Renamed mjmModel to mjSpec.
PiperOrigin-RevId: 613516063 Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
This commit is contained in:
Alessio Quaglino
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Copybara-Service
Copybara-Service
parent
22cd96fbbc
commit
ef3cb7ec2e
+34
-34
@@ -79,7 +79,7 @@ typedef enum _mjtInertiaFromGeom {
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//---------------------------------- attribute structs (mjm) ---------------------------------------
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typedef struct _mjmModel { // model specification
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typedef struct _mjSpec { // model specification
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mjElement element; // internal, do not modify
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mjStatistic stat; // statistics override (if defined)
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@@ -132,7 +132,7 @@ typedef struct _mjmModel { // model specification
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// other
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bool hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
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} mjmModel;
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} mjSpec;
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typedef struct _mjmOrientation { // alternative orientation specifiers
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@@ -727,22 +727,22 @@ typedef struct _mjmDefault { // default specification
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//---------------------------------- API functions -------------------------------------------------
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// Create model.
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MJAPI mjmModel* mjm_createModel();
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MJAPI mjSpec* mjm_createModel();
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// Copy back model.
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MJAPI void mjm_copyBack(mjmModel* model, const mjModel* m);
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MJAPI void mjm_copyBack(mjSpec* s, const mjModel* m);
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// Compile model.
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MJAPI mjModel* mjm_compileModel(mjmModel* model, const mjVFS* vfs);
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MJAPI mjModel* mjm_compileModel(mjSpec* s, const mjVFS* vfs);
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// Get error message from model.
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MJAPI const char* mjm_getError(mjmModel* model);
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MJAPI const char* mjm_getError(mjSpec* s);
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// Return 1 if model has warnings.
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MJAPI int mjm_isWarning(mjmModel* model);
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MJAPI int mjm_isWarning(mjSpec* s);
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// Delete model.
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MJAPI void mjm_deleteModel(mjmModel* modelspec);
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MJAPI void mjm_deleteModel(mjSpec* s);
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// Add child body to body, return child spec.
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MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
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@@ -769,34 +769,34 @@ MJAPI mjmLight* mjm_addLight(mjmBody* body, mjmDefault* def);
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MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
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// Add flex to model.
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MJAPI mjmFlex* mjm_addFlex(mjmModel* model);
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MJAPI mjmFlex* mjm_addFlex(mjSpec* s);
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// Add mesh to model.
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MJAPI mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* def);
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MJAPI mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* def);
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// Add height field to model.
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MJAPI mjmHField* mjm_addHField(mjmModel* model);
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MJAPI mjmHField* mjm_addHField(mjSpec* s);
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// Add skin to model.
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MJAPI mjmSkin* mjm_addSkin(mjmModel* model);
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MJAPI mjmSkin* mjm_addSkin(mjSpec* s);
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// Add texture to model.
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MJAPI mjmTexture* mjm_addTexture(mjmModel* model);
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MJAPI mjmTexture* mjm_addTexture(mjSpec* s);
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// Add material to model.
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MJAPI mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* def);
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MJAPI mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* def);
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// Add pair to model.
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MJAPI mjmPair* mjm_addPair(mjmModel* model, mjmDefault* def);
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MJAPI mjmPair* mjm_addPair(mjSpec* s, mjmDefault* def);
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// Add excluded body pair to model.
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MJAPI mjmExclude* mjm_addExclude(mjmModel *model);
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MJAPI mjmExclude* mjm_addExclude(mjSpec *model);
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// Add equality to model.
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MJAPI mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* def);
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MJAPI mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* def);
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// Add tendon to model.
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MJAPI mjmTendon* mjm_addTendon(mjmModel* model, mjmDefault* def);
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MJAPI mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* def);
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// Wrap site using tendon.
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MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name);
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@@ -811,49 +811,49 @@ MJAPI mjmWrap* mjm_wrapJoint(mjmTendon* tendon, const char* name, double coef);
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MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor);
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// Add actuator to model.
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MJAPI mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* def);
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MJAPI mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* def);
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// Add sensor to model.
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MJAPI mjmSensor* mjm_addSensor(mjmModel* model);
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MJAPI mjmSensor* mjm_addSensor(mjSpec* s);
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// Add numeric to model.
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MJAPI mjmNumeric* mjm_addNumeric(mjmModel* model);
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MJAPI mjmNumeric* mjm_addNumeric(mjSpec* s);
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// Add text to model.
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MJAPI mjmText* mjm_addText(mjmModel* model);
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MJAPI mjmText* mjm_addText(mjSpec* s);
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// Add tuple to model.
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MJAPI mjmTuple* mjm_addTuple(mjmModel* model);
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MJAPI mjmTuple* mjm_addTuple(mjSpec* s);
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// Add keyframe to model.
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MJAPI mjmKey* mjm_addKey(mjmModel* model);
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MJAPI mjmKey* mjm_addKey(mjSpec* s);
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// Add plugin to model.
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MJAPI mjmPlugin* mjm_addPlugin(mjmModel* model);
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MJAPI mjmPlugin* mjm_addPlugin(mjSpec* s);
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// Add default to model.
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MJAPI mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid, int* id);
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MJAPI mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
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// Get model from body.
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MJAPI mjmModel* mjm_getModel(mjmBody* body);
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// Get model spec from body.
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MJAPI mjSpec* mjm_getSpec(mjmBody* body);
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// Get default corresponding to an mjElement.
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MJAPI mjmDefault* mjm_getDefault(mjElement element);
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// Find default in model by class name.
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MJAPI mjmDefault* mjm_findDefault(mjmModel* model, const char* classname);
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MJAPI mjmDefault* mjm_findDefault(mjSpec* s, const char* classname);
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// Get global default from model.
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MJAPI mjmDefault* mjm_getModelDefault(mjmModel* model);
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MJAPI mjmDefault* mjm_getModelDefault(mjSpec* s);
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// Find body in model by name.
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MJAPI mjmBody* mjm_findBody(mjmModel* model, const char* name);
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MJAPI mjmBody* mjm_findBody(mjSpec* s, const char* name);
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// Find child body by name.
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MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
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// Find mesh by name.
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MJAPI mjmMesh* mjm_findMesh(mjmModel* model, const char* name);
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MJAPI mjmMesh* mjm_findMesh(mjSpec* s, const char* name);
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// Get element id.
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MJAPI int mjm_getId(mjElement element);
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@@ -895,7 +895,7 @@ MJAPI const double* mjm_getDouble(mjDoubleVec source, int* size);
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MJAPI void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes);
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// Set active plugins.
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MJAPI void mjm_setActivePlugins(mjmModel* model, void* activeplugins);
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MJAPI void mjm_setActivePlugins(mjSpec* s, void* activeplugins);
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// Set default.
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MJAPI void mjm_setDefault(mjElement element, mjmDefault* def);
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@@ -910,7 +910,7 @@ MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inert
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//---------------------------------- Initialization functions --------------------------------------
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// Default model attributes.
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MJAPI void mjm_defaultModel(mjmModel& model);
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MJAPI void mjm_defaultModel(mjSpec& model);
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// Default body attributes.
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MJAPI void mjm_defaultBody(mjmBody& body);
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