chenlin/Mujoco_WASM
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Add const to mjsDefault when used as function argument.

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Fixes #2197.

PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
This commit is contained in:
Alessio Quaglino
2024-11-01 18:17:42 -07:00
committed by Copybara-Service
parent 47ebb0614e
commit ebe60b9ad5
8 changed files with 102 additions and 111 deletions
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src/user/user_api.cc
+14 -14
View File
@@ -263,7 +263,7 @@ void mjs_delete(mjsElement* element) {
// add child body to body, return child spec
mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
mjsBody* mjs_addBody(mjsBody* bodyspec, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element)->AddBody(def);
return &body->spec;
@@ -272,7 +272,7 @@ mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
// add site to body, return site spec
mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
mjsSite* mjs_addSite(mjsBody* bodyspec, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCSite* site = body->AddSite(def);
@@ -282,7 +282,7 @@ mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
// add joint to body
mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
mjsJoint* mjs_addJoint(mjsBody* bodyspec, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCJoint* joint = body->AddJoint(def);
@@ -301,7 +301,7 @@ mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
// add geom to body
mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
mjsGeom* mjs_addGeom(mjsBody* bodyspec, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCGeom* geom = body->AddGeom(def);
@@ -311,7 +311,7 @@ mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
// add camera to body
mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
mjsCamera* mjs_addCamera(mjsBody* bodyspec, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCCamera* camera = body->AddCamera(def);
@@ -321,7 +321,7 @@ mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
// add light to body
mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
mjsLight* mjs_addLight(mjsBody* bodyspec, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCLight* light = body->AddLight(def);
@@ -354,7 +354,7 @@ mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
// add mesh to model
mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* defspec) {
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCMesh* mesh = modelC->AddMesh(def);
@@ -391,7 +391,7 @@ mjsTexture* mjs_addTexture(mjSpec* s) {
// add material to model
mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def);
@@ -401,7 +401,7 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
// add pair to model
mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def);
@@ -420,7 +420,7 @@ mjsExclude* mjs_addExclude(mjSpec* s) {
// add equality to model
mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def);
@@ -430,7 +430,7 @@ mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
// add tendon to model
mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def);
@@ -476,7 +476,7 @@ mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
// add actuator to model
mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def);
@@ -580,7 +580,7 @@ mjsDefault* mjs_getDefault(mjsElement* element) {
// Find default with given name in model.
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
const mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDefault(classname);
if (!cdef) {
@@ -692,7 +692,7 @@ int mjs_getId(mjsElement* element) {
// set default
void mjs_setDefault(mjsElement* element, mjsDefault* defspec) {
void mjs_setDefault(mjsElement* element, const mjsDefault* defspec) {
mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->classname = static_cast<mjCDef*>(defspec->element)->name;
}
src/user/user_api.h
+14 -14
View File
@@ -85,25 +85,25 @@ MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
//---------------------------------- Add tree elements ---------------------------------------------
// Add child body to body, return child.
MJAPI mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
MJAPI mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
// Add site to body, return site spec.
MJAPI mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
MJAPI mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
// Add joint to body.
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, mjsDefault* def);
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
// Add freejoint to body.
MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
// Add geom to body.
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, mjsDefault* def);
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
// Add camera to body.
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, mjsDefault* def);
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
// Add light to body.
MJAPI mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
// Add frame to body.
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
@@ -115,7 +115,7 @@ MJAPI void mjs_delete(mjsElement* element);
//---------------------------------- Add non-tree elements -----------------------------------------
// Add actuator.
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
// Add sensor.
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
@@ -124,16 +124,16 @@ MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
// Add contact pair.
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjsDefault* def);
MJAPI mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
// Add excluded body pair.
MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
// Add equality.
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* def);
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
// Add tendon.
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* def);
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
// Wrap site using tendon.
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
@@ -169,7 +169,7 @@ MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefa
//---------------------------------- Add assets ----------------------------------------------------
// Add mesh.
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
// Add height field.
MJAPI mjsHField* mjs_addHField(mjSpec* s);
@@ -181,7 +181,7 @@ MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
//---------------------------------- Find/get utilities --------------------------------------------
@@ -208,7 +208,7 @@ MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
MJAPI mjsDefault* mjs_getDefault(mjsElement* element);
// Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
MJAPI const mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
// Get global default from model.
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
@@ -353,7 +353,7 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
//---------------------------------- Other utilities -----------------------------------------------
// Set element's default.
MJAPI void mjs_setDefault(mjsElement* element, mjsDefault* def);
MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
// Set element's enlcosing frame.
MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);