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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.h
+37 -33
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@@ -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,