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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_mesh.cc
+11 -6
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@@ -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;
}