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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);
}