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Add control plugin API.

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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
This commit is contained in:
Saran Tunyasuvunakool
2022-12-06 08:23:07 -08:00
committed by Copybara-Service
parent 60fbb77b2a
commit e4f1d584ad
14 changed files with 70 additions and 41 deletions
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src/user/user_objects.cc
+3 -3
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@@ -819,7 +819,7 @@ void mjCBody::Compile(void) {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->type & mjPLUGIN_PASSIVE)) {
if (!(plugin->capabilities & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", plugin->name);
}
}
@@ -3618,7 +3618,7 @@ void mjCActuator::Compile(void) {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->type & mjPLUGIN_ACTUATOR)) {
if (!(plugin->capabilities & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", plugin->name);
}
}
@@ -4006,7 +4006,7 @@ void mjCSensor::Compile(void) {
{
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->type & mjPLUGIN_SENSOR)) {
if (!(plugin->capabilities & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", plugin->name);
}
needstage = static_cast<mjtStage>(plugin->needstage);