chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Convert mjElement to struct rather than opaque pointer.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_api.cc
+72 -72
View File
@@ -58,7 +58,7 @@ mjSpec* mjs_createSpec() {
// copy model // copy model
mjSpec* mjs_copySpec(const mjSpec* s) { mjSpec* mjs_copySpec(const mjSpec* s) {
mjCModel* modelC = new mjCModel(*reinterpret_cast<mjCModel*>(s->element)); mjCModel* modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
return &modelC->spec; return &modelC->spec;
} }
@@ -66,7 +66,7 @@ mjSpec* mjs_copySpec(const mjSpec* s) {
// copy back model // copy back model
void mjs_copyBack(mjSpec* s, const mjModel* m) { void mjs_copyBack(mjSpec* s, const mjModel* m) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
modelC->CopyBack(m); modelC->CopyBack(m);
} }
@@ -74,7 +74,7 @@ void mjs_copyBack(mjSpec* s, const mjModel* m) {
// compile model // compile model
mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) { mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->Compile(vfs); return modelC->Compile(vfs);
} }
@@ -83,8 +83,8 @@ mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
// attach body to a frame of the parent // attach body to a frame of the parent
int mjs_attachBody(mjsFrame* parent, const mjsBody* child, int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) { const char* prefix, const char* suffix) {
mjCFrame* frame_parent = reinterpret_cast<mjCFrame*>(parent->element); mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
mjCBody* child_body = reinterpret_cast<mjCBody*>(child->element); mjCBody* child_body = static_cast<mjCBody*>(child->element);
*frame_parent += std::string(prefix) + *child_body + std::string(suffix); *frame_parent += std::string(prefix) + *child_body + std::string(suffix);
return 0; return 0;
} }
@@ -93,7 +93,7 @@ int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
// get error message from model // get error message from model
const char* mjs_getError(mjSpec* s) { const char* mjs_getError(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->GetError().message; return modelC->GetError().message;
} }
@@ -101,7 +101,7 @@ const char* mjs_getError(mjSpec* s) {
// check if model has warnings // check if model has warnings
int mjs_isWarning(mjSpec* s) { int mjs_isWarning(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->GetError().warning; return modelC->GetError().warning;
} }
@@ -109,7 +109,7 @@ int mjs_isWarning(mjSpec* s) {
// delete model // delete model
void mjs_deleteSpec(mjSpec* s) { void mjs_deleteSpec(mjSpec* s) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element); mjCModel* model = static_cast<mjCModel*>(s->element);
delete model; delete model;
} }
@@ -117,8 +117,8 @@ void mjs_deleteSpec(mjSpec* s) {
// add child body to body, return child spec // add child body to body, return child spec
mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) { mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element)->AddBody(def); mjCBody* body = static_cast<mjCBody*>(bodyspec->element)->AddBody(def);
return &body->spec; return &body->spec;
} }
@@ -126,8 +126,8 @@ mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
// add site to body, return site spec // add site to body, return site spec
mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) { mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCSite* site = body->AddSite(def); mjCSite* site = body->AddSite(def);
return &site->spec; return &site->spec;
} }
@@ -136,8 +136,8 @@ mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
// add joint to body // add joint to body
mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) { mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddJoint(def); mjCJoint* joint = body->AddJoint(def);
return &joint->spec; return &joint->spec;
} }
@@ -146,7 +146,7 @@ mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
// add free joint to body // add free joint to body
mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) { mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddFreeJoint(); mjCJoint* joint = body->AddFreeJoint();
return &joint->spec; return &joint->spec;
} }
@@ -155,8 +155,8 @@ mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
// add geom to body // add geom to body
mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) { mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCGeom* geom = body->AddGeom(def); mjCGeom* geom = body->AddGeom(def);
return &geom->spec; return &geom->spec;
} }
@@ -165,8 +165,8 @@ mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
// add camera to body // add camera to body
mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) { mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCCamera* camera = body->AddCamera(def); mjCCamera* camera = body->AddCamera(def);
return &camera->spec; return &camera->spec;
} }
@@ -175,8 +175,8 @@ mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
// add light to body // add light to body
mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) { mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCLight* light = body->AddLight(def); mjCLight* light = body->AddLight(def);
return &light->spec; return &light->spec;
} }
@@ -185,7 +185,7 @@ mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
// add flex to model // add flex to model
mjsFlex* mjs_addFlex(mjSpec* s) { mjsFlex* mjs_addFlex(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCFlex* flex = modelC->AddFlex(); mjCFlex* flex = modelC->AddFlex();
return &flex->spec; return &flex->spec;
} }
@@ -196,9 +196,9 @@ mjsFlex* mjs_addFlex(mjSpec* s) {
mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) { mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
mjCFrame* parentframeC = 0; mjCFrame* parentframeC = 0;
if (parentframe) { if (parentframe) {
parentframeC = reinterpret_cast<mjCFrame*>(parentframe->element); parentframeC = static_cast<mjCFrame*>(parentframe->element);
} }
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCFrame* frameC = body->AddFrame(parentframeC); mjCFrame* frameC = body->AddFrame(parentframeC);
frameC->SetParent(body); frameC->SetParent(body);
return &frameC->spec; return &frameC->spec;
@@ -208,8 +208,8 @@ mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
// add mesh to model // add mesh to model
mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) { mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCMesh* mesh = modelC->AddMesh(def); mjCMesh* mesh = modelC->AddMesh(def);
return &mesh->spec; return &mesh->spec;
} }
@@ -218,7 +218,7 @@ mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
// add height field to model // add height field to model
mjsHField* mjs_addHField(mjSpec* s) { mjsHField* mjs_addHField(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCHField* heightField = modelC->AddHField(); mjCHField* heightField = modelC->AddHField();
return &heightField->spec; return &heightField->spec;
} }
@@ -227,7 +227,7 @@ mjsHField* mjs_addHField(mjSpec* s) {
// add skin to model // add skin to model
mjsSkin* mjs_addSkin(mjSpec* s) { mjsSkin* mjs_addSkin(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCSkin* skin = modelC->AddSkin(); mjCSkin* skin = modelC->AddSkin();
return &skin->spec; return &skin->spec;
} }
@@ -236,7 +236,7 @@ mjsSkin* mjs_addSkin(mjSpec* s) {
// add texture to model // add texture to model
mjsTexture* mjs_addTexture(mjSpec* s) { mjsTexture* mjs_addTexture(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCTexture* texture = modelC->AddTexture(); mjCTexture* texture = modelC->AddTexture();
return &texture->spec; return &texture->spec;
} }
@@ -245,8 +245,8 @@ mjsTexture* mjs_addTexture(mjSpec* s) {
// add material to model // add material to model
mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) { mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def); mjCMaterial* material = modelC->AddMaterial(def);
return &material->spec; return &material->spec;
} }
@@ -255,8 +255,8 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
// add pair to model // add pair to model
mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) { mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def); mjCPair* pair = modelC->AddPair(def);
return &pair->spec; return &pair->spec;
} }
@@ -265,7 +265,7 @@ mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
// add pair exclusion to model // add pair exclusion to model
mjsExclude* mjs_addExclude(mjSpec* s) { mjsExclude* mjs_addExclude(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCBodyPair* bodypair = modelC->AddExclude(); mjCBodyPair* bodypair = modelC->AddExclude();
return &bodypair->spec; return &bodypair->spec;
} }
@@ -274,8 +274,8 @@ mjsExclude* mjs_addExclude(mjSpec* s) {
// add equality to model // add equality to model
mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) { mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def); mjCEquality* equality = modelC->AddEquality(def);
return &equality->spec; return &equality->spec;
} }
@@ -284,8 +284,8 @@ mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
// add tendon to model // add tendon to model
mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) { mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def); mjCTendon* tendon = modelC->AddTendon(def);
return &tendon->spec; return &tendon->spec;
} }
@@ -294,7 +294,7 @@ mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
// wrap site using tendon // wrap site using tendon
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) { MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element); mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapSite(name); tendon->WrapSite(name);
return &tendon->path.back()->spec; return &tendon->path.back()->spec;
} }
@@ -303,7 +303,7 @@ MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
// wrap geom using tendon // wrap geom using tendon
mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sidesite) { mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sidesite) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element); mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapGeom(name, sidesite); tendon->WrapGeom(name, sidesite);
return &tendon->path.back()->spec; return &tendon->path.back()->spec;
} }
@@ -312,7 +312,7 @@ mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sides
// wrap joint using tendon // wrap joint using tendon
mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) { mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element); mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapJoint(name, coef); tendon->WrapJoint(name, coef);
return &tendon->path.back()->spec; return &tendon->path.back()->spec;
} }
@@ -321,7 +321,7 @@ mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) {
// wrap pulley using tendon // wrap pulley using tendon
mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) { mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element); mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
tendon->WrapPulley(divisor); tendon->WrapPulley(divisor);
return &tendon->path.back()->spec; return &tendon->path.back()->spec;
} }
@@ -330,8 +330,8 @@ mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
// add actuator to model // add actuator to model
mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) { mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def); mjCActuator* actuator = modelC->AddActuator(def);
return &actuator->spec; return &actuator->spec;
} }
@@ -340,7 +340,7 @@ mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
// add sensor to model // add sensor to model
mjsSensor* mjs_addSensor(mjSpec* s) { mjsSensor* mjs_addSensor(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCSensor* sensor = modelC->AddSensor(); mjCSensor* sensor = modelC->AddSensor();
return &sensor->spec; return &sensor->spec;
} }
@@ -349,7 +349,7 @@ mjsSensor* mjs_addSensor(mjSpec* s) {
// add numeric to model // add numeric to model
mjsNumeric* mjs_addNumeric(mjSpec* s) { mjsNumeric* mjs_addNumeric(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCNumeric* numeric = modelC->AddNumeric(); mjCNumeric* numeric = modelC->AddNumeric();
return &numeric->spec; return &numeric->spec;
} }
@@ -358,7 +358,7 @@ mjsNumeric* mjs_addNumeric(mjSpec* s) {
// add text to model // add text to model
mjsText* mjs_addText(mjSpec* s) { mjsText* mjs_addText(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCText* text = modelC->AddText(); mjCText* text = modelC->AddText();
return &text->spec; return &text->spec;
} }
@@ -367,7 +367,7 @@ mjsText* mjs_addText(mjSpec* s) {
// add tuple to model // add tuple to model
mjsTuple* mjs_addTuple(mjSpec* s) { mjsTuple* mjs_addTuple(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCTuple* tuple = modelC->AddTuple(); mjCTuple* tuple = modelC->AddTuple();
return &tuple->spec; return &tuple->spec;
} }
@@ -376,7 +376,7 @@ mjsTuple* mjs_addTuple(mjSpec* s) {
// add keyframe to model // add keyframe to model
mjsKey* mjs_addKey(mjSpec* s) { mjsKey* mjs_addKey(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCKey* key = modelC->AddKey(); mjCKey* key = modelC->AddKey();
return &key->spec; return &key->spec;
} }
@@ -385,9 +385,9 @@ mjsKey* mjs_addKey(mjSpec* s) {
// add plugin to model // add plugin to model
mjsPlugin* mjs_addPlugin(mjSpec* s) { mjsPlugin* mjs_addPlugin(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCPlugin* plugin = modelC->AddPlugin(); mjCPlugin* plugin = modelC->AddPlugin();
plugin->spec.instance = (mjElement)plugin; plugin->spec.instance = static_cast<mjElement*>(plugin);
return &plugin->spec; return &plugin->spec;
} }
@@ -395,7 +395,7 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
// add default to model // add default to model
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) { mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
*id = (int)modelC->defaults.size(); *id = (int)modelC->defaults.size();
mjCDef* def = modelC->AddDef(classname, parentid); mjCDef* def = modelC->AddDef(classname, parentid);
if (def) { if (def) {
@@ -409,21 +409,21 @@ mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int*
// get objects // get objects
mjSpec* mjs_getSpec(mjsBody* body) { mjSpec* mjs_getSpec(mjsBody* body) {
return &(reinterpret_cast<mjCBody*>(body->element)->model->spec); return &(static_cast<mjCBody*>(body->element)->model->spec);
} }
// get default // get default
mjsDefault* mjs_getDefault(mjElement element) { mjsDefault* mjs_getDefault(mjElement* element) {
return &(reinterpret_cast<mjCBase*>(element)->def->spec); return &(static_cast<mjCBase*>(element)->def->spec);
} }
// Find default with given name in model. // Find default with given name in model.
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) { mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDef(classname); mjCDef* cdef = modelC->FindDef(classname);
if (!cdef) { if (!cdef) {
return nullptr; return nullptr;
@@ -435,7 +435,7 @@ mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
// get default[0] from model // get default[0] from model
mjsDefault* mjs_getSpecDefault(mjSpec* s) { mjsDefault* mjs_getSpecDefault(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = modelC->defaults[0]; mjCDef* def = modelC->defaults[0];
if (!def) { if (!def) {
return nullptr; return nullptr;
@@ -447,7 +447,7 @@ mjsDefault* mjs_getSpecDefault(mjSpec* s) {
// find body in model by name // find body in model by name
mjsBody* mjs_findBody(mjSpec* s, const char* name) { mjsBody* mjs_findBody(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element); mjCModel* model = static_cast<mjCModel*>(s->element);
mjCBase* body = 0; mjCBase* body = 0;
if (model->IsCompiled()) { if (model->IsCompiled()) {
body = model->FindObject(mjOBJ_BODY, std::string(name)); // fast lookup body = model->FindObject(mjOBJ_BODY, std::string(name)); // fast lookup
@@ -461,7 +461,7 @@ mjsBody* mjs_findBody(mjSpec* s, const char* name) {
// find child of a body by name // find child of a body by name
mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) { mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name)); mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr; return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr;
} }
@@ -470,7 +470,7 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// find mesh by name // find mesh by name
mjsMesh* mjs_findMesh(mjSpec* s, const char* name) { mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element); mjCModel* model = static_cast<mjCModel*>(s->element);
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name)); mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
return mesh ? &(static_cast<mjCMesh*>(mesh)->spec) : nullptr; return mesh ? &(static_cast<mjCMesh*>(mesh)->spec) : nullptr;
} }
@@ -479,7 +479,7 @@ mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
// find frame by name // find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) { mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(s->element); mjCModel* model = static_cast<mjCModel*>(s->element);
mjCFrame* frame = (mjCFrame*)model->FindFrame(model->GetWorld(), std::string(name)); mjCFrame* frame = (mjCFrame*)model->FindFrame(model->GetWorld(), std::string(name));
return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr; return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
} }
@@ -487,12 +487,12 @@ mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
// set frame // set frame
void mjs_setFrame(mjElement dest, mjsFrame* frame) { void mjs_setFrame(mjElement* dest, mjsFrame* frame) {
if (!frame) { if (!frame) {
return; return;
} }
mjCFrame* frameC = reinterpret_cast<mjCFrame*>(frame->element); mjCFrame* frameC = static_cast<mjCFrame*>(frame->element);
mjCBase* baseC = reinterpret_cast<mjCBase*>(dest); mjCBase* baseC = static_cast<mjCBase*>(dest);
baseC->SetFrame(frameC); baseC->SetFrame(frameC);
} }
@@ -507,16 +507,16 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
// get id // get id
int mjs_getId(mjElement element) { int mjs_getId(mjElement* element) {
return reinterpret_cast<mjCBase*>(element)->id; return static_cast<mjCBase*>(element)->id;
} }
// set default // set default
void mjs_setDefault(mjElement element, mjsDefault* defspec) { void mjs_setDefault(mjElement* element, mjsDefault* defspec) {
mjCBase* baseC = reinterpret_cast<mjCBase*>(element); mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->def = reinterpret_cast<mjCDef*>(defspec->element); baseC->def = static_cast<mjCDef*>(defspec->element);
} }
@@ -631,7 +631,7 @@ const double* mjs_getDouble(const mjDoubleVec source, int* size) {
// set plugin attributes // set plugin attributes
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) { void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
mjCPlugin* pluginC = reinterpret_cast<mjCPlugin*>(plugin->instance); mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->instance);
std::map<std::string, std::string, std::less<>>* config_attribs = std::map<std::string, std::string, std::less<>>* config_attribs =
reinterpret_cast<std::map<std::string, std::string, std::less<>>*>(attributes); reinterpret_cast<std::map<std::string, std::string, std::less<>>*>(attributes);
pluginC->config_attribs = std::move(*config_attribs); pluginC->config_attribs = std::move(*config_attribs);
@@ -641,7 +641,7 @@ void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
// Set active plugins. // Set active plugins.
void mjs_setActivePlugins(mjSpec* s, void* activeplugins) { void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
std::vector<std::pair<const mjpPlugin*, int>>* active_plugins = std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins); reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
modelC->active_plugins = std::move(*active_plugins); modelC->active_plugins = std::move(*active_plugins);
@@ -651,7 +651,7 @@ void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
// compute full inertia // compute full inertia
const char* mjs_setFullInertia(mjsBody* bodyspec, double quat[4], double inertia[3]) { const char* mjs_setFullInertia(mjsBody* bodyspec, double quat[4], double inertia[3]) {
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element); mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
return body->FullInertia(quat, inertia); return body->FullInertia(quat, inertia);
} }
src/user/user_api.h
+37 -33
View File
@@ -29,7 +29,6 @@ extern "C" {
//---------------------------------- handles to internal objects ----------------------------------- //---------------------------------- handles to internal objects -----------------------------------
typedef struct _mjElement* mjElement;
typedef struct _mjString* mjString; typedef struct _mjString* mjString;
typedef struct _mjStringVec* mjStringVec; typedef struct _mjStringVec* mjStringVec;
typedef struct _mjIntVec* mjIntVec; typedef struct _mjIntVec* mjIntVec;
@@ -77,10 +76,15 @@ typedef enum _mjtInertiaFromGeom {
} 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 typedef struct _mjSpec { // model specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjStatistic stat; // statistics override (if defined) mjStatistic stat; // statistics override (if defined)
// compiler settings // compiler settings
@@ -144,7 +148,7 @@ typedef struct _mjsOrientation { // alternative orientation specifiers
typedef struct _mjsPlugin { // plugin specification typedef struct _mjsPlugin { // plugin specification
mjElement instance; // internal, do not modify mjElement* instance; // object type
mjString name; // name mjString name; // name
mjString instance_name; // instance name mjString instance_name; // instance name
int plugin_slot; // global registered slot number of the plugin int plugin_slot; // global registered slot number of the plugin
@@ -154,7 +158,7 @@ typedef struct _mjsPlugin { // plugin specification
typedef struct _mjsBody { // body specification typedef struct _mjsBody { // body specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString childclass; // childclass name mjString childclass; // childclass name
@@ -182,7 +186,7 @@ typedef struct _mjsBody { // body specification
typedef struct _mjsFrame { // frame specification typedef struct _mjsFrame { // frame specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString childclass; // childclass name mjString childclass; // childclass name
double pos[3]; // position double pos[3]; // position
@@ -193,7 +197,7 @@ typedef struct _mjsFrame { // frame specification
typedef struct _mjsJoint { // joint specification typedef struct _mjsJoint { // joint specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjtJoint type; // joint type mjtJoint type; // joint type
@@ -233,7 +237,7 @@ typedef struct _mjsJoint { // joint specification
typedef struct _mjsGeom { // geom specification typedef struct _mjsGeom { // geom specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // classname mjString classname; // classname
mjtGeom type; // geom type mjtGeom type; // geom type
@@ -282,7 +286,7 @@ typedef struct _mjsGeom { // geom specification
typedef struct _mjsSite { // site specification typedef struct _mjsSite { // site specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -306,7 +310,7 @@ typedef struct _mjsSite { // site specification
typedef struct _mjsCamera { // camera specification typedef struct _mjsCamera { // camera specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -335,7 +339,7 @@ typedef struct _mjsCamera { // camera specification
typedef struct _mjsLight { // light specification typedef struct _mjsLight { // light specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -362,7 +366,7 @@ typedef struct _mjsLight { // light specification
typedef struct _mjsFlex { typedef struct _mjsFlex {
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -403,7 +407,7 @@ typedef struct _mjsFlex {
typedef struct _mjsMesh { // mesh specification typedef struct _mjsMesh { // mesh specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjString content_type; // content type of file mjString content_type; // content type of file
@@ -424,7 +428,7 @@ typedef struct _mjsMesh { // mesh specification
typedef struct _mjsHField { // height field specification typedef struct _mjsHField { // height field specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString content_type; // content type of file mjString content_type; // content type of file
mjString file; // file: (nrow, ncol, [elevation data]) mjString file; // file: (nrow, ncol, [elevation data])
@@ -438,7 +442,7 @@ typedef struct _mjsHField { // height field specification
typedef struct _mjsSkin { // skin specification typedef struct _mjsSkin { // skin specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjString file; // skin file mjString file; // skin file
@@ -465,7 +469,7 @@ typedef struct _mjsSkin { // skin specification
typedef struct _mjsTexture { // texture specification typedef struct _mjsTexture { // texture specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjtTexture type; // texture type mjtTexture type; // texture type
@@ -499,7 +503,7 @@ typedef struct _mjsTexture { // texture specification
typedef struct _mjsMaterial { // material specification typedef struct _mjsMaterial { // material specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjString texture; // name of texture (empty: none) mjString texture; // name of texture (empty: none)
@@ -515,7 +519,7 @@ typedef struct _mjsMaterial { // material specification
typedef struct _mjsPair { typedef struct _mjsPair {
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjString geomname1; // name of geom 1 mjString geomname1; // name of geom 1
@@ -534,7 +538,7 @@ typedef struct _mjsPair {
typedef struct _mjsExclude { typedef struct _mjsExclude {
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString bodyname1; // name of geom 1 mjString bodyname1; // name of geom 1
mjString bodyname2; // name of geom 2 mjString bodyname2; // name of geom 2
@@ -543,7 +547,7 @@ typedef struct _mjsExclude {
typedef struct _mjsEquality { // equality specification typedef struct _mjsEquality { // equality specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjtEq type; // constraint type mjtEq type; // constraint type
@@ -558,7 +562,7 @@ typedef struct _mjsEquality { // equality specification
typedef struct _mjsTendon { // tendon specification typedef struct _mjsTendon { // tendon specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -590,13 +594,13 @@ typedef struct _mjsTendon { // tendon specification
typedef struct _mjsWrap { // wrapping object specification typedef struct _mjsWrap { // wrapping object specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString info; // message appended to errors mjString info; // message appended to errors
} mjsWrap; } mjsWrap;
typedef struct _mjsActuator { // actuator specification typedef struct _mjsActuator { // actuator specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -640,7 +644,7 @@ typedef struct _mjsActuator { // actuator specification
typedef struct _mjsSensor { // sensor specification typedef struct _mjsSensor { // sensor specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
@@ -668,7 +672,7 @@ typedef struct _mjsSensor { // sensor specification
typedef struct _mjsNumeric { // custom numeric field specification typedef struct _mjsNumeric { // custom numeric field specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjDoubleVec data; // initialization data mjDoubleVec data; // initialization data
int size; // array size, can be bigger than data size 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 typedef struct _mjsText { // custom text specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjString data; // text string mjString data; // text string
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
@@ -685,7 +689,7 @@ typedef struct _mjsText { // custom text specification
typedef struct _mjsTuple { // tuple specification typedef struct _mjsTuple { // tuple specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
mjIntVec objtype; // object types mjIntVec objtype; // object types
mjStringVec objname; // object names mjStringVec objname; // object names
@@ -695,7 +699,7 @@ typedef struct _mjsTuple { // tuple specification
typedef struct _mjsKey { // keyframe specification typedef struct _mjsKey { // keyframe specification
mjElement element; // internal, do not modify mjElement* element; // object type
mjString name; // name mjString name; // name
double time; // time double time; // time
mjDoubleVec qpos; // qpos mjDoubleVec qpos; // qpos
@@ -710,7 +714,7 @@ typedef struct _mjsKey { // keyframe specification
typedef struct _mjsDefault { // default specification typedef struct _mjsDefault { // default specification
mjString name; // name mjString name; // name
mjElement element; // internal, do not modify mjElement* element; // object type
mjsJoint* joint; // joint defaults mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults mjsGeom* geom; // geom defaults
mjsSite* site; // site 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); MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Get default corresponding to an mjElement. // 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. // Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname); 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); MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
// Get element id. // Get element id.
MJAPI int mjs_getId(mjElement element); MJAPI int mjs_getId(mjElement* element);
// Copy text to string. // Copy text to string.
MJAPI void mjs_setString(mjString dest, const char* text); 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); MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
// Set default. // Set default.
MJAPI void mjs_setDefault(mjElement element, mjsDefault* def); MJAPI void mjs_setDefault(mjElement* element, mjsDefault* def);
// Set frame. // Set frame.
MJAPI void mjs_setFrame(mjElement dest, mjsFrame* frame); MJAPI void mjs_setFrame(mjElement* dest, mjsFrame* frame);
// Resolve alternative orientations to quat. // Resolve alternative orientations to quat.
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence, MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
src/user/user_composite.cc
+5 -5
View File
@@ -306,7 +306,7 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
// overwrite plugin name // overwrite plugin name
if (plugin_instance_name.empty() && plugin.active) { if (plugin_instance_name.empty() && plugin.active) {
plugin_instance_name = "composite" + prefix; plugin_instance_name = "composite" + prefix;
((mjCPlugin*)plugin.instance)->name = plugin_instance_name; (static_cast<mjCPlugin*>(plugin.instance))->name = plugin_instance_name;
} }
// dispatch // dispatch
@@ -432,7 +432,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
mjtNum t = 1; mjtNum t = 1;
if (dim == 2 && plugin.active) { if (dim == 2 && plugin.active) {
try { try {
mjCPlugin* pplugin = (mjCPlugin*)plugin.instance; mjCPlugin* pplugin = static_cast<mjCPlugin*>(plugin.instance);
t = std::stod(pplugin->config_attribs["thickness"], nullptr); t = std::stod(pplugin->config_attribs["thickness"], nullptr);
} catch (const std::invalid_argument& e) { } catch (const std::invalid_argument& e) {
return comperr(error, "Invalid thickness attribute", error_sz); return comperr(error, "Invalid thickness attribute", error_sz);
@@ -512,9 +512,9 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// add plugin // add plugin
if (plugin.active) { if (plugin.active) {
mjsPlugin* pplugin = &b->plugin; mjsPlugin* pplugin = &b->plugin;
mjCPlugin* cplugin = (mjCPlugin*)plugin.instance; mjCPlugin* cplugin = static_cast<mjCPlugin*>(plugin.instance);
pplugin->active = true; 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->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->name, mjs_getString(plugin.name)); 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) { if (plugin.active) {
mjsPlugin* pplugin = &body->plugin; mjsPlugin* pplugin = &body->plugin;
pplugin->active = true; pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance; pplugin->instance = plugin.instance;
mjs_setString(pplugin->name, mjs_getString(plugin.name)); mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str()); mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
} }
src/user/user_flexcomp.cc
+3 -3
View File
@@ -412,7 +412,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
// overwrite plugin name // overwrite plugin name
if (plugin.active && plugin_instance_name.empty()) { if (plugin.active && plugin_instance_name.empty()) {
plugin_instance_name = "flexcomp_" + name; 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 // 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) { if (plugin.active) {
mjsPlugin* pplugin = &body->plugin; mjsPlugin* pplugin = &body->plugin;
pplugin->active = true; 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->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str()); 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) { if (plugin.active) {
mjsPlugin* pplugin = &pb->plugin; mjsPlugin* pplugin = &pb->plugin;
pplugin->active = true; 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->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str()); mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
} }
src/user/user_mesh.cc
+11 -6
View File
@@ -131,6 +131,7 @@ static void ReadFromBuffer(T* dst, const char* src) {
mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) { mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
mjs_defaultMesh(spec); mjs_defaultMesh(spec);
elemtype = mjOBJ_MESH;
// clear internal variables // clear internal variables
mjuu_setvec(pos_surface_, 0, 0, 0); mjuu_setvec(pos_surface_, 0, 0, 0);
@@ -253,7 +254,7 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
this->graph_ = NULL; this->graph_ = NULL;
} }
if (other.plugin.instance) { 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; plugin = new_plugin->spec;
model->plugins.push_back(new_plugin); model->plugins.push_back(new_plugin);
} }
@@ -265,7 +266,7 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
void mjCMesh::PointToLocal() { void mjCMesh::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_; spec.file = (mjString)&spec_file_;
@@ -358,8 +359,9 @@ void mjCMesh::LoadSDF() {
name.c_str(), id); 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); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot); const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) { if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name); throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
@@ -2056,6 +2058,7 @@ void mjCMesh::MakeCenter(void) {
// constructor // constructor
mjCSkin::mjCSkin(mjCModel* _model) { mjCSkin::mjCSkin(mjCModel* _model) {
mjs_defaultSkin(spec); mjs_defaultSkin(spec);
elemtype = mjOBJ_SKIN;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -2103,7 +2106,7 @@ mjCSkin& mjCSkin::operator=(const mjCSkin& other) {
void mjCSkin::PointToLocal() { void mjCSkin::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_; spec.file = (mjString)&spec_file_;
@@ -2480,6 +2483,7 @@ constexpr int eledge[3][6][2] = {{{ 0, 1}, {-1, -1}, {-1, -1},
// constructor // constructor
mjCFlex::mjCFlex(mjCModel* _model) { mjCFlex::mjCFlex(mjCModel* _model) {
mjs_defaultFlex(spec); mjs_defaultFlex(spec);
elemtype = mjOBJ_FLEX;
// set model // set model
model = _model; model = _model;
@@ -2514,7 +2518,7 @@ mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
void mjCFlex::PointToLocal() { void mjCFlex::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_; spec.material = (mjString)&spec_material_;
@@ -2756,7 +2760,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
for (int i=0; i<(int)vertbodyid.size(); i++) { for (int i=0; i<(int)vertbodyid.size(); i++) {
if (model->bodies[vertbodyid[i]]->plugin.instance) { 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["face"] = userface;
plugin_instance->config_attribs["edge"] = useredge; plugin_instance->config_attribs["edge"] = useredge;
} }
src/user/user_model.cc
+6 -5
View File
@@ -84,6 +84,7 @@ static void copyvec(T1* dest, T2* src, int n) {
// constructor // constructor
mjCModel::mjCModel() { mjCModel::mjCModel() {
mjs_defaultSpec(spec); mjs_defaultSpec(spec);
elemtype = mjOBJ_UNKNOWN;
spec_comment_.clear(); spec_comment_.clear();
spec_modelfiledir_.clear(); spec_modelfiledir_.clear();
spec_meshdir_.clear(); spec_meshdir_.clear();
@@ -319,7 +320,7 @@ void mjCModel::CreateObjectLists() {
void mjCModel::PointToLocal() { void mjCModel::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.comment = (mjString)&spec_comment_; spec.comment = (mjString)&spec_comment_;
spec.modelfiledir = (mjString)&spec_modelfiledir_; spec.modelfiledir = (mjString)&spec_modelfiledir_;
spec.modelname = (mjString)&spec_modelname_; 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); std::vector<std::vector<int>> plugin_to_actuators(nplugin);
for (int i = 0; i < nu; ++i) { for (int i = 0; i < nu; ++i) {
if (actuators[i]->plugin.active) { 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; m->actuator_plugin[i] = actuator_plugin;
plugin_to_actuators[actuator_plugin].push_back(i); plugin_to_actuators[actuator_plugin].push_back(i);
} else { } else {
@@ -3236,7 +3237,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
for (int i = 0; i < nbody; ++i) { for (int i = 0; i < nbody; ++i) {
if (bodies[i]->plugin.active) { 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 { } else {
m->body_plugin[i] = -1; 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) { for (int i = 0; i < ngeom; ++i) {
if (geoms[i]->plugin.active) { 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 { } else {
m->geom_plugin[i] = -1; 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); std::vector<std::vector<int>> plugin_to_sensors(nplugin);
for (int i = 0; i < nsensor; ++i) { for (int i = 0; i < nsensor; ++i) {
if (sensors[i]->type == mjSENS_PLUGIN) { 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; m->sensor_plugin[i] = sensor_plugin;
plugin_to_sensors[sensor_plugin].push_back(i); plugin_to_sensors[sensor_plugin].push_back(i);
} else { } else {
src/user/user_model.h
+1 -1
View File
@@ -33,7 +33,7 @@
typedef std::map<std::string, int, std::less<> > mjKeyMap; typedef std::map<std::string, int, std::less<> > mjKeyMap;
typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap; typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
class mjCModel_ { class mjCModel_ : public mjElement {
public: public:
// attach namespaces // attach namespaces
std::string prefix; std::string prefix;
src/user/user_objects.cc
+60 -34
View File
@@ -516,7 +516,7 @@ void mjCDef::PointToLocal() {
equality.PointToLocal(); equality.PointToLocal();
tendon.PointToLocal(); tendon.PointToLocal();
actuator.PointToLocal(); actuator.PointToLocal();
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.joint = &joint.spec; spec.joint = &joint.spec;
spec.geom = &geom.spec; spec.geom = &geom.spec;
@@ -632,6 +632,7 @@ mjCBody::mjCBody(mjCModel* _model) {
model = _model; model = _model;
mjs_defaultBody(spec); mjs_defaultBody(spec);
elemtype = mjOBJ_BODY;
parentid = -1; parentid = -1;
weldid = -1; weldid = -1;
dofnum = 0; dofnum = 0;
@@ -745,7 +746,7 @@ mjCBody& mjCBody::operator+=(mjCBody& other) {
void mjCBody::PointToLocal() { void mjCBody::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.childclass = (mjString)&classname; spec.childclass = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_; spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -1337,9 +1338,10 @@ void mjCBody::Compile(void) {
name.c_str(), id); 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); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot); plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_PASSIVE)) { if (!(pplugin->capabilityflags & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name); throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name);
} }
@@ -1365,6 +1367,7 @@ void mjCBody::Compile(void) {
// initialize frame // initialize frame
mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) { mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) {
mjs_defaultFrame(spec); mjs_defaultFrame(spec);
elemtype = mjOBJ_FRAME;
compiled = false; compiled = false;
model = _model; model = _model;
body = NULL; body = NULL;
@@ -1417,7 +1420,7 @@ void mjCFrame::SetParent(mjCBody* _body) {
void mjCFrame::PointToLocal() { void mjCFrame::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.childclass = (mjString)&classname; spec.childclass = (mjString)&classname;
spec.info = (mjString)&info; spec.info = (mjString)&info;
@@ -1461,6 +1464,7 @@ void mjCFrame::Compile() {
// initialize default joint // initialize default joint
mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) { mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
mjs_defaultJoint(spec); mjs_defaultJoint(spec);
elemtype = mjOBJ_JOINT;
// clear internal variables // clear internal variables
spec_userdata_.clear(); spec_userdata_.clear();
@@ -1508,7 +1512,7 @@ bool mjCJoint::is_actfrclimited() const { return islimited(actfrclimited, actfrc
void mjCJoint::PointToLocal() { void mjCJoint::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_; spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -1658,6 +1662,7 @@ int mjCJoint::Compile(void) {
// initialize default geom // initialize default geom
mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) { mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
mjs_defaultGeom(spec); mjs_defaultGeom(spec);
elemtype = mjOBJ_GEOM;
mass_ = 0; mass_ = 0;
body = 0; body = 0;
@@ -1715,7 +1720,7 @@ mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
// to be called after any default copy constructor // to be called after any default copy constructor
void mjCGeom::PointToLocal(void) { void mjCGeom::PointToLocal(void) {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.info = (mjString)&info; spec.info = (mjString)&info;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
@@ -2263,9 +2268,10 @@ void mjCGeom::Compile(void) {
name.c_str(), id); 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); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot); plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) { if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support sign distance fields", pplugin->name); throw mjCError(this, "plugin '%s' does not support sign distance fields", pplugin->name);
} }
@@ -2284,6 +2290,7 @@ void mjCGeom::Compile(void) {
// initialize default site // initialize default site
mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) { mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
mjs_defaultSite(spec); mjs_defaultSite(spec);
elemtype = mjOBJ_SITE;
// clear internal variables // clear internal variables
body = 0; body = 0;
@@ -2328,7 +2335,7 @@ mjCSite& mjCSite::operator=(const mjCSite& other) {
void mjCSite::PointToLocal() { void mjCSite::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.info = (mjString)&info; spec.info = (mjString)&info;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
@@ -2440,6 +2447,7 @@ void mjCSite::Compile(void) {
// initialize defaults // initialize defaults
mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) { mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
mjs_defaultCamera(spec); mjs_defaultCamera(spec);
elemtype = mjOBJ_CAMERA;
// clear private variables // clear private variables
body = 0; body = 0;
@@ -2483,7 +2491,7 @@ mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
void mjCCamera::PointToLocal() { void mjCCamera::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_; spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -2590,6 +2598,7 @@ void mjCCamera::Compile(void) {
// initialize defaults // initialize defaults
mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) { mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
mjs_defaultLight(spec); mjs_defaultLight(spec);
elemtype = mjOBJ_LIGHT;
// clear private variables // clear private variables
body = 0; body = 0;
@@ -2630,7 +2639,7 @@ mjCLight& mjCLight::operator=(const mjCLight& other) {
void mjCLight::PointToLocal() { void mjCLight::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.targetbody = (mjString)&spec_targetbody_; spec.targetbody = (mjString)&spec_targetbody_;
@@ -2686,6 +2695,7 @@ void mjCLight::Compile(void) {
// constructor // constructor
mjCHField::mjCHField(mjCModel* _model) { mjCHField::mjCHField(mjCModel* _model) {
mjs_defaultHField(spec); mjs_defaultHField(spec);
elemtype = mjOBJ_HFIELD;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -2723,7 +2733,7 @@ mjCHField& mjCHField::operator=(const mjCHField& other) {
void mjCHField::PointToLocal() { void mjCHField::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.file = (mjString)&spec_file_; spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_; spec.content_type = (mjString)&spec_content_type_;
@@ -2938,6 +2948,7 @@ void mjCHField::Compile(const mjVFS* vfs) {
// initialize defaults // initialize defaults
mjCTexture::mjCTexture(mjCModel* _model) { mjCTexture::mjCTexture(mjCModel* _model) {
mjs_defaultTexture(spec); mjs_defaultTexture(spec);
elemtype = mjOBJ_TEXTURE;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -2979,7 +2990,7 @@ mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
void mjCTexture::PointToLocal() { void mjCTexture::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_; spec.file = (mjString)&spec_file_;
@@ -3680,6 +3691,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
// initialize defaults // initialize defaults
mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) { mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
mjs_defaultMaterial(spec); mjs_defaultMaterial(spec);
elemtype = mjOBJ_MATERIAL;
// clear internal // clear internal
spec_texture_.clear(); spec_texture_.clear();
@@ -3722,7 +3734,7 @@ mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
void mjCMaterial::PointToLocal() { void mjCMaterial::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.texture = (mjString)&spec_texture_; spec.texture = (mjString)&spec_texture_;
@@ -3751,6 +3763,7 @@ void mjCMaterial::Compile(void) {
// constructor // constructor
mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) { mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
mjs_defaultPair(spec); mjs_defaultPair(spec);
elemtype = mjOBJ_PAIR;
// set defaults // set defaults
spec_geomname1_.clear(); spec_geomname1_.clear();
@@ -3800,7 +3813,7 @@ mjCPair& mjCPair::operator=(const mjCPair& other) {
void mjCPair::PointToLocal() { void mjCPair::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.geomname1 = (mjString)&spec_geomname1_; spec.geomname1 = (mjString)&spec_geomname1_;
@@ -4010,7 +4023,7 @@ mjCBodyPair& mjCBodyPair::operator=(const mjCBodyPair& other) {
void mjCBodyPair::PointToLocal() { void mjCBodyPair::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.bodyname1 = (mjString)&spec_bodyname1_; spec.bodyname1 = (mjString)&spec_bodyname1_;
spec.bodyname2 = (mjString)&spec_bodyname2_; spec.bodyname2 = (mjString)&spec_bodyname2_;
@@ -4086,6 +4099,7 @@ void mjCBodyPair::Compile(void) {
// initialize default constraint // initialize default constraint
mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) { mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
mjs_defaultEquality(spec); mjs_defaultEquality(spec);
elemtype = mjOBJ_EQUALITY;
// clear internal variables // clear internal variables
spec_name1_.clear(); spec_name1_.clear();
@@ -4129,7 +4143,7 @@ mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
void mjCEquality::PointToLocal() { void mjCEquality::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.name1 = (mjString)&spec_name1_; spec.name1 = (mjString)&spec_name1_;
@@ -4248,6 +4262,7 @@ void mjCEquality::Compile(void) {
// constructor // constructor
mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) { mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
mjs_defaultTendon(spec); mjs_defaultTendon(spec);
elemtype = mjOBJ_TENDON;
// clear internal variables // clear internal variables
spec_material_.clear(); spec_material_.clear();
@@ -4299,7 +4314,7 @@ bool mjCTendon::is_limited() const { return islimited(limited, range); }
void mjCTendon::PointToLocal() { void mjCTendon::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_; spec.material = (mjString)&spec_material_;
@@ -4576,6 +4591,8 @@ void mjCTendon::Compile(void) {
// constructor // constructor
mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) { mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
elemtype = mjOBJ_UNKNOWN;
// set model and tendon pointer // set model and tendon pointer
model = _model; model = _model;
tendon = _tendon; tendon = _tendon;
@@ -4613,7 +4630,7 @@ mjCWrap& mjCWrap::operator=(const mjCWrap& other) {
void mjCWrap::PointToLocal() { void mjCWrap::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.info = (mjString)&info; spec.info = (mjString)&info;
} }
@@ -4705,6 +4722,7 @@ void mjCWrap::ResolveReferences(const mjCModel* m) {
// initialize defaults // initialize defaults
mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) { mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
mjs_defaultActuator(spec); mjs_defaultActuator(spec);
elemtype = mjOBJ_ACTUATOR;
// clear private variables // clear private variables
ptarget = nullptr; ptarget = nullptr;
@@ -4758,7 +4776,7 @@ bool mjCActuator::is_actlimited() const { return islimited(actlimited, actrange)
void mjCActuator::PointToLocal() { void mjCActuator::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_; spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -5032,9 +5050,10 @@ void mjCActuator::Compile(void) {
name.c_str(), id); 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); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot); plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_ACTUATOR)) { if (!(pplugin->capabilityflags & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name); throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name);
} }
@@ -5048,6 +5067,7 @@ void mjCActuator::Compile(void) {
// initialize defaults // initialize defaults
mjCSensor::mjCSensor(mjCModel* _model) { mjCSensor::mjCSensor(mjCModel* _model) {
mjs_defaultSensor(spec); mjs_defaultSensor(spec);
elemtype = mjOBJ_SENSOR;
// set model // set model
model = _model; model = _model;
@@ -5090,7 +5110,7 @@ mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
void mjCSensor::PointToLocal() { void mjCSensor::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.classname = (mjString)&classname; spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_; spec.userdata = (mjDoubleVec)&spec_userdata_;
@@ -5504,9 +5524,10 @@ void mjCSensor::Compile(void) {
// resolve plugin instance, or create one if using the "plugin" attribute shortcut // resolve plugin instance, or create one if using the "plugin" attribute shortcut
{ {
mjCPlugin** plugin_instance = (mjCPlugin**)&plugin.instance; mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
model->ResolvePlugin(this, plugin_name, plugin_instance_name, plugin_instance); model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* pplugin = mjp_getPluginAtSlot((*plugin_instance)->spec.plugin_slot); plugin.instance = plugin_instance;
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SENSOR)) { if (!(pplugin->capabilityflags & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name); throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name);
} }
@@ -5534,6 +5555,7 @@ void mjCSensor::Compile(void) {
// constructor // constructor
mjCNumeric::mjCNumeric(mjCModel* _model) { mjCNumeric::mjCNumeric(mjCModel* _model) {
mjs_defaultNumeric(spec); mjs_defaultNumeric(spec);
elemtype = mjOBJ_NUMERIC;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -5569,7 +5591,7 @@ mjCNumeric& mjCNumeric::operator=(const mjCNumeric& other) {
void mjCNumeric::PointToLocal() { void mjCNumeric::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.data = (mjDoubleVec)&spec_data_; spec.data = (mjDoubleVec)&spec_data_;
spec.info = (mjString)&info; spec.info = (mjString)&info;
@@ -5622,6 +5644,7 @@ void mjCNumeric::Compile(void) {
// constructor // constructor
mjCText::mjCText(mjCModel* _model) { mjCText::mjCText(mjCModel* _model) {
mjs_defaultText(spec); mjs_defaultText(spec);
elemtype = mjOBJ_TEXT;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -5657,7 +5680,7 @@ mjCText& mjCText::operator=(const mjCText& other) {
void mjCText::PointToLocal() { void mjCText::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.data = (mjString)&spec_data_; spec.data = (mjString)&spec_data_;
spec.info = (mjString)&info; spec.info = (mjString)&info;
@@ -5698,6 +5721,7 @@ void mjCText::Compile(void) {
// constructor // constructor
mjCTuple::mjCTuple(mjCModel* _model) { mjCTuple::mjCTuple(mjCModel* _model) {
mjs_defaultTuple(spec); mjs_defaultTuple(spec);
elemtype = mjOBJ_TUPLE;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -5736,7 +5760,7 @@ mjCTuple& mjCTuple::operator=(const mjCTuple& other) {
void mjCTuple::PointToLocal() { void mjCTuple::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.objtype = (mjIntVec)&spec_objtype_; spec.objtype = (mjIntVec)&spec_objtype_;
spec.objname = (mjStringVec)&spec_objname_; spec.objname = (mjStringVec)&spec_objname_;
@@ -5830,6 +5854,7 @@ void mjCTuple::Compile(void) {
// constructor // constructor
mjCKey::mjCKey(mjCModel* _model) { mjCKey::mjCKey(mjCModel* _model) {
mjs_defaultKey(spec); mjs_defaultKey(spec);
elemtype = mjOBJ_KEY;
// set model pointer // set model pointer
model = _model; model = _model;
@@ -5870,7 +5895,7 @@ mjCKey& mjCKey::operator=(const mjCKey& other) {
void mjCKey::PointToLocal() { void mjCKey::PointToLocal() {
spec.element = (mjElement)this; spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.qpos = (mjDoubleVec)&spec_qpos_; spec.qpos = (mjDoubleVec)&spec_qpos_;
spec.qvel = (mjDoubleVec)&spec_qvel_; spec.qvel = (mjDoubleVec)&spec_qvel_;
@@ -6013,6 +6038,7 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
// public interface // public interface
mjs_defaultPlugin(spec); mjs_defaultPlugin(spec);
elemtype = mjOBJ_PLUGIN;
spec.name = (mjString)&name; spec.name = (mjString)&name;
spec.instance_name = (mjString)&instance_name; spec.instance_name = (mjString)&instance_name;
spec.info = (mjString)&info; spec.info = (mjString)&info;
src/user/user_objects.h
+2 -2
View File
@@ -167,7 +167,7 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
//------------------------- class mjCBase ---------------------------------------------------------- //------------------------- class mjCBase ----------------------------------------------------------
// Generic functionality for all derived classes // Generic functionality for all derived classes
class mjCBase_ { class mjCBase_ : public mjElement {
public: public:
int id; // object id int id; // object id
std::string name; // object name std::string name; // object name
@@ -1606,7 +1606,7 @@ class mjCKey : public mjCKey_, private mjsKey {
//------------------------- class mjCDef ----------------------------------------------------------- //------------------------- class mjCDef -----------------------------------------------------------
// Describes one set of defaults // Describes one set of defaults
class mjCDef { class mjCDef : public mjElement {
friend class mjXWriter; friend class mjXWriter;
public: public:
src/xml/xml_native_writer.cc
+2 -2
View File
@@ -739,8 +739,8 @@ void mjXWriter::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
} else { } else {
WriteAttrTxt(elem, "plugin", plugin_name); WriteAttrTxt(elem, "plugin", plugin_name);
const mjpPlugin* pplugin = mjp_getPluginAtSlot( const mjpPlugin* pplugin = mjp_getPluginAtSlot(
((mjCPlugin*)plugin->instance)->spec.plugin_slot); static_cast<mjCPlugin*>(plugin->instance)->spec.plugin_slot);
const char* c = &((mjCPlugin*)plugin->instance)->flattened_attributes[0]; const char* c = &(static_cast<mjCPlugin*>(plugin->instance)->flattened_attributes[0]);
for (int i = 0; i < pplugin->nattribute; ++i) { for (int i = 0; i < pplugin->nattribute; ++i) {
std::string value(c); std::string value(c);
if (!value.empty()) { if (!value.empty()) {