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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/xml/xml_native_reader.cc
+29 -38
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@@ -2383,7 +2383,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
// make composite
void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsDefault* def) {
void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault* def) {
string text;
int n;
@@ -3188,7 +3188,7 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
name = elem->Value();
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(spec);
}
@@ -3408,7 +3408,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
name = elem->Value();
// get class if specified, otherwise use body
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getDefault(frame ? frame->element : body->element);
}
@@ -3519,13 +3519,10 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// frame sub-element
else if (name=="frame") {
// read childdef
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(spec, text.c_str());
mjs_findDefault(spec, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
bool has_childclass = ReadAttrTxt(elem, "childclass", text);
const mjsDefault* childdef = has_childclass ? mjs_findDefault(spec, text.c_str()) : nullptr;
if (has_childclass && !childdef) {
throw mjXError(elem, "unknown default childclass");
}
// create frame
@@ -3568,13 +3565,10 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
mjs_resolveOrientation(rotation, spec->compiler.degree, spec->compiler.eulerseq, &alt);
// read childdef
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(spec, text.c_str());
mjs_findDefault(spec, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
bool has_childclass = ReadAttrTxt(elem, "childclass", text);
const mjsDefault* childdef = has_childclass ? mjs_findDefault(spec, text.c_str()) : nullptr;
if (has_childclass && !childdef) {
throw mjXError(elem, "unknown default childclass");
}
// create subtree
@@ -3622,13 +3616,10 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// body sub-element
else if (name=="body") {
// read childdef
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(spec, text.c_str());
mjs_findDefault(spec, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
bool has_childclass = ReadAttrTxt(elem, "childclass", text);
const mjsDefault* childdef = has_childclass ? mjs_findDefault(spec, text.c_str()) : nullptr;
if (has_childclass && !childdef) {
throw mjXError(elem, "unknown default childclass");
}
// create child body
@@ -3720,7 +3711,7 @@ void mjXReader::Contact(XMLElement* section) {
name = elem->Value();
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(spec);
}
@@ -3765,7 +3756,7 @@ void mjXReader::Equality(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(spec);
}
@@ -3793,7 +3784,7 @@ void mjXReader::Deformable(XMLElement* section, const mjVFS* vfs) {
name = elem->Value();
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(spec);
}
@@ -3829,7 +3820,7 @@ void mjXReader::Tendon(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(spec);
}
@@ -3895,7 +3886,7 @@ void mjXReader::Actuator(XMLElement* section) {
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
const mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(spec);
}
@@ -4306,19 +4297,19 @@ void mjXReader::Keyframe(XMLElement* section) {
// get defaults class
mjsDefault* mjXReader::GetClass(XMLElement* section) {
const mjsDefault* mjXReader::GetClass(XMLElement* section) {
string text;
mjsDefault* def = nullptr;
if (ReadAttrTxt(section, "class", text)) {
def = mjs_findDefault(spec, text.c_str());
if (!def) {
throw mjXError(
section,
string("unknown default class name '" + text + "'").c_str());
}
if (!ReadAttrTxt(section, "class", text)) {
return nullptr;
}
const mjsDefault* def = mjs_findDefault(spec, text.c_str());
if (!def) {
throw mjXError(
section,
string("unknown default class name '" + text + "'").c_str());
}
return def;
}