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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_api.cc
+2 -2
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@@ -429,7 +429,7 @@ 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 = static_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
*id = (int)modelC->Defaults().size(); *id = (int)modelC->NumDefaults();
mjCDef* def = modelC->AddDefault(classname, parentid); mjCDef* def = modelC->AddDefault(classname, parentid);
if (def) { if (def) {
return &def->spec; return &def->spec;
@@ -469,7 +469,7 @@ 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 = static_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;
} }
src/user/user_composite.cc
+13 -13
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@@ -561,7 +561,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// create tendon // create tendon
mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec); mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(ten->element, &model->Defaults()[0]->spec); mjs_setDefault(ten->element, &model->Defaults(0)->spec);
mjs_setString(ten->name, txt0); mjs_setString(ten->name, txt0);
ten->group = 4; ten->group = 4;
mjs_wrapSite(ten, txt1); mjs_wrapSite(ten, txt1);
@@ -569,7 +569,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// add equality constraint // add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec); mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec); mjs_setDefault(eq->element, &model->Defaults(0)->spec);
eq->type = mjEQ_TENDON; eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, mjs_getString(ten->name)); mjs_setString(eq->name1, mjs_getString(ten->name));
} }
@@ -675,7 +675,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
// create tendon // create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON); mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->Defaults()[0]; ten->def = model->Defaults(0);
mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy); mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy);
ten->name = txt; ten->name = txt;
ten->WrapSite(txt1); ten->WrapSite(txt1);
@@ -683,7 +683,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
// add equality constraint // add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec); mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec); mjs_setDefault(eq->element, &model->Defaults(0)->spec);
eq->type = mjEQ_TENDON; eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, ten->name.c_str()); mjs_setString(eq->name1, ten->name.c_str());
} }
@@ -1045,7 +1045,7 @@ mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int i
// add constraint // add constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec); mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec); mjs_setDefault(eq->element, &model->Defaults(0)->spec);
eq->type = mjEQ_JOINT; eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name)); mjs_setString(eq->name1, mjs_getString(jnt->name));
} }
@@ -1063,7 +1063,7 @@ mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int i
// add constraint // add constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec); mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec); mjs_setDefault(eq->element, &model->Defaults(0)->spec);
eq->type = mjEQ_JOINT; eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name)); mjs_setString(eq->name1, mjs_getString(jnt->name));
} }
@@ -1131,7 +1131,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// fixed tendon for all joints // fixed tendon for all joints
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON); mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->Defaults()[0]; ten->def = model->Defaults(0);
mju::sprintf_arr(txt, "%sT", prefix.c_str()); mju::sprintf_arr(txt, "%sT", prefix.c_str());
ten->name = txt; ten->name = txt;
@@ -1184,7 +1184,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// add fix constraint // add fix constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec); mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec); mjs_setDefault(eq->element, &model->Defaults(0)->spec);
eq->type = mjEQ_JOINT; eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name)); mjs_setString(eq->name1, mjs_getString(jnt->name));
@@ -1218,7 +1218,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// finalize fixed tendon // finalize fixed tendon
mjsEquality* eqt = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec); mjsEquality* eqt = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eqt->element, &model->Defaults()[0]->spec); mjs_setDefault(eqt->element, &model->Defaults(0)->spec);
eqt->type = mjEQ_TENDON; eqt->type = mjEQ_TENDON;
mjs_setString(eqt->name1, ten->name.c_str()); mjs_setString(eqt->name1, ten->name.c_str());
@@ -1244,7 +1244,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
// create tendon // create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR); mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR);
ten->def = model->Defaults()[0]; ten->def = model->Defaults(0);
ten->WrapSite(txt1); ten->WrapSite(txt1);
ten->WrapSite(txt2); ten->WrapSite(txt2);
@@ -1254,7 +1254,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
// equality constraint // equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec); mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjs_setDefault(eq->element, &model->Defaults()[0]->spec); mjs_setDefault(eq->element, &model->Defaults(0)->spec);
eq->type = mjEQ_TENDON; eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, txt); mjs_setString(eq->name1, txt);
} }
@@ -1552,11 +1552,11 @@ void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
// bind pose // bind pose
if (iy==0) { if (iy==0) {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0); bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(-def[0].geom.spec.size[1]); bindpos.push_back(-def[0].Geom().spec.size[1]);
bindpos.push_back(0); bindpos.push_back(0);
} else if (iy==2) { } else if (iy==2) {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0); bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(def[0].geom.spec.size[1]); bindpos.push_back(def[0].Geom().spec.size[1]);
bindpos.push_back(0); bindpos.push_back(0);
} else { } else {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0); bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
src/user/user_flexcomp.cc
+3 -3
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@@ -400,7 +400,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjsFlex* pf = &flex->spec; mjsFlex* pf = &flex->spec;
int id = flex->id; int id = flex->id;
*flex = def.flex; *flex = def.Flex();
flex->PointToLocal(); flex->PointToLocal();
flex->model = model; flex->model = model;
@@ -521,7 +521,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
// create edge equality constraint // create edge equality constraint
if (equality) { if (equality) {
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec); mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
mjs_setDefault(pe->element, &model->Defaults()[0]->spec); mjs_setDefault(pe->element, &model->Defaults(0)->spec);
pe->type = mjEQ_FLEX; pe->type = mjEQ_FLEX;
pe->active = true; pe->active = true;
mjs_setString(pe->name1, name.c_str()); mjs_setString(pe->name1, name.c_str());
@@ -544,7 +544,7 @@ int mjCFlexcomp::GridID(int ix, int iy, int iz) {
// make grid // make grid
bool mjCFlexcomp::MakeGrid(char* error, int error_sz) { bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
int dim = def.flex.spec.dim; int dim = def.Flex().spec.dim;
bool hastex = texcoord.empty(); bool hastex = texcoord.empty();
// 1D // 1D
src/user/user_mesh.cc
+4 -4
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@@ -146,12 +146,12 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->mesh; *this = _def->Mesh();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// in case this body is not compiled // in case this body is not compiled
CopyFromSpec(); CopyFromSpec();
@@ -1426,7 +1426,7 @@ void mjCMesh::Process() {
// apply formula, accumulate // apply formula, accumulate
GetVolumeRef(type) += vol; GetVolumeRef(type) += vol;
for (int j=0; j<6; j++) { for (int j=0; j<6; j++) {
P[j] += def->geom.density*vol / P[j] += def->Geom().density*vol /
(type==mjINERTIA_SHELL ? 12 : 20) * ( (type==mjINERTIA_SHELL ? 12 : 20) * (
2*(D[k[j][0]] * D[k[j][1]] + 2*(D[k[j][0]] * D[k[j][1]] +
E[k[j][0]] * E[k[j][1]] + E[k[j][0]] * E[k[j][1]] +
@@ -1467,7 +1467,7 @@ void mjCMesh::Process() {
} }
// compute sizes of equivalent inertia box // compute sizes of equivalent inertia box
double mass = GetVolumeRef(type) * def->geom.density; double mass = GetVolumeRef(type) * def->Geom().density;
double* boxsz = GetInertiaBoxPtr(type); double* boxsz = GetInertiaBoxPtr(type);
boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2; boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2; boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;
src/user/user_model.h
+2 -1
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@@ -222,7 +222,8 @@ class mjCModel : public mjCModel_, private mjSpec {
std::string get_meshdir() const { return meshdir_; } std::string get_meshdir() const { return meshdir_; }
std::string get_texturedir() const { return texturedir_; } std::string get_texturedir() const { return texturedir_; }
const std::vector<mjCDef*>& Defaults() const { return defaults_; } mjCDef* Defaults(int i) const { return defaults_[i]; }
int NumDefaults() const { return defaults_.size(); }
const std::vector<std::pair<const mjpPlugin*, int>>& ActivePlugins() const { const std::vector<std::pair<const mjpPlugin*, int>>& ActivePlugins() const {
return active_plugins_; return active_plugins_;
src/user/user_objects.cc
+93 -94
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@@ -557,22 +557,22 @@ int mjCBoundingVolumeHierarchy::MakeBVH(
//------------------------- class mjCDef implementation -------------------------------------------- //------------------------- class mjCDef implementation --------------------------------------------
// constructor // constructor
mjCDef::mjCDef(void) { mjCDef::mjCDef() {
name.clear(); name.clear();
parentid = -1; parentid = -1;
childid.clear(); childid.clear();
mjs_defaultJoint(&joint.spec); mjs_defaultJoint(&joint_.spec);
mjs_defaultGeom(&geom.spec); mjs_defaultGeom(&geom_.spec);
mjs_defaultSite(&site.spec); mjs_defaultSite(&site_.spec);
mjs_defaultCamera(&camera.spec); mjs_defaultCamera(&camera_.spec);
mjs_defaultLight(&light.spec); mjs_defaultLight(&light_.spec);
mjs_defaultFlex(&flex.spec); mjs_defaultFlex(&flex_.spec);
mjs_defaultMesh(&mesh.spec); mjs_defaultMesh(&mesh_.spec);
mjs_defaultMaterial(&material.spec); mjs_defaultMaterial(&material_.spec);
mjs_defaultPair(&pair.spec); mjs_defaultPair(&pair_.spec);
mjs_defaultEquality(&equality.spec); mjs_defaultEquality(&equality_.spec);
mjs_defaultTendon(&tendon.spec); mjs_defaultTendon(&tendon_.spec);
mjs_defaultActuator(&actuator.spec); mjs_defaultActuator(&actuator_.spec);
// make sure all the pointers are local // make sure all the pointers are local
PointToLocal(); PointToLocal();
@@ -592,12 +592,12 @@ void mjCDef::Compile(const mjCModel* model) {
CopyFromSpec(); CopyFromSpec();
// enforce length of all default userdata arrays // enforce length of all default userdata arrays
joint.userdata_.resize(model->nuser_jnt); joint_.userdata_.resize(model->nuser_jnt);
geom.userdata_.resize(model->nuser_geom); geom_.userdata_.resize(model->nuser_geom);
site.userdata_.resize(model->nuser_site); site_.userdata_.resize(model->nuser_site);
camera.userdata_.resize(model->nuser_cam); camera_.userdata_.resize(model->nuser_cam);
tendon.userdata_.resize(model->nuser_tendon); tendon_.userdata_.resize(model->nuser_tendon);
actuator.userdata_.resize(model->nuser_actuator); actuator_.userdata_.resize(model->nuser_actuator);
} }
@@ -608,18 +608,18 @@ mjCDef& mjCDef::operator=(const mjCDef& other) {
name = other.name; name = other.name;
parentid = other.parentid; parentid = other.parentid;
childid = other.childid; childid = other.childid;
joint = other.joint; joint_ = other.joint_;
geom = other.geom; geom_ = other.geom_;
site = other.site; site_ = other.site_;
camera = other.camera; camera_ = other.camera_;
light = other.light; light_ = other.light_;
flex = other.flex; flex_ = other.flex_;
mesh = other.mesh; mesh_ = other.mesh_;
material = other.material; material_ = other.material_;
pair = other.pair; pair_ = other.pair_;
equality = other.equality; equality_ = other.equality_;
tendon = other.tendon; tendon_ = other.tendon_;
actuator = other.actuator; actuator_ = other.actuator_;
} }
PointToLocal(); PointToLocal();
return *this; return *this;
@@ -628,49 +628,49 @@ mjCDef& mjCDef::operator=(const mjCDef& other) {
void mjCDef::PointToLocal() { void mjCDef::PointToLocal() {
joint.PointToLocal(); joint_.PointToLocal();
geom.PointToLocal(); geom_.PointToLocal();
site.PointToLocal(); site_.PointToLocal();
camera.PointToLocal(); camera_.PointToLocal();
light.PointToLocal(); light_.PointToLocal();
flex.PointToLocal(); flex_.PointToLocal();
mesh.PointToLocal(); mesh_.PointToLocal();
material.PointToLocal(); material_.PointToLocal();
pair.PointToLocal(); pair_.PointToLocal();
equality.PointToLocal(); equality_.PointToLocal();
tendon.PointToLocal(); tendon_.PointToLocal();
actuator.PointToLocal(); actuator_.PointToLocal();
spec.element = static_cast<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;
spec.site = &site.spec; spec.site = &site_.spec;
spec.camera = &camera.spec; spec.camera = &camera_.spec;
spec.light = &light.spec; spec.light = &light_.spec;
spec.flex = &flex.spec; spec.flex = &flex_.spec;
spec.mesh = &mesh.spec; spec.mesh = &mesh_.spec;
spec.material = &material.spec; spec.material = &material_.spec;
spec.pair = &pair.spec; spec.pair = &pair_.spec;
spec.equality = &equality.spec; spec.equality = &equality_.spec;
spec.tendon = &tendon.spec; spec.tendon = &tendon_.spec;
spec.actuator = &actuator.spec; spec.actuator = &actuator_.spec;
} }
void mjCDef::CopyFromSpec() { void mjCDef::CopyFromSpec() {
joint.CopyFromSpec(); joint_.CopyFromSpec();
geom.CopyFromSpec(); geom_.CopyFromSpec();
site.CopyFromSpec(); site_.CopyFromSpec();
camera.CopyFromSpec(); camera_.CopyFromSpec();
light.CopyFromSpec(); light_.CopyFromSpec();
flex.CopyFromSpec(); flex_.CopyFromSpec();
mesh.CopyFromSpec(); mesh_.CopyFromSpec();
material.CopyFromSpec(); material_.CopyFromSpec();
pair.CopyFromSpec(); pair_.CopyFromSpec();
equality.CopyFromSpec(); equality_.CopyFromSpec();
tendon.CopyFromSpec(); tendon_.CopyFromSpec();
actuator.CopyFromSpec(); actuator_.CopyFromSpec();
} }
@@ -1674,12 +1674,12 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->joint; *this = _def->Joint();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -1878,12 +1878,12 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->geom; *this = _def->Geom();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -1964,7 +1964,7 @@ void mjCGeom::NameSpace(const mjCModel* m) {
// compute geom volume // compute geom volume
double mjCGeom::GetVolume(void) { double mjCGeom::GetVolume() const {
double height; double height;
// get from mesh // get from mesh
@@ -2512,7 +2512,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->site; *this = _def->Site();
} }
// point to local // point to local
@@ -2523,7 +2523,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set model, def // set model, def
model = _model; 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 // reset to default if given
if (_def) { if (_def) {
*this = _def->camera; *this = _def->Camera();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -2818,12 +2818,12 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->light; *this = _def->Light();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
PointToLocal(); PointToLocal();
CopyFromSpec(); CopyFromSpec();
@@ -3855,12 +3855,12 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->material; *this = _def->Material();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -3943,12 +3943,12 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->pair; *this = _def->Pair();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -4304,12 +4304,12 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->equality; *this = _def->Equality();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -4466,12 +4466,12 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->tendon; *this = _def->Tendon();
} }
// set model, def // set model, def
model = _model; model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0)); def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
// point to local // point to local
PointToLocal(); PointToLocal();
@@ -4629,19 +4629,18 @@ void mjCTendon::WrapPulley(double divisor, std::string_view info) {
// get number of wraps // get number of wraps
int mjCTendon::NumWraps(void) { int mjCTendon::NumWraps() const {
return (int)path.size(); return (int)path.size();
} }
// get pointer to specified wrap // get pointer to specified wrap
mjCWrap* mjCTendon::GetWrap(int id) { const mjCWrap* mjCTendon::GetWrap(int i) const {
if (id>=0 && id<(int)path.size()) { if (i >= 0 && i < (int)path.size()) {
return path[id]; return path[i];
} else {
return 0;
} }
return nullptr;
} }
@@ -4945,12 +4944,12 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
// reset to default if given // reset to default if given
if (_def) { if (_def) {
*this = _def->actuator; *this = _def->Actuator();
} }
// set model, def // set model, def
model = _model; 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 // in case this actuator is not compiled
CopyFromSpec(); CopyFromSpec();
src/user/user_objects.h
+72 -56
View File
@@ -413,8 +413,8 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
void CopyFromSpec(void); void CopyFromSpec(void);
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; } const std::vector<double>& get_userdata() const { return userdata_; }
const double* get_range() { return range; } const double* get_range() const { return range; }
bool is_limited() const; bool is_limited() const;
bool is_actfrclimited() const; bool is_actfrclimited() const;
@@ -475,7 +475,7 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
using mjCBase::name; using mjCBase::name;
mjsGeom spec; // variables set by user mjsGeom spec; // variables set by user
double GetVolume(void); // compute geom volume double GetVolume() const; // compute geom volume
void SetInertia(void); // compute and set geom inertia void SetInertia(void); // compute and set geom inertia
bool IsVisual(void) const { return visual_; } bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; } void SetNotVisual(void) { visual_ = false; }
@@ -489,10 +489,10 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
void SetBoundingVolume(mjCBoundingVolume* bv) const; void SetBoundingVolume(mjCBoundingVolume* bv) const;
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; } const std::vector<double>& get_userdata() const { return userdata_; }
const std::string& get_hfieldname() { return spec_hfieldname_; } const std::string& get_hfieldname() const { return spec_hfieldname_; }
const std::string& get_meshname() { return spec_meshname_; } const std::string& get_meshname() const { return spec_meshname_; }
const std::string& get_material() { return spec_material_; } const std::string& get_material() const { return spec_material_; }
void del_material() { spec_material_.clear(); } void del_material() { spec_material_.clear(); }
private: private:
@@ -546,8 +546,8 @@ class mjCSite : public mjCSite_, private mjsSite {
using mjCBase::info; using mjCBase::info;
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; } const std::vector<double>& get_userdata() const { return userdata_; }
const std::string& get_material() { return material_; } const std::string& get_material() const { return material_; }
void del_material() { material_.clear(); } void del_material() { material_.clear(); }
private: private:
@@ -589,8 +589,8 @@ class mjCCamera : public mjCCamera_, private mjsCamera {
using mjCBase::info; using mjCBase::info;
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::string& get_targetbody() { return targetbody_; } const std::string& get_targetbody() const { return targetbody_; }
const std::vector<double>& get_userdata() { return userdata_; } const std::vector<double>& get_userdata() const { return userdata_; }
private: private:
void Compile(void); // compiler void Compile(void); // compiler
@@ -629,7 +629,7 @@ class mjCLight : public mjCLight_, private mjsLight {
using mjCBase::info; using mjCBase::info;
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::string& get_targetbody() { return targetbody_; } const std::string& get_targetbody() const { return targetbody_; }
private: private:
void Compile(void); // compiler void Compile(void); // compiler
@@ -697,12 +697,12 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
void NameSpace(const mjCModel* m); void NameSpace(const mjCModel* m);
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::string& get_material() { return material_; } const std::string& get_material() const { return material_; }
const std::vector<std::string>& get_vertbody() { return vertbody_; } const std::vector<std::string>& get_vertbody() const { return vertbody_; }
const std::vector<double>& get_vert() { return vert_; } const std::vector<double>& get_vert() const { return vert_; }
const std::vector<double>& get_elemaabb() { return elemaabb_; } const std::vector<double>& get_elemaabb() const { return elemaabb_; }
const std::vector<int>& get_elem() { return elem_; } const std::vector<int>& get_elem() const { return elem_; }
const std::vector<float>& get_texcoord() { return texcoord_; } const std::vector<float>& get_texcoord() const { return texcoord_; }
bool HasTexcoord() const; // texcoord not null bool HasTexcoord() const; // texcoord not null
void DelTexcoord(); // delete texcoord void DelTexcoord(); // delete texcoord
@@ -921,16 +921,16 @@ class mjCSkin: public mjCSkin_, private mjsSkin {
using mjCBase::classname; using mjCBase::classname;
using mjCBase::info; using mjCBase::info;
std::string get_file() const { return file_; } const std::string& get_file() const { return file_; }
std::string& get_material() { return material_; } const std::string& get_material() const { return material_; }
std::vector<float>& get_vert() { return vert_; } const std::vector<float>& get_vert() const { return vert_; }
std::vector<float>& get_texcoord() { return texcoord_; } const std::vector<float>& get_texcoord() const { return texcoord_; }
std::vector<int>& get_face() { return face_; } const std::vector<int>& get_face() const { return face_; }
std::vector<std::string>& get_bodyname() { return bodyname_; } const std::vector<std::string>& get_bodyname() const { return bodyname_; }
std::vector<float>& get_bindpos() { return bindpos_; } const std::vector<float>& get_bindpos() const { return bindpos_; }
std::vector<float>& get_bindquat() { return bindquat_; } const std::vector<float>& get_bindquat() const { return bindquat_; }
std::vector<std::vector<int>>& get_vertid() { return vertid_; } const std::vector<std::vector<int>>& get_vertid() const { return vertid_; }
std::vector<std::vector<float>>& get_vertweight() { return vertweight_; } const std::vector<std::vector<float>>& get_vertweight() const { return vertweight_; }
void del_material() { material_.clear(); } void del_material() { material_.clear(); }
void CopyFromSpec(); void CopyFromSpec();
@@ -1082,7 +1082,7 @@ class mjCMaterial : public mjCMaterial_, private mjsMaterial {
void PointToLocal(); void PointToLocal();
void NameSpace(const mjCModel* m); void NameSpace(const mjCModel* m);
std::string get_texture() { return texture_; } const std::string& get_texture() const { return texture_; }
void del_texture() { texture_.clear(); } void del_texture() { texture_.clear(); }
private: private:
@@ -1124,8 +1124,8 @@ class mjCPair : public mjCPair_, private mjsPair {
void ResolveReferences(const mjCModel* m); void ResolveReferences(const mjCModel* m);
void NameSpace(const mjCModel* m); void NameSpace(const mjCModel* m);
std::string get_geomname1() { return geomname1_; } const std::string& get_geomname1() const { return geomname1_; }
std::string get_geomname2() { return geomname2_; } const std::string& get_geomname2() const { return geomname2_; }
int GetSignature(void) { int GetSignature(void) {
return signature; return signature;
@@ -1258,7 +1258,7 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
using mjCBase::info; using mjCBase::info;
void set_material(std::string _material) { material_ = _material; } void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; } const std::string& get_material() const { return material_; }
void del_material() { material_.clear(); } void del_material() { material_.clear(); }
// API for adding wrapping objects // API for adding wrapping objects
@@ -1268,12 +1268,12 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
void WrapPulley(double divisor, std::string_view info = ""); // pulley void WrapPulley(double divisor, std::string_view info = ""); // pulley
// API for access to wrapping objects // API for access to wrapping objects
int NumWraps(void); // number of wraps int NumWraps() const; // number of wraps
mjCWrap* GetWrap(int); // pointer to wrap const mjCWrap* GetWrap(int i) const; // pointer to wrap
std::vector<mjCWrap*> path; // wrapping objects std::vector<mjCWrap*> path; // wrapping objects
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; } const std::vector<double>& get_userdata() const { return userdata_; }
const double* get_range() { return range; } const double* get_range() { return range; }
void CopyFromSpec(); void CopyFromSpec();
@@ -1391,10 +1391,10 @@ class mjCActuator : public mjCActuator_, private mjsActuator {
using mjCBase::info; using mjCBase::info;
// used by mjXWriter and mjCModel // used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; } const std::vector<double>& get_userdata() const { return userdata_; }
const std::string& get_target() { return spec_target_; } const std::string& get_target() const { return spec_target_; }
const std::string& get_slidersite() { return spec_slidersite_; } const std::string& get_slidersite() const { return spec_slidersite_; }
const std::string& get_refsite() { return spec_refsite_; } const std::string& get_refsite() const { return spec_refsite_; }
bool is_ctrllimited() const; bool is_ctrllimited() const;
bool is_forcelimited() const; bool is_forcelimited() const;
@@ -1615,13 +1615,29 @@ class mjCDef : public mjElement {
friend class mjXWriter; friend class mjXWriter;
public: public:
mjCDef(void); // constructor mjCDef();
mjCDef(const mjCDef& other); // copy constructor mjCDef(const mjCDef& other);
void Compile(const mjCModel* model); // compiler mjCDef& operator=(const mjCDef& other);
mjCDef& operator=(const mjCDef& other); // copy assignment
void PointToLocal(void); void PointToLocal(void);
void CopyFromSpec(void); void CopyFromSpec(void);
void Compile(const mjCModel* model);
// accessors
mjCJoint& Joint() { return joint_; }
mjCGeom& Geom() { return geom_; }
mjCSite& Site() { return site_; }
mjCCamera& Camera() { return camera_; }
mjCLight& Light() { return light_; }
mjCFlex& Flex() { return flex_; }
mjCMesh& Mesh() { return mesh_; }
mjCMaterial& Material() { return material_; }
mjCPair& Pair() { return pair_; }
mjCEquality& Equality() { return equality_; }
mjCTendon& Tendon() { return tendon_; }
mjCActuator& Actuator() { return actuator_; }
// identifiers // identifiers
std::string name; // class name std::string name; // class name
int parentid; // id of parent class int parentid; // id of parent class
@@ -1629,19 +1645,19 @@ class mjCDef : public mjElement {
mjsDefault spec; mjsDefault spec;
// default objects (TODO: they should become private) private:
mjCJoint joint; mjCJoint joint_;
mjCGeom geom; mjCGeom geom_;
mjCSite site; mjCSite site_;
mjCCamera camera; mjCCamera camera_;
mjCLight light; mjCLight light_;
mjCFlex flex; mjCFlex flex_;
mjCMesh mesh; mjCMesh mesh_;
mjCMaterial material; mjCMaterial material_;
mjCPair pair; mjCPair pair_;
mjCEquality equality; mjCEquality equality_;
mjCTendon tendon; mjCTendon tendon_;
mjCActuator actuator; mjCActuator actuator_;
}; };
#endif // MUJOCO_SRC_USER_USER_OBJECTS_H_ #endif // MUJOCO_SRC_USER_USER_OBJECTS_H_
src/xml/xml_native_writer.cc
+159 -159
View File
@@ -84,7 +84,7 @@ XMLElement* mjXWriter::InsertEnd(XMLElement* parent, const char* name) {
//---------------------------------- class mjXWriter: one-element writers -------------------------- //---------------------------------- class mjXWriter: one-element writers --------------------------
// write flex // write flex
void mjXWriter::OneFlex(XMLElement* elem, mjCFlex* pflex) { void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* pflex) {
string text; string text;
mjCFlex defflex; mjCFlex defflex;
@@ -152,7 +152,7 @@ void mjXWriter::OneFlex(XMLElement* elem, mjCFlex* pflex) {
// write mesh // write mesh
void mjXWriter::OneMesh(XMLElement* elem, mjCMesh* pmesh, mjCDef* def) { void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* pmesh, mjCDef* def) {
string text; string text;
// regular // regular
@@ -188,17 +188,17 @@ void mjXWriter::OneMesh(XMLElement* elem, mjCMesh* pmesh, mjCDef* def) {
} }
// defaults and regular // defaults and regular
WriteAttr(elem, "refpos", 3, pmesh->refpos, def->mesh.refpos); WriteAttr(elem, "refpos", 3, pmesh->refpos, def->Mesh().refpos);
WriteAttr(elem, "refquat", 4, pmesh->refquat, def->mesh.refquat); WriteAttr(elem, "refquat", 4, pmesh->refquat, def->Mesh().refquat);
WriteAttr(elem, "scale", 3, pmesh->scale, def->mesh.scale); WriteAttr(elem, "scale", 3, pmesh->scale, def->Mesh().scale);
WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->get_smoothnormal(), WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->get_smoothnormal(),
def->mesh.get_smoothnormal()); def->Mesh().get_smoothnormal());
} }
// write skin // write skin
void mjXWriter::OneSkin(XMLElement* elem, mjCSkin* pskin) { void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* pskin) {
string text; string text;
mjCDef mydef; mjCDef mydef;
float zero = 0; float zero = 0;
@@ -208,7 +208,7 @@ void mjXWriter::OneSkin(XMLElement* elem, mjCSkin* pskin) {
WriteAttrTxt(elem, "file", pskin->get_file()); WriteAttrTxt(elem, "file", pskin->get_file());
WriteAttrTxt(elem, "material", pskin->get_material()); WriteAttrTxt(elem, "material", pskin->get_material());
WriteAttrInt(elem, "group", pskin->group, 0); WriteAttrInt(elem, "group", pskin->group, 0);
WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.geom.rgba); WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.Geom().rgba);
WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero); WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero);
// write data if no file // write data if no file
@@ -251,7 +251,7 @@ void mjXWriter::OneSkin(XMLElement* elem, mjCSkin* pskin) {
// write material // write material
void mjXWriter::OneMaterial(XMLElement* elem, mjCMaterial* pmat, mjCDef* def) { void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* pmat, mjCDef* def) {
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
WriteAttrTxt(elem, "name", pmat->name); WriteAttrTxt(elem, "name", pmat->name);
@@ -259,24 +259,24 @@ void mjXWriter::OneMaterial(XMLElement* elem, mjCMaterial* pmat, mjCDef* def) {
} }
// defaults and regular // defaults and regular
if (pmat->texture != def->material.texture) { if (pmat->texture != def->Material().texture) {
WriteAttrTxt(elem, "texture", pmat->get_texture()); WriteAttrTxt(elem, "texture", pmat->get_texture());
} }
WriteAttrKey(elem, "texuniform", bool_map, 2, pmat->texuniform, def->material.texuniform); WriteAttrKey(elem, "texuniform", bool_map, 2, pmat->texuniform, def->Material().texuniform);
WriteAttr(elem, "texrepeat", 2, pmat->texrepeat, def->material.texrepeat); WriteAttr(elem, "texrepeat", 2, pmat->texrepeat, def->Material().texrepeat);
WriteAttr(elem, "emission", 1, &pmat->emission, &def->material.emission); WriteAttr(elem, "emission", 1, &pmat->emission, &def->Material().emission);
WriteAttr(elem, "specular", 1, &pmat->specular, &def->material.specular); WriteAttr(elem, "specular", 1, &pmat->specular, &def->Material().specular);
WriteAttr(elem, "shininess", 1, &pmat->shininess, &def->material.shininess); WriteAttr(elem, "shininess", 1, &pmat->shininess, &def->Material().shininess);
WriteAttr(elem, "reflectance", 1, &pmat->reflectance, &def->material.reflectance); WriteAttr(elem, "reflectance", 1, &pmat->reflectance, &def->Material().reflectance);
WriteAttr(elem, "metallic", 1, &pmat->metallic, &def->material.metallic); WriteAttr(elem, "metallic", 1, &pmat->metallic, &def->Material().metallic);
WriteAttr(elem, "roughness", 1, &pmat->roughness, &def->material.roughness); WriteAttr(elem, "roughness", 1, &pmat->roughness, &def->Material().roughness);
WriteAttr(elem, "rgba", 4, pmat->rgba, def->material.rgba); WriteAttr(elem, "rgba", 4, pmat->rgba, def->Material().rgba);
} }
// write joint // write joint
void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) { void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* pjoint, mjCDef* def) {
double zero = 0; double zero = 0;
// regular // regular
@@ -292,42 +292,42 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
} }
// defaults and regular // defaults and regular
if (pjoint->type != def->joint.type) { if (pjoint->type != def->Joint().type) {
WriteAttrTxt(elem, "type", FindValue(joint_map, joint_sz, pjoint->type)); WriteAttrTxt(elem, "type", FindValue(joint_map, joint_sz, pjoint->type));
} }
WriteAttrInt(elem, "group", pjoint->group, def->joint.group); WriteAttrInt(elem, "group", pjoint->group, def->Joint().group);
WriteAttr(elem, "ref", 1, &pjoint->ref, &zero); WriteAttr(elem, "ref", 1, &pjoint->ref, &zero);
WriteAttr(elem, "springref", 1, &pjoint->springref, &zero); WriteAttr(elem, "springref", 1, &pjoint->springref, &zero);
WriteAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, def->joint.solref_limit, true); WriteAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, def->Joint().solref_limit, true);
WriteAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, def->joint.solimp_limit, true); WriteAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, def->Joint().solimp_limit, true);
WriteAttr(elem, "solreffriction", mjNREF, pjoint->solref_friction, def->joint.solref_friction, WriteAttr(elem, "solreffriction", mjNREF, pjoint->solref_friction, def->Joint().solref_friction,
true); true);
WriteAttr(elem, "solimpfriction", mjNIMP, pjoint->solimp_friction, def->joint.solimp_friction, WriteAttr(elem, "solimpfriction", mjNIMP, pjoint->solimp_friction, def->Joint().solimp_friction,
true); true);
WriteAttr(elem, "stiffness", 1, &pjoint->stiffness, &def->joint.stiffness); WriteAttr(elem, "stiffness", 1, &pjoint->stiffness, &def->Joint().stiffness);
WriteAttrKey(elem, "limited", TFAuto_map, 3, pjoint->limited, def->joint.limited); WriteAttrKey(elem, "limited", TFAuto_map, 3, pjoint->limited, def->Joint().limited);
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range); WriteAttr(elem, "range", 2, pjoint->range, def->Joint().range);
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, pjoint->actfrclimited, WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, pjoint->actfrclimited,
def->joint.actfrclimited); def->Joint().actfrclimited);
WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, pjoint->actgravcomp, def->joint.actgravcomp); WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, pjoint->actgravcomp, def->Joint().actgravcomp);
WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->joint.actfrcrange); WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->Joint().actfrcrange);
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin); WriteAttr(elem, "margin", 1, &pjoint->margin, &def->Joint().margin);
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature); WriteAttr(elem, "armature", 1, &pjoint->armature, &def->Joint().armature);
WriteAttr(elem, "damping", 1, &pjoint->damping, &def->joint.damping); WriteAttr(elem, "damping", 1, &pjoint->damping, &def->Joint().damping);
WriteAttr(elem, "frictionloss", 1, &pjoint->frictionloss, &def->joint.frictionloss); WriteAttr(elem, "frictionloss", 1, &pjoint->frictionloss, &def->Joint().frictionloss);
// userdata // userdata
if (writingdefaults) { if (writingdefaults) {
WriteVector(elem, "user", pjoint->get_userdata()); WriteVector(elem, "user", pjoint->get_userdata());
} else { } else {
WriteVector(elem, "user", pjoint->get_userdata(), def->joint.get_userdata()); WriteVector(elem, "user", pjoint->get_userdata(), def->Joint().get_userdata());
} }
} }
// write geom // write geom
void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) { void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* pgeom, mjCDef* def) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
double mass = 0; double mass = 0;
@@ -336,10 +336,10 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttrTxt(elem, "name", pgeom->name); WriteAttrTxt(elem, "name", pgeom->name);
WriteAttrTxt(elem, "class", pgeom->classname); WriteAttrTxt(elem, "class", pgeom->classname);
if (mjGEOMINFO[pgeom->type]) { if (mjGEOMINFO[pgeom->type]) {
WriteAttr(elem, "size", mjGEOMINFO[pgeom->type], pgeom->size, def->geom.size); WriteAttr(elem, "size", mjGEOMINFO[pgeom->type], pgeom->size, def->Geom().size);
} }
if (mjuu_defined(pgeom->mass)) { if (mjuu_defined(pgeom->mass)) {
mass = pgeom->GetVolume() * def->geom.density; mass = pgeom->GetVolume() * def->Geom().density;
} }
// mesh geom // mesh geom
@@ -368,35 +368,35 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttr(elem, "quat", 4, pgeom->quat, unitq); WriteAttr(elem, "quat", 4, pgeom->quat, unitq);
} }
} else { } else {
WriteAttr(elem, "size", 3, pgeom->size, def->geom.size); WriteAttr(elem, "size", 3, pgeom->size, def->Geom().size);
} }
// defaults and regular // defaults and regular
WriteAttrKey(elem, "type", geom_map, mjNGEOMTYPES, pgeom->type, def->geom.type); WriteAttrKey(elem, "type", geom_map, mjNGEOMTYPES, pgeom->type, def->Geom().type);
WriteAttrInt(elem, "contype", pgeom->contype, def->geom.contype); WriteAttrInt(elem, "contype", pgeom->contype, def->Geom().contype);
WriteAttrInt(elem, "conaffinity", pgeom->conaffinity, def->geom.conaffinity); WriteAttrInt(elem, "conaffinity", pgeom->conaffinity, def->Geom().conaffinity);
WriteAttrInt(elem, "condim", pgeom->condim, def->geom.condim); WriteAttrInt(elem, "condim", pgeom->condim, def->Geom().condim);
WriteAttrInt(elem, "group", pgeom->group, def->geom.group); WriteAttrInt(elem, "group", pgeom->group, def->Geom().group);
WriteAttrInt(elem, "priority", pgeom->priority, def->geom.priority); WriteAttrInt(elem, "priority", pgeom->priority, def->Geom().priority);
WriteAttr(elem, "friction", 3, pgeom->friction, def->geom.friction, true); WriteAttr(elem, "friction", 3, pgeom->friction, def->Geom().friction, true);
WriteAttr(elem, "solmix", 1, &pgeom->solmix, &def->geom.solmix); WriteAttr(elem, "solmix", 1, &pgeom->solmix, &def->Geom().solmix);
WriteAttr(elem, "solref", mjNREF, pgeom->solref, def->geom.solref, true); WriteAttr(elem, "solref", mjNREF, pgeom->solref, def->Geom().solref, true);
WriteAttr(elem, "solimp", mjNIMP, pgeom->solimp, def->geom.solimp, true); WriteAttr(elem, "solimp", mjNIMP, pgeom->solimp, def->Geom().solimp, true);
WriteAttr(elem, "margin", 1, &pgeom->margin, &def->geom.margin); WriteAttr(elem, "margin", 1, &pgeom->margin, &def->Geom().margin);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap); WriteAttr(elem, "gap", 1, &pgeom->gap, &def->Geom().gap);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap); WriteAttr(elem, "gap", 1, &pgeom->gap, &def->Geom().gap);
WriteAttrKey(elem, "fluidshape", fluid_map, 2, pgeom->fluid_ellipsoid, def->geom.fluid_ellipsoid); WriteAttrKey(elem, "fluidshape", fluid_map, 2, pgeom->fluid_ellipsoid, def->Geom().fluid_ellipsoid);
WriteAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, def->geom.fluid_coefs); WriteAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, def->Geom().fluid_coefs);
WriteAttrKey(elem, "shellinertia", meshtype_map, 2, pgeom->typeinertia, def->geom.typeinertia); WriteAttrKey(elem, "shellinertia", meshtype_map, 2, pgeom->typeinertia, def->Geom().typeinertia);
if (mjuu_defined(pgeom->mass)) { if (mjuu_defined(pgeom->mass)) {
WriteAttr(elem, "mass", 1, &pgeom->mass_, &mass); WriteAttr(elem, "mass", 1, &pgeom->mass_, &mass);
} else { } else {
WriteAttr(elem, "density", 1, &pgeom->density, &def->geom.density); WriteAttr(elem, "density", 1, &pgeom->density, &def->Geom().density);
} }
if (pgeom->get_material() != def->geom.get_material()) { if (pgeom->get_material() != def->Geom().get_material()) {
WriteAttrTxt(elem, "material", pgeom->get_material()); WriteAttrTxt(elem, "material", pgeom->get_material());
} }
WriteAttr(elem, "rgba", 4, pgeom->rgba, def->geom.rgba); WriteAttr(elem, "rgba", 4, pgeom->rgba, def->Geom().rgba);
// hfield and mesh attributes // hfield and mesh attributes
if (pgeom->type==mjGEOM_HFIELD) { if (pgeom->type==mjGEOM_HFIELD) {
@@ -410,7 +410,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
if (writingdefaults) { if (writingdefaults) {
WriteVector(elem, "user", pgeom->get_userdata()); WriteVector(elem, "user", pgeom->get_userdata());
} else { } else {
WriteVector(elem, "user", pgeom->get_userdata(), def->geom.get_userdata()); WriteVector(elem, "user", pgeom->get_userdata(), def->Geom().get_userdata());
} }
// write plugin // write plugin
@@ -422,7 +422,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// write site // write site
void mjXWriter::OneSite(XMLElement* elem, mjCSite* psite, mjCDef* def) { void mjXWriter::OneSite(XMLElement* elem, const mjCSite* psite, mjCDef* def) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
// regular // regular
@@ -432,32 +432,32 @@ void mjXWriter::OneSite(XMLElement* elem, mjCSite* psite, mjCDef* def) {
WriteAttr(elem, "pos", 3, psite->pos); WriteAttr(elem, "pos", 3, psite->pos);
WriteAttr(elem, "quat", 4, psite->quat, unitq); WriteAttr(elem, "quat", 4, psite->quat, unitq);
if (mjGEOMINFO[psite->type]) { if (mjGEOMINFO[psite->type]) {
WriteAttr(elem, "size", mjGEOMINFO[psite->type], psite->size, def->site.size); WriteAttr(elem, "size", mjGEOMINFO[psite->type], psite->size, def->Site().size);
} }
} else { } else {
WriteAttr(elem, "size", 3, psite->size, def->site.size); WriteAttr(elem, "size", 3, psite->size, def->Site().size);
} }
// defaults and regular // defaults and regular
WriteAttrInt(elem, "group", psite->group, def->site.group); WriteAttrInt(elem, "group", psite->group, def->Site().group);
WriteAttrKey(elem, "type", geom_map, mjNGEOMTYPES, psite->type, def->site.type); WriteAttrKey(elem, "type", geom_map, mjNGEOMTYPES, psite->type, def->Site().type);
if (psite->get_material() != def->site.get_material()) { if (psite->get_material() != def->Site().get_material()) {
WriteAttrTxt(elem, "material", psite->get_material()); WriteAttrTxt(elem, "material", psite->get_material());
} }
WriteAttr(elem, "rgba", 4, psite->rgba, def->site.rgba); WriteAttr(elem, "rgba", 4, psite->rgba, def->Site().rgba);
// userdata // userdata
if (writingdefaults) { if (writingdefaults) {
WriteVector(elem, "user", psite->get_userdata()); WriteVector(elem, "user", psite->get_userdata());
} else { } else {
WriteVector(elem, "user", psite->get_userdata(), def->site.get_userdata()); WriteVector(elem, "user", psite->get_userdata(), def->Site().get_userdata());
} }
} }
// write camera // write camera
void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) { void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* pcam, mjCDef* def) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
// regular // regular
@@ -470,36 +470,36 @@ void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) {
} }
// defaults and regular // defaults and regular
WriteAttr(elem, "ipd", 1, &pcam->ipd, &def->camera.ipd); WriteAttr(elem, "ipd", 1, &pcam->ipd, &def->Camera().ipd);
WriteAttrKey(elem, "mode", camlight_map, camlight_sz, pcam->mode, def->camera.mode); WriteAttrKey(elem, "mode", camlight_map, camlight_sz, pcam->mode, def->Camera().mode);
WriteAttr(elem, "resolution", 2, pcam->resolution, def->camera.resolution); WriteAttr(elem, "resolution", 2, pcam->resolution, def->Camera().resolution);
// resolution if positive // resolution if positive
WriteAttr(elem, "resolution", 2, pcam->resolution, def->camera.resolution); WriteAttr(elem, "resolution", 2, pcam->resolution, def->Camera().resolution);
// camera intrinsics if specified // camera intrinsics if specified
if (pcam->sensor_size[0]>0 && pcam->sensor_size[1]>0) { if (pcam->sensor_size[0]>0 && pcam->sensor_size[1]>0) {
WriteAttr(elem, "sensorsize", 2, pcam->sensor_size); WriteAttr(elem, "sensorsize", 2, pcam->sensor_size);
WriteAttr(elem, "focal", 2, pcam->focal_length, def->camera.focal_length); WriteAttr(elem, "focal", 2, pcam->focal_length, def->Camera().focal_length);
WriteAttr(elem, "focalpixel", 2, pcam->focal_pixel, def->camera.focal_pixel); WriteAttr(elem, "focalpixel", 2, pcam->focal_pixel, def->Camera().focal_pixel);
WriteAttr(elem, "principal", 2, pcam->principal_length, def->camera.principal_length); WriteAttr(elem, "principal", 2, pcam->principal_length, def->Camera().principal_length);
WriteAttr(elem, "principalpixel", 2, pcam->principal_pixel, def->camera.principal_pixel); WriteAttr(elem, "principalpixel", 2, pcam->principal_pixel, def->Camera().principal_pixel);
} else { } else {
WriteAttr(elem, "fovy", 1, &pcam->fovy, &def->camera.fovy); WriteAttr(elem, "fovy", 1, &pcam->fovy, &def->Camera().fovy);
} }
// userdata // userdata
if (writingdefaults) { if (writingdefaults) {
WriteVector(elem, "user", pcam->get_userdata()); WriteVector(elem, "user", pcam->get_userdata());
} else { } else {
WriteVector(elem, "user", pcam->get_userdata(), def->camera.get_userdata()); WriteVector(elem, "user", pcam->get_userdata(), def->Camera().get_userdata());
} }
} }
// write light // write light
void mjXWriter::OneLight(XMLElement* elem, mjCLight* plight, mjCDef* def) { void mjXWriter::OneLight(XMLElement* elem, const mjCLight* plight, mjCDef* def) {
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
WriteAttrTxt(elem, "name", plight->name); WriteAttrTxt(elem, "name", plight->name);
@@ -510,23 +510,23 @@ void mjXWriter::OneLight(XMLElement* elem, mjCLight* plight, mjCDef* def) {
} }
// defaults and regular // defaults and regular
WriteAttr(elem, "bulbradius", 1, &plight->bulbradius, &def->light.bulbradius); WriteAttr(elem, "bulbradius", 1, &plight->bulbradius, &def->Light().bulbradius);
WriteAttrKey(elem, "directional", bool_map, 2, plight->directional, def->light.directional); WriteAttrKey(elem, "directional", bool_map, 2, plight->directional, def->Light().directional);
WriteAttrKey(elem, "castshadow", bool_map, 2, plight->castshadow, def->light.castshadow); WriteAttrKey(elem, "castshadow", bool_map, 2, plight->castshadow, def->Light().castshadow);
WriteAttrKey(elem, "active", bool_map, 2, plight->active, def->light.active); WriteAttrKey(elem, "active", bool_map, 2, plight->active, def->Light().active);
WriteAttr(elem, "attenuation", 3, plight->attenuation, def->light.attenuation); WriteAttr(elem, "attenuation", 3, plight->attenuation, def->Light().attenuation);
WriteAttr(elem, "cutoff", 1, &plight->cutoff, &def->light.cutoff); WriteAttr(elem, "cutoff", 1, &plight->cutoff, &def->Light().cutoff);
WriteAttr(elem, "exponent", 1, &plight->exponent, &def->light.exponent); WriteAttr(elem, "exponent", 1, &plight->exponent, &def->Light().exponent);
WriteAttr(elem, "ambient", 3, plight->ambient, def->light.ambient); WriteAttr(elem, "ambient", 3, plight->ambient, def->Light().ambient);
WriteAttr(elem, "diffuse", 3, plight->diffuse, def->light.diffuse); WriteAttr(elem, "diffuse", 3, plight->diffuse, def->Light().diffuse);
WriteAttr(elem, "specular", 3, plight->specular, def->light.specular); WriteAttr(elem, "specular", 3, plight->specular, def->Light().specular);
WriteAttrKey(elem, "mode", camlight_map, camlight_sz, plight->mode, def->light.mode); WriteAttrKey(elem, "mode", camlight_map, camlight_sz, plight->mode, def->Light().mode);
} }
// write pair // write pair
void mjXWriter::OnePair(XMLElement* elem, mjCPair* ppair, mjCDef* def) { void mjXWriter::OnePair(XMLElement* elem, const mjCPair* ppair, mjCDef* def) {
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
WriteAttrTxt(elem, "class", ppair->classname); WriteAttrTxt(elem, "class", ppair->classname);
@@ -536,20 +536,20 @@ void mjXWriter::OnePair(XMLElement* elem, mjCPair* ppair, mjCDef* def) {
// defaults and regular // defaults and regular
WriteAttrTxt(elem, "name", ppair->name); WriteAttrTxt(elem, "name", ppair->name);
WriteAttrInt(elem, "condim", ppair->condim, def->pair.spec.condim); WriteAttrInt(elem, "condim", ppair->condim, def->Pair().spec.condim);
WriteAttr(elem, "margin", 1, &ppair->margin, &def->pair.spec.margin); WriteAttr(elem, "margin", 1, &ppair->margin, &def->Pair().spec.margin);
WriteAttr(elem, "gap", 1, &ppair->gap, &def->pair.spec.gap); WriteAttr(elem, "gap", 1, &ppair->gap, &def->Pair().spec.gap);
WriteAttr(elem, "solref", mjNREF, ppair->solref, def->pair.spec.solref, true); WriteAttr(elem, "solref", mjNREF, ppair->solref, def->Pair().spec.solref, true);
WriteAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, def->pair.spec.solreffriction, WriteAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, def->Pair().spec.solreffriction,
true); true);
WriteAttr(elem, "solimp", mjNIMP, ppair->solimp, def->pair.spec.solimp, true); WriteAttr(elem, "solimp", mjNIMP, ppair->solimp, def->Pair().spec.solimp, true);
WriteAttr(elem, "friction", 5, ppair->friction, def->pair.spec.friction); // all 5 values WriteAttr(elem, "friction", 5, ppair->friction, def->Pair().spec.friction); // all 5 values
} }
// write equality // write equality
void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) { void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* peq, mjCDef* def) {
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
WriteAttrTxt(elem, "name", peq->name); WriteAttrTxt(elem, "name", peq->name);
@@ -592,15 +592,15 @@ void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) {
} }
// defaults and regular // defaults and regular
WriteAttrKey(elem, "active", bool_map, 2, peq->active, def->equality.active); WriteAttrKey(elem, "active", bool_map, 2, peq->active, def->Equality().active);
WriteAttr(elem, "solref", mjNREF, peq->solref, def->equality.solref, true); WriteAttr(elem, "solref", mjNREF, peq->solref, def->Equality().solref, true);
WriteAttr(elem, "solimp", mjNIMP, peq->solimp, def->equality.solimp, true); WriteAttr(elem, "solimp", mjNIMP, peq->solimp, def->Equality().solimp, true);
} }
// write tendon // write tendon
void mjXWriter::OneTendon(XMLElement* elem, mjCTendon* pten, mjCDef* def) { void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* pten, mjCDef* def) {
bool fixed = (pten->GetWrap(0) && pten->GetWrap(0)->type==mjWRAP_JOINT); bool fixed = (pten->GetWrap(0) && pten->GetWrap(0)->type==mjWRAP_JOINT);
// regular // regular
@@ -610,46 +610,46 @@ void mjXWriter::OneTendon(XMLElement* elem, mjCTendon* pten, mjCDef* def) {
} }
// defaults and regular // defaults and regular
WriteAttrInt(elem, "group", pten->group, def->tendon.group); WriteAttrInt(elem, "group", pten->group, def->Tendon().group);
WriteAttr(elem, "solreflimit", mjNREF, pten->solref_limit, def->tendon.solref_limit, true); WriteAttr(elem, "solreflimit", mjNREF, pten->solref_limit, def->Tendon().solref_limit, true);
WriteAttr(elem, "solimplimit", mjNIMP, pten->solimp_limit, def->tendon.solimp_limit, true); WriteAttr(elem, "solimplimit", mjNIMP, pten->solimp_limit, def->Tendon().solimp_limit, true);
WriteAttr(elem, "solreffriction", mjNREF, pten->solref_friction, def->tendon.solref_friction, WriteAttr(elem, "solreffriction", mjNREF, pten->solref_friction, def->Tendon().solref_friction,
true); true);
WriteAttr(elem, "solimpfriction", mjNIMP, pten->solimp_friction, def->tendon.solimp_friction, WriteAttr(elem, "solimpfriction", mjNIMP, pten->solimp_friction, def->Tendon().solimp_friction,
true); true);
WriteAttrKey(elem, "limited", TFAuto_map, 3, pten->limited, def->tendon.limited); WriteAttrKey(elem, "limited", TFAuto_map, 3, pten->limited, def->Tendon().limited);
WriteAttr(elem, "range", 2, pten->range, def->tendon.range); WriteAttr(elem, "range", 2, pten->range, def->Tendon().range);
WriteAttr(elem, "margin", 1, &pten->margin, &def->tendon.margin); WriteAttr(elem, "margin", 1, &pten->margin, &def->Tendon().margin);
WriteAttr(elem, "stiffness", 1, &pten->stiffness, &def->tendon.stiffness); WriteAttr(elem, "stiffness", 1, &pten->stiffness, &def->Tendon().stiffness);
WriteAttr(elem, "damping", 1, &pten->damping, &def->tendon.damping); WriteAttr(elem, "damping", 1, &pten->damping, &def->Tendon().damping);
WriteAttr(elem, "frictionloss", 1, &pten->frictionloss, &def->tendon.frictionloss); WriteAttr(elem, "frictionloss", 1, &pten->frictionloss, &def->Tendon().frictionloss);
if (pten->springlength[0] != pten->springlength[1] || if (pten->springlength[0] != pten->springlength[1] ||
def->tendon.springlength[0] != def->tendon.springlength[1]) { def->Tendon().springlength[0] != def->Tendon().springlength[1]) {
WriteAttr(elem, "springlength", 2, pten->springlength, def->tendon.springlength); WriteAttr(elem, "springlength", 2, pten->springlength, def->Tendon().springlength);
} else { } else {
WriteAttr(elem, "springlength", 1, pten->springlength, def->tendon.springlength); WriteAttr(elem, "springlength", 1, pten->springlength, def->Tendon().springlength);
} }
// spatial only // spatial only
if (!fixed) { if (!fixed) {
if (pten->get_material()!=def->tendon.get_material()) { if (pten->get_material()!=def->Tendon().get_material()) {
WriteAttrTxt(elem, "material", pten->get_material()); WriteAttrTxt(elem, "material", pten->get_material());
} }
WriteAttr(elem, "width", 1, &pten->width, &def->tendon.width); WriteAttr(elem, "width", 1, &pten->width, &def->Tendon().width);
WriteAttr(elem, "rgba", 4, pten->rgba, def->tendon.rgba); WriteAttr(elem, "rgba", 4, pten->rgba, def->Tendon().rgba);
} }
// userdata // userdata
if (writingdefaults) { if (writingdefaults) {
WriteVector(elem, "user", pten->get_userdata()); WriteVector(elem, "user", pten->get_userdata());
} else { } else {
WriteVector(elem, "user", pten->get_userdata(), def->tendon.get_userdata()); WriteVector(elem, "user", pten->get_userdata(), def->Tendon().get_userdata());
} }
} }
// write actuator // write actuator
void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) { void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* pact, mjCDef* def) {
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
WriteAttrTxt(elem, "name", pact->name); WriteAttrTxt(elem, "name", pact->name);
@@ -689,20 +689,20 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
} }
// defaults and regular // defaults and regular
WriteAttrInt(elem, "group", pact->group, def->actuator.group); WriteAttrInt(elem, "group", pact->group, def->Actuator().group);
WriteAttrKey(elem, "ctrllimited", TFAuto_map, 3, pact->ctrllimited, def->actuator.ctrllimited); WriteAttrKey(elem, "ctrllimited", TFAuto_map, 3, pact->ctrllimited, def->Actuator().ctrllimited);
WriteAttr(elem, "ctrlrange", 2, pact->ctrlrange, def->actuator.ctrlrange); WriteAttr(elem, "ctrlrange", 2, pact->ctrlrange, def->Actuator().ctrlrange);
WriteAttrKey(elem, "forcelimited", TFAuto_map, 3, pact->forcelimited, def->actuator.forcelimited); WriteAttrKey(elem, "forcelimited", TFAuto_map, 3, pact->forcelimited, def->Actuator().forcelimited);
WriteAttr(elem, "forcerange", 2, pact->forcerange, def->actuator.forcerange); WriteAttr(elem, "forcerange", 2, pact->forcerange, def->Actuator().forcerange);
WriteAttrKey(elem, "actlimited", TFAuto_map, 3, pact->actlimited, def->actuator.actlimited); WriteAttrKey(elem, "actlimited", TFAuto_map, 3, pact->actlimited, def->Actuator().actlimited);
WriteAttr(elem, "actrange", 2, pact->actrange, def->actuator.actrange); WriteAttr(elem, "actrange", 2, pact->actrange, def->Actuator().actrange);
WriteAttr(elem, "lengthrange", 2, pact->lengthrange, def->actuator.lengthrange); WriteAttr(elem, "lengthrange", 2, pact->lengthrange, def->Actuator().lengthrange);
WriteAttr(elem, "gear", 6, pact->gear, def->actuator.gear); WriteAttr(elem, "gear", 6, pact->gear, def->Actuator().gear);
WriteAttr(elem, "cranklength", 1, &pact->cranklength, &def->actuator.cranklength); WriteAttr(elem, "cranklength", 1, &pact->cranklength, &def->Actuator().cranklength);
WriteAttrKey(elem, "actearly", bool_map, 2, pact->actearly, WriteAttrKey(elem, "actearly", bool_map, 2, pact->actearly,
def->actuator.actearly); def->Actuator().actearly);
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype); WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->Actuator().dyntype);
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm); WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->Actuator().dynprm);
// plugins: write config attributes // plugins: write config attributes
if (pact->plugin.active) { if (pact->plugin.active) {
@@ -713,29 +713,29 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
else { else {
// special handling of actdim which has default value of -1 // special handling of actdim which has default value of -1
if (writingdefaults) { if (writingdefaults) {
WriteAttrInt(elem, "actdim", pact->actdim, def->actuator.actdim); WriteAttrInt(elem, "actdim", pact->actdim, def->Actuator().actdim);
} else { } else {
int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1; int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
WriteAttrInt(elem, "actdim", pact->actdim, default_actdim); WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
} }
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype); WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->Actuator().gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype); WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->Actuator().biastype);
WriteAttr(elem, "gainprm", mjNGAIN, pact->gainprm, def->actuator.gainprm, true); WriteAttr(elem, "gainprm", mjNGAIN, pact->gainprm, def->Actuator().gainprm, true);
WriteAttr(elem, "biasprm", mjNBIAS, pact->biasprm, def->actuator.biasprm, true); WriteAttr(elem, "biasprm", mjNBIAS, pact->biasprm, def->Actuator().biasprm, true);
} }
// userdata // userdata
if (writingdefaults) { if (writingdefaults) {
WriteVector(elem, "user", pact->get_userdata()); WriteVector(elem, "user", pact->get_userdata());
} else { } else {
WriteVector(elem, "user", pact->get_userdata(), def->actuator.get_userdata()); WriteVector(elem, "user", pact->get_userdata(), def->Actuator().get_userdata());
} }
} }
// write plugin // write plugin
void mjXWriter::OnePlugin(XMLElement* elem, mjsPlugin* plugin) { void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) {
const std::string instance_name = std::string(mjs_getString(plugin->instance_name)); const std::string instance_name = std::string(mjs_getString(plugin->instance_name));
const std::string plugin_name = std::string(mjs_getString(plugin->name)); const std::string plugin_name = std::string(mjs_getString(plugin->name));
if (!instance_name.empty()) { if (!instance_name.empty()) {
@@ -806,7 +806,7 @@ string mjXWriter::Write(char *error, size_t error_sz) {
Visual(root); Visual(root);
Statistic(root); Statistic(root);
writingdefaults = true; writingdefaults = true;
Default(root, model->Defaults()[0]); Default(root, model->Defaults(0));
writingdefaults = false; writingdefaults = false;
Extension(root); Extension(root);
Custom(root); Custom(root);
@@ -1136,7 +1136,7 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
// pointer to parent defaults // pointer to parent defaults
mjCDef* par; mjCDef* par;
if (def->parentid>=0) { if (def->parentid>=0) {
par = model->Defaults()[def->parentid]; par = model->Defaults(def->parentid);
} else { } else {
par = new mjCDef; par = new mjCDef;
} }
@@ -1147,57 +1147,57 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
// mesh // mesh
elem = InsertEnd(section, "mesh"); elem = InsertEnd(section, "mesh");
OneMesh(elem, &def->mesh, par); OneMesh(elem, &def->Mesh(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// material // material
elem = InsertEnd(section, "material"); elem = InsertEnd(section, "material");
OneMaterial(elem, &def->material, par); OneMaterial(elem, &def->Material(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// joint // joint
elem = InsertEnd(section, "joint"); elem = InsertEnd(section, "joint");
OneJoint(elem, &def->joint, par); OneJoint(elem, &def->Joint(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// geom // geom
elem = InsertEnd(section, "geom"); elem = InsertEnd(section, "geom");
OneGeom(elem, &def->geom, par); OneGeom(elem, &def->Geom(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// site // site
elem = InsertEnd(section, "site"); elem = InsertEnd(section, "site");
OneSite(elem, &def->site, par); OneSite(elem, &def->Site(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// camera // camera
elem = InsertEnd(section, "camera"); elem = InsertEnd(section, "camera");
OneCamera(elem, &def->camera, par); OneCamera(elem, &def->Camera(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// light // light
elem = InsertEnd(section, "light"); elem = InsertEnd(section, "light");
OneLight(elem, &def->light, par); OneLight(elem, &def->Light(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// pair // pair
elem = InsertEnd(section, "pair"); elem = InsertEnd(section, "pair");
OnePair(elem, &def->pair, par); OnePair(elem, &def->Pair(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// equality // equality
elem = InsertEnd(section, "equality"); elem = InsertEnd(section, "equality");
OneEquality(elem, &def->equality, par); OneEquality(elem, &def->Equality(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// tendon // tendon
elem = InsertEnd(section, "tendon"); elem = InsertEnd(section, "tendon");
OneTendon(elem, &def->tendon, par); OneTendon(elem, &def->Tendon(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// actuator // actuator
elem = InsertEnd(section, "general"); elem = InsertEnd(section, "general");
OneActuator(elem, &def->actuator, par); OneActuator(elem, &def->Actuator(), par);
if (!elem->FirstAttribute()) section->DeleteChild(elem); if (!elem->FirstAttribute()) section->DeleteChild(elem);
// if top-level class has no members or children, delete it and return // if top-level class has no members or children, delete it and return
@@ -1209,7 +1209,7 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
// add children recursively // add children recursively
for (int i=0; i<(int)def->childid.size(); i++) { for (int i=0; i<(int)def->childid.size(); i++) {
Default(section, model->Defaults()[def->childid[i]]); Default(section, model->Defaults(def->childid[i]));
} }
// delete parent defaults if allocated here // delete parent defaults if allocated here
@@ -1677,7 +1677,7 @@ void mjXWriter::Tendon(XMLElement* root) {
// write wraps // write wraps
XMLElement* wrap; XMLElement* wrap;
for (int j=0; j<pten->NumWraps(); j++) { for (int j=0; j<pten->NumWraps(); j++) {
mjCWrap* pw = pten->GetWrap(j); const mjCWrap* pw = pten->GetWrap(j);
switch (pw->type) { switch (pw->type) {
case mjWRAP_JOINT: case mjWRAP_JOINT:
wrap = InsertEnd(elem, "joint"); wrap = InsertEnd(elem, "joint");
src/xml/xml_native_writer.h
+14 -14
View File
@@ -59,20 +59,20 @@ class mjXWriter : public mjXBase {
void Keyframe(tinyxml2::XMLElement* root); // keyframe section void Keyframe(tinyxml2::XMLElement* root); // keyframe section
// single element writers, used in defaults and main body // single element writers, used in defaults and main body
void OneFlex(tinyxml2::XMLElement* elem, mjCFlex* pflex); void OneFlex(tinyxml2::XMLElement* elem, const mjCFlex* pflex);
void OneMesh(tinyxml2::XMLElement* elem, mjCMesh* pmesh, mjCDef* def); void OneMesh(tinyxml2::XMLElement* elem, const mjCMesh* pmesh, mjCDef* def);
void OneSkin(tinyxml2::XMLElement* elem, mjCSkin* pskin); void OneSkin(tinyxml2::XMLElement* elem, const mjCSkin* pskin);
void OneMaterial(tinyxml2::XMLElement* elem, mjCMaterial* pmaterial, mjCDef* def); void OneMaterial(tinyxml2::XMLElement* elem, const mjCMaterial* pmaterial, mjCDef* def);
void OneJoint(tinyxml2::XMLElement* elem, mjCJoint* pjoint, mjCDef* def); void OneJoint(tinyxml2::XMLElement* elem, const mjCJoint* pjoint, mjCDef* def);
void OneGeom(tinyxml2::XMLElement* elem, mjCGeom* pgeom, mjCDef* def); void OneGeom(tinyxml2::XMLElement* elem, const mjCGeom* pgeom, mjCDef* def);
void OneSite(tinyxml2::XMLElement* elem, mjCSite* psite, mjCDef* def); void OneSite(tinyxml2::XMLElement* elem, const mjCSite* psite, mjCDef* def);
void OneCamera(tinyxml2::XMLElement* elem, mjCCamera* pcamera, mjCDef* def); void OneCamera(tinyxml2::XMLElement* elem, const mjCCamera* pcamera, mjCDef* def);
void OneLight(tinyxml2::XMLElement* elem, mjCLight* plight, mjCDef* def); void OneLight(tinyxml2::XMLElement* elem, const mjCLight* plight, mjCDef* def);
void OnePair(tinyxml2::XMLElement* elem, mjCPair* ppair, mjCDef* def); void OnePair(tinyxml2::XMLElement* elem, const mjCPair* ppair, mjCDef* def);
void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality, mjCDef* def); void OneEquality(tinyxml2::XMLElement* elem, const mjCEquality* pequality, mjCDef* def);
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon, mjCDef* def); void OneTendon(tinyxml2::XMLElement* elem, const mjCTendon* ptendon, mjCDef* def);
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator, mjCDef* def); void OneActuator(tinyxml2::XMLElement* elem, const mjCActuator* pactuator, mjCDef* def);
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin); void OnePlugin(tinyxml2::XMLElement* elem, const mjsPlugin* plugin);
tinyxml2::XMLElement* OneFrame(tinyxml2::XMLElement* elem, mjCFrame* frame); tinyxml2::XMLElement* OneFrame(tinyxml2::XMLElement* elem, mjCFrame* frame);
bool writingdefaults; // true during defaults write bool writingdefaults; // true during defaults write