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Make default class members private.

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PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
This commit is contained in:
Kyle Bayes
2024-05-16 03:21:17 -07:00
committed by Copybara-Service
parent 6e58cedb47
commit e885a3dc3d
9 changed files with 362 additions and 346 deletions
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src/user/user_objects.cc
+93 -94
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@@ -557,22 +557,22 @@ int mjCBoundingVolumeHierarchy::MakeBVH(
//------------------------- class mjCDef implementation --------------------------------------------
// constructor
mjCDef::mjCDef(void) {
mjCDef::mjCDef() {
name.clear();
parentid = -1;
childid.clear();
mjs_defaultJoint(&joint.spec);
mjs_defaultGeom(&geom.spec);
mjs_defaultSite(&site.spec);
mjs_defaultCamera(&camera.spec);
mjs_defaultLight(&light.spec);
mjs_defaultFlex(&flex.spec);
mjs_defaultMesh(&mesh.spec);
mjs_defaultMaterial(&material.spec);
mjs_defaultPair(&pair.spec);
mjs_defaultEquality(&equality.spec);
mjs_defaultTendon(&tendon.spec);
mjs_defaultActuator(&actuator.spec);
mjs_defaultJoint(&joint_.spec);
mjs_defaultGeom(&geom_.spec);
mjs_defaultSite(&site_.spec);
mjs_defaultCamera(&camera_.spec);
mjs_defaultLight(&light_.spec);
mjs_defaultFlex(&flex_.spec);
mjs_defaultMesh(&mesh_.spec);
mjs_defaultMaterial(&material_.spec);
mjs_defaultPair(&pair_.spec);
mjs_defaultEquality(&equality_.spec);
mjs_defaultTendon(&tendon_.spec);
mjs_defaultActuator(&actuator_.spec);
// make sure all the pointers are local
PointToLocal();
@@ -592,12 +592,12 @@ void mjCDef::Compile(const mjCModel* model) {
CopyFromSpec();
// enforce length of all default userdata arrays
joint.userdata_.resize(model->nuser_jnt);
geom.userdata_.resize(model->nuser_geom);
site.userdata_.resize(model->nuser_site);
camera.userdata_.resize(model->nuser_cam);
tendon.userdata_.resize(model->nuser_tendon);
actuator.userdata_.resize(model->nuser_actuator);
joint_.userdata_.resize(model->nuser_jnt);
geom_.userdata_.resize(model->nuser_geom);
site_.userdata_.resize(model->nuser_site);
camera_.userdata_.resize(model->nuser_cam);
tendon_.userdata_.resize(model->nuser_tendon);
actuator_.userdata_.resize(model->nuser_actuator);
}
@@ -608,18 +608,18 @@ mjCDef& mjCDef::operator=(const mjCDef& other) {
name = other.name;
parentid = other.parentid;
childid = other.childid;
joint = other.joint;
geom = other.geom;
site = other.site;
camera = other.camera;
light = other.light;
flex = other.flex;
mesh = other.mesh;
material = other.material;
pair = other.pair;
equality = other.equality;
tendon = other.tendon;
actuator = other.actuator;
joint_ = other.joint_;
geom_ = other.geom_;
site_ = other.site_;
camera_ = other.camera_;
light_ = other.light_;
flex_ = other.flex_;
mesh_ = other.mesh_;
material_ = other.material_;
pair_ = other.pair_;
equality_ = other.equality_;
tendon_ = other.tendon_;
actuator_ = other.actuator_;
}
PointToLocal();
return *this;
@@ -628,49 +628,49 @@ mjCDef& mjCDef::operator=(const mjCDef& other) {
void mjCDef::PointToLocal() {
joint.PointToLocal();
geom.PointToLocal();
site.PointToLocal();
camera.PointToLocal();
light.PointToLocal();
flex.PointToLocal();
mesh.PointToLocal();
material.PointToLocal();
pair.PointToLocal();
equality.PointToLocal();
tendon.PointToLocal();
actuator.PointToLocal();
joint_.PointToLocal();
geom_.PointToLocal();
site_.PointToLocal();
camera_.PointToLocal();
light_.PointToLocal();
flex_.PointToLocal();
mesh_.PointToLocal();
material_.PointToLocal();
pair_.PointToLocal();
equality_.PointToLocal();
tendon_.PointToLocal();
actuator_.PointToLocal();
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.joint = &joint.spec;
spec.geom = &geom.spec;
spec.site = &site.spec;
spec.camera = &camera.spec;
spec.light = &light.spec;
spec.flex = &flex.spec;
spec.mesh = &mesh.spec;
spec.material = &material.spec;
spec.pair = &pair.spec;
spec.equality = &equality.spec;
spec.tendon = &tendon.spec;
spec.actuator = &actuator.spec;
spec.joint = &joint_.spec;
spec.geom = &geom_.spec;
spec.site = &site_.spec;
spec.camera = &camera_.spec;
spec.light = &light_.spec;
spec.flex = &flex_.spec;
spec.mesh = &mesh_.spec;
spec.material = &material_.spec;
spec.pair = &pair_.spec;
spec.equality = &equality_.spec;
spec.tendon = &tendon_.spec;
spec.actuator = &actuator_.spec;
}
void mjCDef::CopyFromSpec() {
joint.CopyFromSpec();
geom.CopyFromSpec();
site.CopyFromSpec();
camera.CopyFromSpec();
light.CopyFromSpec();
flex.CopyFromSpec();
mesh.CopyFromSpec();
material.CopyFromSpec();
pair.CopyFromSpec();
equality.CopyFromSpec();
tendon.CopyFromSpec();
actuator.CopyFromSpec();
joint_.CopyFromSpec();
geom_.CopyFromSpec();
site_.CopyFromSpec();
camera_.CopyFromSpec();
light_.CopyFromSpec();
flex_.CopyFromSpec();
mesh_.CopyFromSpec();
material_.CopyFromSpec();
pair_.CopyFromSpec();
equality_.CopyFromSpec();
tendon_.CopyFromSpec();
actuator_.CopyFromSpec();
}
@@ -1674,12 +1674,12 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->joint;
*this = _def->Joint();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -1878,12 +1878,12 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->geom;
*this = _def->Geom();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -1964,7 +1964,7 @@ void mjCGeom::NameSpace(const mjCModel* m) {
// compute geom volume
double mjCGeom::GetVolume(void) {
double mjCGeom::GetVolume() const {
double height;
// get from mesh
@@ -2512,7 +2512,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->site;
*this = _def->Site();
}
// point to local
@@ -2523,7 +2523,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
}
@@ -2664,12 +2664,12 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->camera;
*this = _def->Camera();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -2818,12 +2818,12 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->light;
*this = _def->Light();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
PointToLocal();
CopyFromSpec();
@@ -3855,12 +3855,12 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->material;
*this = _def->Material();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -3943,12 +3943,12 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->pair;
*this = _def->Pair();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -4304,12 +4304,12 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->equality;
*this = _def->Equality();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -4466,12 +4466,12 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->tendon;
*this = _def->Tendon();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local
PointToLocal();
@@ -4629,19 +4629,18 @@ void mjCTendon::WrapPulley(double divisor, std::string_view info) {
// get number of wraps
int mjCTendon::NumWraps(void) {
int mjCTendon::NumWraps() const {
return (int)path.size();
}
// get pointer to specified wrap
mjCWrap* mjCTendon::GetWrap(int id) {
if (id>=0 && id<(int)path.size()) {
return path[id];
} else {
return 0;
const mjCWrap* mjCTendon::GetWrap(int i) const {
if (i >= 0 && i < (int)path.size()) {
return path[i];
}
return nullptr;
}
@@ -4945,12 +4944,12 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
// reset to default if given
if (_def) {
*this = _def->actuator;
*this = _def->Actuator();
}
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// in case this actuator is not compiled
CopyFromSpec();