin_instance_name.empty()) {
plugin_instance_name = "flexcomp_" + name;
((mjCPlugin*)plugin.instance)->name = plugin_instance_name;
static_cast<mjCPlugin*>(plugin.instance)->name = plugin_instance_name;
}
// create bodies, construct flex vert and vertbody
@@ -430,7 +430,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (plugin.active) {
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
pplugin->instance = static_cast<mjElement*>(plugin.instance);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
@@ -494,7 +494,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (plugin.active) {
mjsPlugin* pplugin = &pb->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
pplugin->instance = static_cast<mjElement*>(plugin.instance);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
src/user/user_mesh.cc
+11 -6
View File
@@ -131,6 +131,7 @@ static void ReadFromBuffer(T* dst, const char* src) {
mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
mjs_defaultMesh(spec);
elemtype = mjOBJ_MESH;
// clear internal variables
mjuu_setvec(pos_surface_, 0, 0, 0);
@@ -253,7 +254,7 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
this->graph_ = NULL;
}
if (other.plugin.instance) {
mjCPlugin* new_plugin = new mjCPlugin(*reinterpret_cast<mjCPlugin*>(other.plugin.instance));
mjCPlugin* new_plugin = new mjCPlugin(*static_cast<mjCPlugin*>(other.plugin.instance));
plugin = new_plugin->spec;
model->plugins.push_back(new_plugin);
}
@@ -265,7 +266,7 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
void mjCMesh::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
@@ -358,8 +359,9 @@ void mjCMesh::LoadSDF() {
name.c_str(), id);
}
mjCPlugin* plugin_instance = (mjCPlugin*)plugin.instance;
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
@@ -2056,6 +2058,7 @@ void mjCMesh::MakeCenter(void) {
// constructor
mjCSkin::mjCSkin(mjCModel* _model) {
mjs_defaultSkin(spec);
elemtype = mjOBJ_SKIN;
// set model pointer
model = _model;
@@ -2103,7 +2106,7 @@ mjCSkin& mjCSkin::operator=(const mjCSkin& other) {
void mjCSkin::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
@@ -2480,6 +2483,7 @@ constexpr int eledge[3][6][2] = {{{ 0, 1}, {-1, -1}, {-1, -1},
// constructor
mjCFlex::mjCFlex(mjCModel* _model) {
mjs_defaultFlex(spec);
elemtype = mjOBJ_FLEX;
// set model
model = _model;
@@ -2514,7 +2518,7 @@ mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
void mjCFlex::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
@@ -2756,7 +2760,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
for (int i=0; i<(int)vertbodyid.size(); i++) {
if (model->bodies[vertbodyid[i]]->plugin.instance) {
mjCPlugin* plugin_instance = (mjCPlugin*)model->bodies[vertbodyid[i]]->plugin.instance;
mjCPlugin* plugin_instance =
static_cast<mjCPlugin*>(model->bodies[vertbodyid[i]]->plugin.instance);
plugin_instance->config_attribs["face"] = userface;
plugin_instance->config_attribs["edge"] = useredge;
}
src/user/user_model.cc
+6 -5
View File
@@ -84,6 +84,7 @@ static void copyvec(T1* dest, T2* src, int n) {
// constructor
mjCModel::mjCModel() {
mjs_defaultSpec(spec);
elemtype = mjOBJ_UNKNOWN;
spec_comment_.clear();
spec_modelfiledir_.clear();
spec_meshdir_.clear();
@@ -319,7 +320,7 @@ void mjCModel::CreateObjectLists() {
void mjCModel::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.comment = (mjString)&spec_comment_;
spec.modelfiledir = (mjString)&spec_modelfiledir_;
spec.modelname = (mjString)&spec_modelname_;
@@ -3226,7 +3227,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_actuators(nplugin);
for (int i = 0; i < nu; ++i) {
if (actuators[i]->plugin.active) {
int actuator_plugin = ((mjCPlugin*)actuators[i]->plugin.instance)->id;
int actuator_plugin = static_cast<mjCPlugin*>(actuators[i]->plugin.instance)->id;
m->actuator_plugin[i] = actuator_plugin;
plugin_to_actuators[actuator_plugin].push_back(i);
} else {
@@ -3236,7 +3237,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < nbody; ++i) {
if (bodies[i]->plugin.active) {
m->body_plugin[i] = ((mjCPlugin*)bodies[i]->plugin.instance)->id;
m->body_plugin[i] = static_cast<mjCPlugin*>(bodies[i]->plugin.instance)->id;
} else {
m->body_plugin[i] = -1;
}
@@ -3244,7 +3245,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < ngeom; ++i) {
if (geoms[i]->plugin.active) {
m->geom_plugin[i] = ((mjCPlugin*)geoms[i]->plugin.instance)->id;
m->geom_plugin[i] = static_cast<mjCPlugin*>(geoms[i]->plugin.instance)->id;
} else {
m->geom_plugin[i] = -1;
}
@@ -3253,7 +3254,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_sensors(nplugin);
for (int i = 0; i < nsensor; ++i) {
if (sensors[i]->type == mjSENS_PLUGIN) {
int sensor_plugin = ((mjCPlugin*)sensors[i]->plugin.instance)->id;
int sensor_plugin = static_cast<mjCPlugin*>(sensors[i]->plugin.instance)->id;
m->sensor_plugin[i] = sensor_plugin;
plugin_to_sensors[sensor_plugin].push_back(i);
} else {
src/user/user_model.h
+1 -1
View File
@@ -33,7 +33,7 @@
typedef std::map<std::string, int, std::less<> > mjKeyMap;
typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
class mjCModel_ {
class mjCModel_ : public mjElement {
public:
// attach namespaces
std::string prefix;
src/user/user_objects.cc
+60 -34
View File
@@ -516,7 +516,7 @@ void mjCDef::PointToLocal() {
equality.PointToLocal();
tendon.PointToLocal();
actuator.PointToLocal();
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.joint = &joint.spec;
spec.geom = &geom.spec;
@@ -632,6 +632,7 @@ mjCBody::mjCBody(mjCModel* _model) {
model = _model;
mjs_defaultBody(spec);
elemtype = mjOBJ_BODY;
parentid = -1;
weldid = -1;
dofnum = 0;
@@ -745,7 +746,7 @@ mjCBody& mjCBody::operator+=(mjCBody& other) {
void mjCBody::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.childclass = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -1337,9 +1338,10 @@ void mjCBody::Compile(void) {
name.c_str(), id);
}
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name);
}
@@ -1365,6 +1367,7 @@ void mjCBody::Compile(void) {
// initialize frame
mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) {
mjs_defaultFrame(spec);
elemtype = mjOBJ_FRAME;
compiled = false;
model = _model;
body = NULL;
@@ -1417,7 +1420,7 @@ void mjCFrame::SetParent(mjCBody* _body) {
void mjCFrame::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.childclass = (mjString)&classname;
spec.info = (mjString)&info;
@@ -1461,6 +1464,7 @@ void mjCFrame::Compile() {
// initialize default joint
mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
mjs_defaultJoint(spec);
elemtype = mjOBJ_JOINT;
// clear internal variables
spec_userdata_.clear();
@@ -1508,7 +1512,7 @@ bool mjCJoint::is_actfrclimited() const { return islimited(actfrclimited, actfrc
void mjCJoint::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -1658,6 +1662,7 @@ int mjCJoint::Compile(void) {
// initialize default geom
mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
mjs_defaultGeom(spec);
elemtype = mjOBJ_GEOM;
mass_ = 0;
body = 0;
@@ -1715,7 +1720,7 @@ mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
// to be called after any default copy constructor
void mjCGeom::PointToLocal(void) {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
@@ -2263,9 +2268,10 @@ void mjCGeom::Compile(void) {
name.c_str(), id);
}
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support sign distance fields", pplugin->name);
}
@@ -2284,6 +2290,7 @@ void mjCGeom::Compile(void) {
// initialize default site
mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
mjs_defaultSite(spec);
elemtype = mjOBJ_SITE;
// clear internal variables
body = 0;
@@ -2328,7 +2335,7 @@ mjCSite& mjCSite::operator=(const mjCSite& other) {
void mjCSite::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
@@ -2440,6 +2447,7 @@ void mjCSite::Compile(void) {
// initialize defaults
mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
mjs_defaultCamera(spec);
elemtype = mjOBJ_CAMERA;
// clear private variables
body = 0;
@@ -2483,7 +2491,7 @@ mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
void mjCCamera::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -2590,6 +2598,7 @@ void mjCCamera::Compile(void) {
// initialize defaults
mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
mjs_defaultLight(spec);
elemtype = mjOBJ_LIGHT;
// clear private variables
body = 0;
@@ -2630,7 +2639,7 @@ mjCLight& mjCLight::operator=(const mjCLight& other) {
void mjCLight::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.targetbody = (mjString)&spec_targetbody_;
@@ -2686,6 +2695,7 @@ void mjCLight::Compile(void) {
// constructor
mjCHField::mjCHField(mjCModel* _model) {
mjs_defaultHField(spec);
elemtype = mjOBJ_HFIELD;
// set model pointer
model = _model;
@@ -2723,7 +2733,7 @@ mjCHField& mjCHField::operator=(const mjCHField& other) {
void mjCHField::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_;
@@ -2938,6 +2948,7 @@ void mjCHField::Compile(const mjVFS* vfs) {
// initialize defaults
mjCTexture::mjCTexture(mjCModel* _model) {
mjs_defaultTexture(spec);
elemtype = mjOBJ_TEXTURE;
// set model pointer
model = _model;
@@ -2979,7 +2990,7 @@ mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
void mjCTexture::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
@@ -3680,6 +3691,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
// initialize defaults
mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
mjs_defaultMaterial(spec);
elemtype = mjOBJ_MATERIAL;
// clear internal
spec_texture_.clear();
@@ -3722,7 +3734,7 @@ mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
void mjCMaterial::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.texture = (mjString)&spec_texture_;
@@ -3751,6 +3763,7 @@ void mjCMaterial::Compile(void) {
// constructor
mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
mjs_defaultPair(spec);
elemtype = mjOBJ_PAIR;
// set defaults
spec_geomname1_.clear();
@@ -3800,7 +3813,7 @@ mjCPair& mjCPair::operator=(const mjCPair& other) {
void mjCPair::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.geomname1 = (mjString)&spec_geomname1_;
@@ -4010,7 +4023,7 @@ mjCBodyPair& mjCBodyPair::operator=(const mjCBodyPair& other) {
void mjCBodyPair::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.bodyname1 = (mjString)&spec_bodyname1_;
spec.bodyname2 = (mjString)&spec_bodyname2_;
@@ -4086,6 +4099,7 @@ void mjCBodyPair::Compile(void) {
// initialize default constraint
mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
mjs_defaultEquality(spec);
elemtype = mjOBJ_EQUALITY;
// clear internal variables
spec_name1_.clear();
@@ -4129,7 +4143,7 @@ mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
void mjCEquality::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.name1 = (mjString)&spec_name1_;
@@ -4248,6 +4262,7 @@ void mjCEquality::Compile(void) {
// constructor
mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
mjs_defaultTendon(spec);
elemtype = mjOBJ_TENDON;
// clear internal variables
spec_material_.clear();
@@ -4299,7 +4314,7 @@ bool mjCTendon::is_limited() const { return islimited(limited, range); }
void mjCTendon::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
@@ -4576,6 +4591,8 @@ void mjCTendon::Compile(void) {
// constructor
mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
elemtype = mjOBJ_UNKNOWN;
// set model and tendon pointer
model = _model;
tendon = _tendon;
@@ -4613,7 +4630,7 @@ mjCWrap& mjCWrap::operator=(const mjCWrap& other) {
void mjCWrap::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.info = (mjString)&info;
}
@@ -4705,6 +4722,7 @@ void mjCWrap::ResolveReferences(const mjCModel* m) {
// initialize defaults
mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
mjs_defaultActuator(spec);
elemtype = mjOBJ_ACTUATOR;
// clear private variables
ptarget = nullptr;
@@ -4758,7 +4776,7 @@ bool mjCActuator::is_actlimited() const { return islimited(actlimited, actrange)
void mjCActuator::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -5032,9 +5050,10 @@ void mjCActuator::Compile(void) {
name.c_str(), id);
}
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name);
}
@@ -5048,6 +5067,7 @@ void mjCActuator::Compile(void) {
// initialize defaults
mjCSensor::mjCSensor(mjCModel* _model) {
mjs_defaultSensor(spec);
elemtype = mjOBJ_SENSOR;
// set model
model = _model;
@@ -5090,7 +5110,7 @@ mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
void mjCSensor::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -5504,9 +5524,10 @@ void mjCSensor::Compile(void) {
// resolve plugin instance, or create one if using the "plugin" attribute shortcut
{
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot);
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name);
}
@@ -5534,6 +5555,7 @@ void mjCSensor::Compile(void) {
// constructor
mjCNumeric::mjCNumeric(mjCModel* _model) {
mjs_defaultNumeric(spec);
elemtype = mjOBJ_NUMERIC;
// set model pointer
model = _model;
@@ -5569,7 +5591,7 @@ mjCNumeric& mjCNumeric::operator=(const mjCNumeric& other) {
void mjCNumeric::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.data = (mjDoubleVec)&spec_data_;
spec.info = (mjString)&info;
@@ -5622,6 +5644,7 @@ void mjCNumeric::Compile(void) {
// constructor
mjCText::mjCText(mjCModel* _model) {
mjs_defaultText(spec);
elemtype = mjOBJ_TEXT;
// set model pointer
model = _model;
@@ -5657,7 +5680,7 @@ mjCText& mjCText::operator=(const mjCText& other) {
void mjCText::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.data = (mjString)&spec_data_;
spec.info = (mjString)&info;
@@ -5698,6 +5721,7 @@ void mjCText::Compile(void) {
// constructor
mjCTuple::mjCTuple(mjCModel* _model) {
mjs_defaultTuple(spec);
elemtype = mjOBJ_TUPLE;
// set model pointer
model = _model;
@@ -5736,7 +5760,7 @@ mjCTuple& mjCTuple::operator=(const mjCTuple& other) {
void mjCTuple::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.objtype = (mjIntVec)&spec_objtype_;
spec.objname = (mjStringVec)&spec_objname_;
@@ -5830,6 +5854,7 @@ void mjCTuple::Compile(void) {
// constructor
mjCKey::mjCKey(mjCModel* _model) {
mjs_defaultKey(spec);
elemtype = mjOBJ_KEY;
// set model pointer
model = _model;
@@ -5870,7 +5895,7 @@ mjCKey& mjCKey::operator=(const mjCKey& other) {
void mjCKey::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.qpos = (mjDoubleVec)&spec_qpos_;
spec.qvel = (mjDoubleVec)&spec_qvel_;
@@ -6013,6 +6038,7 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
// public interface
mjs_defaultPlugin(spec);
elemtype = mjOBJ_PLUGIN;
spec.name = (mjString)&name;
spec.instance_name = (mjString)&instance_name;
spec.info = (mjString)&info;
src/user/user_objects.h
+2 -2
View File
@@ -167,7 +167,7 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
//------------------------- class mjCBase ----------------------------------------------------------
// Generic functionality for all derived classes
class mjCBase_ {
class mjCBase_ : public mjElement {
public:
int id; // object id
std::string name; // object name
@@ -1606,7 +1606,7 @@ class mjCKey : public mjCKey_, private mjsKey {
//------------------------- class mjCDef -----------------------------------------------------------
// Describes one set of defaults
class mjCDef {
class mjCDef : public mjElement {
friend class mjXWriter;
public:
src/xml/xml_native_writer.cc
+2 -2
View File
@@ -739,8 +739,8 @@ void mjXWriter::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
} else {
WriteAttrTxt(elem, "plugin", plugin_name);
const mjpPlugin* pplugin = mjp_getPluginAtSlot(
((mjCPlugin*)plugin->instance)->spec.plugin_slot);
const char* c = &((mjCPlugin*)plugin->instance)->flattened_attributes[0];
static_cast<mjCPlugin*>(plugin->instance)->spec.plugin_slot);
const char* c = &(static_cast<mjCPlugin*>(plugin->instance)->flattened_attributes[0]);
for (int i = 0; i < pplugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {