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_model.cc
+6 -5
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@@ -84,6 +84,7 @@ static void copyvec(T1* dest, T2* src, int n) {
// constructor
mjCModel::mjCModel() {
mjs_defaultSpec(spec);
elemtype = mjOBJ_UNKNOWN;
spec_comment_.clear();
spec_modelfiledir_.clear();
spec_meshdir_.clear();
@@ -319,7 +320,7 @@ void mjCModel::CreateObjectLists() {
void mjCModel::PointToLocal() {
spec.element = (mjElement)this;
spec.element = static_cast<mjElement*>(this);
spec.comment = (mjString)&spec_comment_;
spec.modelfiledir = (mjString)&spec_modelfiledir_;
spec.modelname = (mjString)&spec_modelname_;
@@ -3226,7 +3227,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_actuators(nplugin);
for (int i = 0; i < nu; ++i) {
if (actuators[i]->plugin.active) {
int actuator_plugin = ((mjCPlugin*)actuators[i]->plugin.instance)->id;
int actuator_plugin = static_cast<mjCPlugin*>(actuators[i]->plugin.instance)->id;
m->actuator_plugin[i] = actuator_plugin;
plugin_to_actuators[actuator_plugin].push_back(i);
} else {
@@ -3236,7 +3237,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < nbody; ++i) {
if (bodies[i]->plugin.active) {
m->body_plugin[i] = ((mjCPlugin*)bodies[i]->plugin.instance)->id;
m->body_plugin[i] = static_cast<mjCPlugin*>(bodies[i]->plugin.instance)->id;
} else {
m->body_plugin[i] = -1;
}
@@ -3244,7 +3245,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < ngeom; ++i) {
if (geoms[i]->plugin.active) {
m->geom_plugin[i] = ((mjCPlugin*)geoms[i]->plugin.instance)->id;
m->geom_plugin[i] = static_cast<mjCPlugin*>(geoms[i]->plugin.instance)->id;
} else {
m->geom_plugin[i] = -1;
}
@@ -3253,7 +3254,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_sensors(nplugin);
for (int i = 0; i < nsensor; ++i) {
if (sensors[i]->type == mjSENS_PLUGIN) {
int sensor_plugin = ((mjCPlugin*)sensors[i]->plugin.instance)->id;
int sensor_plugin = static_cast<mjCPlugin*>(sensors[i]->plugin.instance)->id;
m->sensor_plugin[i] = sensor_plugin;
plugin_to_sensors[sensor_plugin].push_back(i);
} else {