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_flexcomp.cc
+3 -3
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@@ -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());
}