chenlin/Mujoco_WASM
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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_composite.cc
+5 -5
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@@ -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());
}