Renamed mjmModel to mjSpec.
PiperOrigin-RevId: 613516063 Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
22cd96fbbc
commit
ef3cb7ec2e
+59
-59
@@ -27,7 +27,7 @@
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// create model
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mjmModel* mjm_createModel() {
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mjSpec* mjm_createModel() {
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mjCModel* modelC = new mjCModel;
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return &modelC->spec;
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}
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@@ -35,40 +35,40 @@ mjmModel* mjm_createModel() {
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// copy back model
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void mjm_copyBack(mjmModel* model, const mjModel* m) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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void mjm_copyBack(mjSpec* s, const mjModel* m) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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modelC->CopyBack(m);
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}
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// compile model
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mjModel* mjm_compileModel(mjmModel* model, const mjVFS* vfs) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjModel* mjm_compileModel(mjSpec* s, const mjVFS* vfs) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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return modelC->Compile(vfs);
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}
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// get error message from model
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const char* mjm_getError(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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const char* mjm_getError(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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return modelC->GetError().message;
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}
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// check if model has warnings
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int mjm_isWarning(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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int mjm_isWarning(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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return modelC->GetError().warning;
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}
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// delete model
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void mjm_deleteModel(mjmModel* modelspec) {
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mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
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void mjm_deleteModel(mjSpec* s) {
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mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
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delete model;
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}
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@@ -143,8 +143,8 @@ mjmLight* mjm_addLight(mjmBody* bodyspec, mjmDefault* defspec) {
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// add flex to model
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mjmFlex* mjm_addFlex(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmFlex* mjm_addFlex(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCFlex* flex = modelC->AddFlex();
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return &flex->spec;
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}
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@@ -165,9 +165,9 @@ mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
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// add mesh to model
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mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* defspec) {
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mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* defspec) {
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCMesh* mesh = modelC->AddMesh(def);
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return &mesh->spec;
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}
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@@ -175,8 +175,8 @@ mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* defspec) {
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// add height field to model
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mjmHField* mjm_addHField(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmHField* mjm_addHField(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCHField* heightField = modelC->AddHField();
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return &heightField->spec;
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}
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@@ -184,8 +184,8 @@ mjmHField* mjm_addHField(mjmModel* model) {
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// add skin to model
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mjmSkin* mjm_addSkin(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmSkin* mjm_addSkin(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCSkin* skin = modelC->AddSkin();
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return &skin->spec;
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}
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@@ -193,8 +193,8 @@ mjmSkin* mjm_addSkin(mjmModel* model) {
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// add texture to model
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mjmTexture* mjm_addTexture(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmTexture* mjm_addTexture(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCTexture* texture = modelC->AddTexture();
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return &texture->spec;
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}
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@@ -202,8 +202,8 @@ mjmTexture* mjm_addTexture(mjmModel* model) {
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// add material to model
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mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCMaterial* material = modelC->AddMaterial(def);
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return &material->spec;
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@@ -212,8 +212,8 @@ mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* defspec) {
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// add pair to model
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mjmPair* mjm_addPair(mjmModel* model, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmPair* mjm_addPair(mjSpec* s, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCPair* pair = modelC->AddPair(def);
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return &pair->spec;
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@@ -222,8 +222,8 @@ mjmPair* mjm_addPair(mjmModel* model, mjmDefault* defspec) {
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// add pair exclusion to model
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mjmExclude* mjm_addExclude(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmExclude* mjm_addExclude(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCBodyPair* bodypair = modelC->AddExclude();
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return &bodypair->spec;
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}
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@@ -231,8 +231,8 @@ mjmExclude* mjm_addExclude(mjmModel* model) {
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// add equality to model
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mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCEquality* equality = modelC->AddEquality(def);
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return &equality->spec;
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@@ -241,8 +241,8 @@ mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* defspec) {
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// add tendon to model
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mjmTendon* mjm_addTendon(mjmModel* model, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCTendon* tendon = modelC->AddTendon(def);
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return &tendon->spec;
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@@ -287,8 +287,8 @@ mjmWrap* mjm_wrapPulley(mjmTendon* tendonspec, double divisor) {
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// add actuator to model
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mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* defspec) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
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mjCActuator* actuator = modelC->AddActuator(def);
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return &actuator->spec;
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@@ -297,8 +297,8 @@ mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* defspec) {
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// add sensor to model
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mjmSensor* mjm_addSensor(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmSensor* mjm_addSensor(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCSensor* sensor = modelC->AddSensor();
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return &sensor->spec;
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}
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@@ -306,8 +306,8 @@ mjmSensor* mjm_addSensor(mjmModel* model) {
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// add numeric to model
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mjmNumeric* mjm_addNumeric(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmNumeric* mjm_addNumeric(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCNumeric* numeric = modelC->AddNumeric();
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return &numeric->spec;
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}
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@@ -315,8 +315,8 @@ mjmNumeric* mjm_addNumeric(mjmModel* model) {
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// add text to model
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mjmText* mjm_addText(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmText* mjm_addText(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCText* text = modelC->AddText();
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return &text->spec;
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}
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@@ -324,8 +324,8 @@ mjmText* mjm_addText(mjmModel* model) {
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// add tuple to model
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mjmTuple* mjm_addTuple(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmTuple* mjm_addTuple(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCTuple* tuple = modelC->AddTuple();
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return &tuple->spec;
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}
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@@ -333,8 +333,8 @@ mjmTuple* mjm_addTuple(mjmModel* model) {
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// add keyframe to model
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mjmKey* mjm_addKey(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmKey* mjm_addKey(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCKey* key = modelC->AddKey();
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return &key->spec;
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}
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@@ -342,8 +342,8 @@ mjmKey* mjm_addKey(mjmModel* model) {
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// add plugin to model
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mjmPlugin* mjm_addPlugin(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmPlugin* mjm_addPlugin(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCPlugin* plugin = modelC->AddPlugin();
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plugin->spec.instance = (mjElement)plugin;
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return &plugin->spec;
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@@ -352,8 +352,8 @@ mjmPlugin* mjm_addPlugin(mjmModel* model) {
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// add default to model
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mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid, int* id) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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*id = (int)modelC->defaults.size();
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mjCDef* def = modelC->AddDef(classname, parentid);
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if (def) {
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@@ -366,8 +366,8 @@ mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid,
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// get objects
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mjmModel* mjm_getModel(mjmBody* bodyspec) {
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return &(reinterpret_cast<mjCBody*>(bodyspec->element)->model->spec);
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mjSpec* mjm_getSpec(mjmBody* body) {
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return &(reinterpret_cast<mjCBody*>(body->element)->model->spec);
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}
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@@ -380,8 +380,8 @@ mjmDefault* mjm_getDefault(mjElement element) {
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// Find default with given name in model.
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mjmDefault* mjm_findDefault(mjmModel* model, const char* classname) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmDefault* mjm_findDefault(mjSpec* s, const char* classname) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* cdef = modelC->FindDef(classname);
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if (!cdef) {
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return nullptr;
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@@ -392,8 +392,8 @@ mjmDefault* mjm_findDefault(mjmModel* model, const char* classname) {
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// get default[0] from model
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mjmDefault* mjm_getModelDefault(mjmModel* model) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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mjmDefault* mjm_getModelDefault(mjSpec* s) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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mjCDef* def = modelC->defaults[0];
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if (!def) {
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return nullptr;
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@@ -404,8 +404,8 @@ mjmDefault* mjm_getModelDefault(mjmModel* model) {
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// find body in model by name
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mjmBody* mjm_findBody(mjmModel* modelspec, const char* name) {
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mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
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mjmBody* mjm_findBody(mjSpec* s, const char* name) {
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mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
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mjCBase* body = model->FindObject(mjOBJ_BODY, std::string(name));
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if (!body) {
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return 0;
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@@ -428,8 +428,8 @@ mjmBody* mjm_findChild(mjmBody* bodyspec, const char* name) {
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// find mesh by name
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mjmMesh* mjm_findMesh(mjmModel* modelspec, const char* name) {
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mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
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mjmMesh* mjm_findMesh(mjSpec* s, const char* name) {
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mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
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mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
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if (!mesh) {
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return nullptr;
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@@ -585,8 +585,8 @@ void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes) {
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// Set active plugins.
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void mjm_setActivePlugins(mjmModel* model, void* activeplugins) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element);
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void mjm_setActivePlugins(mjSpec* s, void* activeplugins) {
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mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
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std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
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reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
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modelC->active_plugins = std::move(*active_plugins);
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