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Renamed mjmModel to mjSpec.

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PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
This commit is contained in:
Alessio Quaglino
2024-03-07 02:47:06 -08:00
committed by Copybara-Service
parent 22cd96fbbc
commit ef3cb7ec2e
19 changed files with 123 additions and 123 deletions
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src/user/user_api.cc
+59 -59
View File
@@ -27,7 +27,7 @@
// create model // create model
mjmModel* mjm_createModel() { mjSpec* mjm_createModel() {
mjCModel* modelC = new mjCModel; mjCModel* modelC = new mjCModel;
return &modelC->spec; return &modelC->spec;
} }
@@ -35,40 +35,40 @@ mjmModel* mjm_createModel() {
// copy back model // copy back model
void mjm_copyBack(mjmModel* model, const mjModel* m) { void mjm_copyBack(mjSpec* s, const mjModel* m) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
modelC->CopyBack(m); modelC->CopyBack(m);
} }
// compile model // compile model
mjModel* mjm_compileModel(mjmModel* model, const mjVFS* vfs) { mjModel* mjm_compileModel(mjSpec* s, const mjVFS* vfs) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
return modelC->Compile(vfs); return modelC->Compile(vfs);
} }
// get error message from model // get error message from model
const char* mjm_getError(mjmModel* model) { const char* mjm_getError(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
return modelC->GetError().message; return modelC->GetError().message;
} }
// check if model has warnings // check if model has warnings
int mjm_isWarning(mjmModel* model) { int mjm_isWarning(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
return modelC->GetError().warning; return modelC->GetError().warning;
} }
// delete model // delete model
void mjm_deleteModel(mjmModel* modelspec) { void mjm_deleteModel(mjSpec* s) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element); mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
delete model; delete model;
} }
@@ -143,8 +143,8 @@ mjmLight* mjm_addLight(mjmBody* bodyspec, mjmDefault* defspec) {
// add flex to model // add flex to model
mjmFlex* mjm_addFlex(mjmModel* model) { mjmFlex* mjm_addFlex(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCFlex* flex = modelC->AddFlex(); mjCFlex* flex = modelC->AddFlex();
return &flex->spec; return &flex->spec;
} }
@@ -165,9 +165,9 @@ mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
// add mesh to model // add mesh to model
mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* defspec) { mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* defspec) {
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCMesh* mesh = modelC->AddMesh(def); mjCMesh* mesh = modelC->AddMesh(def);
return &mesh->spec; return &mesh->spec;
} }
@@ -175,8 +175,8 @@ mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* defspec) {
// add height field to model // add height field to model
mjmHField* mjm_addHField(mjmModel* model) { mjmHField* mjm_addHField(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCHField* heightField = modelC->AddHField(); mjCHField* heightField = modelC->AddHField();
return &heightField->spec; return &heightField->spec;
} }
@@ -184,8 +184,8 @@ mjmHField* mjm_addHField(mjmModel* model) {
// add skin to model // add skin to model
mjmSkin* mjm_addSkin(mjmModel* model) { mjmSkin* mjm_addSkin(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCSkin* skin = modelC->AddSkin(); mjCSkin* skin = modelC->AddSkin();
return &skin->spec; return &skin->spec;
} }
@@ -193,8 +193,8 @@ mjmSkin* mjm_addSkin(mjmModel* model) {
// add texture to model // add texture to model
mjmTexture* mjm_addTexture(mjmModel* model) { mjmTexture* mjm_addTexture(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCTexture* texture = modelC->AddTexture(); mjCTexture* texture = modelC->AddTexture();
return &texture->spec; return &texture->spec;
} }
@@ -202,8 +202,8 @@ mjmTexture* mjm_addTexture(mjmModel* model) {
// add material to model // add material to model
mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* defspec) { mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCMaterial* material = modelC->AddMaterial(def); mjCMaterial* material = modelC->AddMaterial(def);
return &material->spec; return &material->spec;
@@ -212,8 +212,8 @@ mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* defspec) {
// add pair to model // add pair to model
mjmPair* mjm_addPair(mjmModel* model, mjmDefault* defspec) { mjmPair* mjm_addPair(mjSpec* s, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCPair* pair = modelC->AddPair(def); mjCPair* pair = modelC->AddPair(def);
return &pair->spec; return &pair->spec;
@@ -222,8 +222,8 @@ mjmPair* mjm_addPair(mjmModel* model, mjmDefault* defspec) {
// add pair exclusion to model // add pair exclusion to model
mjmExclude* mjm_addExclude(mjmModel* model) { mjmExclude* mjm_addExclude(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCBodyPair* bodypair = modelC->AddExclude(); mjCBodyPair* bodypair = modelC->AddExclude();
return &bodypair->spec; return &bodypair->spec;
} }
@@ -231,8 +231,8 @@ mjmExclude* mjm_addExclude(mjmModel* model) {
// add equality to model // add equality to model
mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* defspec) { mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCEquality* equality = modelC->AddEquality(def); mjCEquality* equality = modelC->AddEquality(def);
return &equality->spec; return &equality->spec;
@@ -241,8 +241,8 @@ mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* defspec) {
// add tendon to model // add tendon to model
mjmTendon* mjm_addTendon(mjmModel* model, mjmDefault* defspec) { mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCTendon* tendon = modelC->AddTendon(def); mjCTendon* tendon = modelC->AddTendon(def);
return &tendon->spec; return &tendon->spec;
@@ -287,8 +287,8 @@ mjmWrap* mjm_wrapPulley(mjmTendon* tendonspec, double divisor) {
// add actuator to model // add actuator to model
mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* defspec) { mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* defspec) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0; mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
mjCActuator* actuator = modelC->AddActuator(def); mjCActuator* actuator = modelC->AddActuator(def);
return &actuator->spec; return &actuator->spec;
@@ -297,8 +297,8 @@ mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* defspec) {
// add sensor to model // add sensor to model
mjmSensor* mjm_addSensor(mjmModel* model) { mjmSensor* mjm_addSensor(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCSensor* sensor = modelC->AddSensor(); mjCSensor* sensor = modelC->AddSensor();
return &sensor->spec; return &sensor->spec;
} }
@@ -306,8 +306,8 @@ mjmSensor* mjm_addSensor(mjmModel* model) {
// add numeric to model // add numeric to model
mjmNumeric* mjm_addNumeric(mjmModel* model) { mjmNumeric* mjm_addNumeric(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCNumeric* numeric = modelC->AddNumeric(); mjCNumeric* numeric = modelC->AddNumeric();
return &numeric->spec; return &numeric->spec;
} }
@@ -315,8 +315,8 @@ mjmNumeric* mjm_addNumeric(mjmModel* model) {
// add text to model // add text to model
mjmText* mjm_addText(mjmModel* model) { mjmText* mjm_addText(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCText* text = modelC->AddText(); mjCText* text = modelC->AddText();
return &text->spec; return &text->spec;
} }
@@ -324,8 +324,8 @@ mjmText* mjm_addText(mjmModel* model) {
// add tuple to model // add tuple to model
mjmTuple* mjm_addTuple(mjmModel* model) { mjmTuple* mjm_addTuple(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCTuple* tuple = modelC->AddTuple(); mjCTuple* tuple = modelC->AddTuple();
return &tuple->spec; return &tuple->spec;
} }
@@ -333,8 +333,8 @@ mjmTuple* mjm_addTuple(mjmModel* model) {
// add keyframe to model // add keyframe to model
mjmKey* mjm_addKey(mjmModel* model) { mjmKey* mjm_addKey(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCKey* key = modelC->AddKey(); mjCKey* key = modelC->AddKey();
return &key->spec; return &key->spec;
} }
@@ -342,8 +342,8 @@ mjmKey* mjm_addKey(mjmModel* model) {
// add plugin to model // add plugin to model
mjmPlugin* mjm_addPlugin(mjmModel* model) { mjmPlugin* mjm_addPlugin(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCPlugin* plugin = modelC->AddPlugin(); mjCPlugin* plugin = modelC->AddPlugin();
plugin->spec.instance = (mjElement)plugin; plugin->spec.instance = (mjElement)plugin;
return &plugin->spec; return &plugin->spec;
@@ -352,8 +352,8 @@ mjmPlugin* mjm_addPlugin(mjmModel* model) {
// add default to model // add default to model
mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid, int* id) { mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
*id = (int)modelC->defaults.size(); *id = (int)modelC->defaults.size();
mjCDef* def = modelC->AddDef(classname, parentid); mjCDef* def = modelC->AddDef(classname, parentid);
if (def) { if (def) {
@@ -366,8 +366,8 @@ mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid,
// get objects // get objects
mjmModel* mjm_getModel(mjmBody* bodyspec) { mjSpec* mjm_getSpec(mjmBody* body) {
return &(reinterpret_cast<mjCBody*>(bodyspec->element)->model->spec); return &(reinterpret_cast<mjCBody*>(body->element)->model->spec);
} }
@@ -380,8 +380,8 @@ mjmDefault* mjm_getDefault(mjElement element) {
// Find default with given name in model. // Find default with given name in model.
mjmDefault* mjm_findDefault(mjmModel* model, const char* classname) { mjmDefault* mjm_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDef(classname); mjCDef* cdef = modelC->FindDef(classname);
if (!cdef) { if (!cdef) {
return nullptr; return nullptr;
@@ -392,8 +392,8 @@ mjmDefault* mjm_findDefault(mjmModel* model, const char* classname) {
// get default[0] from model // get default[0] from model
mjmDefault* mjm_getModelDefault(mjmModel* model) { mjmDefault* mjm_getModelDefault(mjSpec* s) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
mjCDef* def = modelC->defaults[0]; mjCDef* def = modelC->defaults[0];
if (!def) { if (!def) {
return nullptr; return nullptr;
@@ -404,8 +404,8 @@ mjmDefault* mjm_getModelDefault(mjmModel* model) {
// find body in model by name // find body in model by name
mjmBody* mjm_findBody(mjmModel* modelspec, const char* name) { mjmBody* mjm_findBody(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element); mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
mjCBase* body = model->FindObject(mjOBJ_BODY, std::string(name)); mjCBase* body = model->FindObject(mjOBJ_BODY, std::string(name));
if (!body) { if (!body) {
return 0; return 0;
@@ -428,8 +428,8 @@ mjmBody* mjm_findChild(mjmBody* bodyspec, const char* name) {
// find mesh by name // find mesh by name
mjmMesh* mjm_findMesh(mjmModel* modelspec, const char* name) { mjmMesh* mjm_findMesh(mjSpec* s, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element); mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name)); mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
if (!mesh) { if (!mesh) {
return nullptr; return nullptr;
@@ -585,8 +585,8 @@ void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes) {
// Set active plugins. // Set active plugins.
void mjm_setActivePlugins(mjmModel* model, void* activeplugins) { void mjm_setActivePlugins(mjSpec* s, void* activeplugins) {
mjCModel* modelC = reinterpret_cast<mjCModel*>(model->element); mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
std::vector<std::pair<const mjpPlugin*, int>>* active_plugins = std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins); reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
modelC->active_plugins = std::move(*active_plugins); modelC->active_plugins = std::move(*active_plugins);
src/user/user_api.h
+34 -34
View File
@@ -79,7 +79,7 @@ typedef enum _mjtInertiaFromGeom {
//---------------------------------- attribute structs (mjm) --------------------------------------- //---------------------------------- attribute structs (mjm) ---------------------------------------
typedef struct _mjmModel { // model specification typedef struct _mjSpec { // model specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjStatistic stat; // statistics override (if defined) mjStatistic stat; // statistics override (if defined)
@@ -132,7 +132,7 @@ typedef struct _mjmModel { // model specification
// other // other
bool hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator bool hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
} mjmModel; } mjSpec;
typedef struct _mjmOrientation { // alternative orientation specifiers typedef struct _mjmOrientation { // alternative orientation specifiers
@@ -727,22 +727,22 @@ typedef struct _mjmDefault { // default specification
//---------------------------------- API functions ------------------------------------------------- //---------------------------------- API functions -------------------------------------------------
// Create model. // Create model.
MJAPI mjmModel* mjm_createModel(); MJAPI mjSpec* mjm_createModel();
// Copy back model. // Copy back model.
MJAPI void mjm_copyBack(mjmModel* model, const mjModel* m); MJAPI void mjm_copyBack(mjSpec* s, const mjModel* m);
// Compile model. // Compile model.
MJAPI mjModel* mjm_compileModel(mjmModel* model, const mjVFS* vfs); MJAPI mjModel* mjm_compileModel(mjSpec* s, const mjVFS* vfs);
// Get error message from model. // Get error message from model.
MJAPI const char* mjm_getError(mjmModel* model); MJAPI const char* mjm_getError(mjSpec* s);
// Return 1 if model has warnings. // Return 1 if model has warnings.
MJAPI int mjm_isWarning(mjmModel* model); MJAPI int mjm_isWarning(mjSpec* s);
// Delete model. // Delete model.
MJAPI void mjm_deleteModel(mjmModel* modelspec); MJAPI void mjm_deleteModel(mjSpec* s);
// Add child body to body, return child spec. // Add child body to body, return child spec.
MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def); MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
@@ -769,34 +769,34 @@ MJAPI mjmLight* mjm_addLight(mjmBody* body, mjmDefault* def);
MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe); MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
// Add flex to model. // Add flex to model.
MJAPI mjmFlex* mjm_addFlex(mjmModel* model); MJAPI mjmFlex* mjm_addFlex(mjSpec* s);
// Add mesh to model. // Add mesh to model.
MJAPI mjmMesh* mjm_addMesh(mjmModel* model, mjmDefault* def); MJAPI mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* def);
// Add height field to model. // Add height field to model.
MJAPI mjmHField* mjm_addHField(mjmModel* model); MJAPI mjmHField* mjm_addHField(mjSpec* s);
// Add skin to model. // Add skin to model.
MJAPI mjmSkin* mjm_addSkin(mjmModel* model); MJAPI mjmSkin* mjm_addSkin(mjSpec* s);
// Add texture to model. // Add texture to model.
MJAPI mjmTexture* mjm_addTexture(mjmModel* model); MJAPI mjmTexture* mjm_addTexture(mjSpec* s);
// Add material to model. // Add material to model.
MJAPI mjmMaterial* mjm_addMaterial(mjmModel* model, mjmDefault* def); MJAPI mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* def);
// Add pair to model. // Add pair to model.
MJAPI mjmPair* mjm_addPair(mjmModel* model, mjmDefault* def); MJAPI mjmPair* mjm_addPair(mjSpec* s, mjmDefault* def);
// Add excluded body pair to model. // Add excluded body pair to model.
MJAPI mjmExclude* mjm_addExclude(mjmModel *model); MJAPI mjmExclude* mjm_addExclude(mjSpec *model);
// Add equality to model. // Add equality to model.
MJAPI mjmEquality* mjm_addEquality(mjmModel* model, mjmDefault* def); MJAPI mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* def);
// Add tendon to model. // Add tendon to model.
MJAPI mjmTendon* mjm_addTendon(mjmModel* model, mjmDefault* def); MJAPI mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* def);
// Wrap site using tendon. // Wrap site using tendon.
MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name); MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name);
@@ -811,49 +811,49 @@ MJAPI mjmWrap* mjm_wrapJoint(mjmTendon* tendon, const char* name, double coef);
MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor); MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor);
// Add actuator to model. // Add actuator to model.
MJAPI mjmActuator* mjm_addActuator(mjmModel* model, mjmDefault* def); MJAPI mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* def);
// Add sensor to model. // Add sensor to model.
MJAPI mjmSensor* mjm_addSensor(mjmModel* model); MJAPI mjmSensor* mjm_addSensor(mjSpec* s);
// Add numeric to model. // Add numeric to model.
MJAPI mjmNumeric* mjm_addNumeric(mjmModel* model); MJAPI mjmNumeric* mjm_addNumeric(mjSpec* s);
// Add text to model. // Add text to model.
MJAPI mjmText* mjm_addText(mjmModel* model); MJAPI mjmText* mjm_addText(mjSpec* s);
// Add tuple to model. // Add tuple to model.
MJAPI mjmTuple* mjm_addTuple(mjmModel* model); MJAPI mjmTuple* mjm_addTuple(mjSpec* s);
// Add keyframe to model. // Add keyframe to model.
MJAPI mjmKey* mjm_addKey(mjmModel* model); MJAPI mjmKey* mjm_addKey(mjSpec* s);
// Add plugin to model. // Add plugin to model.
MJAPI mjmPlugin* mjm_addPlugin(mjmModel* model); MJAPI mjmPlugin* mjm_addPlugin(mjSpec* s);
// Add default to model. // Add default to model.
MJAPI mjmDefault* mjm_addDefault(mjmModel* model, const char* classname, int parentid, int* id); MJAPI mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
// Get model from body. // Get model spec from body.
MJAPI mjmModel* mjm_getModel(mjmBody* body); MJAPI mjSpec* mjm_getSpec(mjmBody* body);
// Get default corresponding to an mjElement. // Get default corresponding to an mjElement.
MJAPI mjmDefault* mjm_getDefault(mjElement element); MJAPI mjmDefault* mjm_getDefault(mjElement element);
// Find default in model by class name. // Find default in model by class name.
MJAPI mjmDefault* mjm_findDefault(mjmModel* model, const char* classname); MJAPI mjmDefault* mjm_findDefault(mjSpec* s, const char* classname);
// Get global default from model. // Get global default from model.
MJAPI mjmDefault* mjm_getModelDefault(mjmModel* model); MJAPI mjmDefault* mjm_getModelDefault(mjSpec* s);
// Find body in model by name. // Find body in model by name.
MJAPI mjmBody* mjm_findBody(mjmModel* model, const char* name); MJAPI mjmBody* mjm_findBody(mjSpec* s, const char* name);
// Find child body by name. // Find child body by name.
MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name); MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
// Find mesh by name. // Find mesh by name.
MJAPI mjmMesh* mjm_findMesh(mjmModel* model, const char* name); MJAPI mjmMesh* mjm_findMesh(mjSpec* s, const char* name);
// Get element id. // Get element id.
MJAPI int mjm_getId(mjElement element); MJAPI int mjm_getId(mjElement element);
@@ -895,7 +895,7 @@ MJAPI const double* mjm_getDouble(mjDoubleVec source, int* size);
MJAPI void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes); MJAPI void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes);
// Set active plugins. // Set active plugins.
MJAPI void mjm_setActivePlugins(mjmModel* model, void* activeplugins); MJAPI void mjm_setActivePlugins(mjSpec* s, void* activeplugins);
// Set default. // Set default.
MJAPI void mjm_setDefault(mjElement element, mjmDefault* def); MJAPI void mjm_setDefault(mjElement element, mjmDefault* def);
@@ -910,7 +910,7 @@ MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inert
//---------------------------------- Initialization functions -------------------------------------- //---------------------------------- Initialization functions --------------------------------------
// Default model attributes. // Default model attributes.
MJAPI void mjm_defaultModel(mjmModel& model); MJAPI void mjm_defaultModel(mjSpec& model);
// Default body attributes. // Default body attributes.
MJAPI void mjm_defaultBody(mjmBody& body); MJAPI void mjm_defaultBody(mjmBody& body);
src/user/user_composite.cc
+1 -1
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@@ -223,7 +223,7 @@ void mjCComposite::SetDefault(void) {
// make composite object // make composite object
bool mjCComposite::Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz) { bool mjCComposite::Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)modelspec->element; mjCModel* model = (mjCModel*)modelspec->element;
// check geom type // check geom type
src/user/user_composite.h
+1 -1
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@@ -69,7 +69,7 @@ class mjCComposite {
bool AddDefaultJoint(char* error = NULL, int error_sz = 0); bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level); void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
bool Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz); bool Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz);
bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz); bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz); bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz);
src/user/user_flexcomp.cc
+1 -1
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@@ -82,7 +82,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
// make flexcomp object // make flexcomp object
bool mjCFlexcomp::Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz) { bool mjCFlexcomp::Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)modelspec->element; mjCModel* model = (mjCModel*)modelspec->element;
mjmFlex* dflex = def.spec.flex; mjmFlex* dflex = def.spec.flex;
int dim = dflex->dim; int dim = dflex->dim;
src/user/user_flexcomp.h
+1 -1
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@@ -42,7 +42,7 @@ typedef enum _mjtFcompType {
class mjCFlexcomp { class mjCFlexcomp {
public: public:
mjCFlexcomp(void); mjCFlexcomp(void);
bool Make(mjmModel* modelspec, mjmBody* body, char* error, int error_sz); bool Make(mjSpec* modelspec, mjmBody* body, char* error, int error_sz);
bool MakeGrid(char* error, int error_sz); bool MakeGrid(char* error, int error_sz);
bool MakeBox(char* error, int error_sz); bool MakeBox(char* error, int error_sz);
src/user/user_init.cc
+2 -2
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@@ -22,8 +22,8 @@
// default model attributes // default model attributes
void mjm_defaultModel(mjmModel& model) { void mjm_defaultModel(mjSpec& model) {
memset(&model, 0, sizeof(mjmModel)); memset(&model, 0, sizeof(mjSpec));
// default statistics // default statistics
model.stat.meaninertia = mjNAN; model.stat.meaninertia = mjNAN;
src/user/user_model.cc
+1 -1
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@@ -193,7 +193,7 @@ void mjCModel::PointToLocal() {
void mjCModel::CopyFromSpec() { void mjCModel::CopyFromSpec() {
*static_cast<mjmModel*>(this) = spec; *static_cast<mjSpec*>(this) = spec;
comment_ = spec_comment_; comment_ = spec_comment_;
modelfiledir_ = spec_modelfiledir_; modelfiledir_ = spec_modelfiledir_;
modelname_ = spec_modelname_; modelname_ = spec_modelname_;
src/user/user_model.h
+2 -2
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@@ -39,7 +39,7 @@ typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
// by loading an XML file via mjCXML. Once an mjCModel object is // by loading an XML file via mjCXML. Once an mjCModel object is
// constructed, 'Compile' can be called to generate the corresponding mjModel object // constructed, 'Compile' can be called to generate the corresponding mjModel object
// (which is the low-level model). The mjCModel object can then be deleted. // (which is the low-level model). The mjCModel object can then be deleted.
class mjCModel : private mjmModel { class mjCModel : private mjSpec {
friend class mjCBody; friend class mjCBody;
friend class mjCCamera; friend class mjCCamera;
friend class mjCGeom; friend class mjCGeom;
@@ -66,7 +66,7 @@ class mjCModel : private mjmModel {
void CopyFromSpec(); // copy spec to private attributes void CopyFromSpec(); // copy spec to private attributes
void PointToLocal(); void PointToLocal();
mjmModel spec; mjSpec spec;
mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
src/xml/xml.cc
+3 -3
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@@ -99,7 +99,7 @@ class LocaleOverride {
} // namespace } // namespace
// Main writer function - calls mjXWrite // Main writer function - calls mjXWrite
std::string mjWriteXML(mjmModel* model, char* error, int error_sz) { std::string mjWriteXML(mjSpec* model, char* error, int error_sz) {
LocaleOverride locale_override; LocaleOverride locale_override;
// check for empty model // check for empty model
@@ -272,7 +272,7 @@ static void mjIncludeXML(mjXReader& reader, XMLElement* elem,
// Main parser function // Main parser function
mjmModel* mjParseXML(const char* filename, const mjVFS* vfs, mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
char* error, int error_sz) { char* error, int error_sz) {
LocaleOverride locale_override; LocaleOverride locale_override;
@@ -285,7 +285,7 @@ mjmModel* mjParseXML(const char* filename, const mjVFS* vfs,
} }
// clear // clear
mjmModel* model = nullptr; mjSpec* model = nullptr;
if (error) { if (error) {
error[0] = '\0'; error[0] = '\0';
} }
src/xml/xml.h
+2 -2
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@@ -24,10 +24,10 @@
// Top level API // Top level API
// Main writer function // Main writer function
std::string mjWriteXML(mjmModel* model, char* error, int error_sz); std::string mjWriteXML(mjSpec* model, char* error, int error_sz);
// Main parser function // Main parser function
MJAPI mjmModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz); MJAPI mjSpec* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
#endif // MUJOCO_SRC_XML_XML_H_ #endif // MUJOCO_SRC_XML_XML_H_
src/xml/xml_api.cc
+5 -5
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@@ -37,7 +37,7 @@
class GlobalModel { class GlobalModel {
public: public:
// deletes current model and takes ownership of model // deletes current model and takes ownership of model
void Set(mjmModel* model = nullptr); void Set(mjSpec* model = nullptr);
// writes XML to string // writes XML to string
std::optional<std::string> ToXML(const mjModel* m, char* error, std::optional<std::string> ToXML(const mjModel* m, char* error,
@@ -46,7 +46,7 @@ class GlobalModel {
private: private:
// using raw pointers as GlobalModel needs to be trivially destructible // using raw pointers as GlobalModel needs to be trivially destructible
std::mutex* mutex_ = new std::mutex(); std::mutex* mutex_ = new std::mutex();
mjmModel* model_ = nullptr; mjSpec* model_ = nullptr;
}; };
std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error, std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
@@ -64,7 +64,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
return result; return result;
} }
void GlobalModel::Set(mjmModel* model) { void GlobalModel::Set(mjSpec* model) {
std::lock_guard<std::mutex> lock(*mutex_); std::lock_guard<std::mutex> lock(*mutex_);
if (model_ != nullptr) { if (model_ != nullptr) {
mjm_deleteModel(model_); mjm_deleteModel(model_);
@@ -91,9 +91,9 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
char* error, int error_sz) { char* error, int error_sz) {
// parse new model // parse new model
std::unique_ptr<mjmModel, std::function<void(mjmModel*)>> model( std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
mjParseXML(filename, vfs, error, error_sz), mjParseXML(filename, vfs, error, error_sz),
[](mjmModel* m) { mjm_deleteModel(m); }); [](mjSpec* m) { mjm_deleteModel(m); });
if (!model) { if (!model) {
return nullptr; return nullptr;
} }
src/xml/xml_base.cc
+1 -1
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@@ -44,7 +44,7 @@ mjXBase::mjXBase() {
// set model field // set model field
void mjXBase::SetModel(mjmModel* _model) { void mjXBase::SetModel(mjSpec* _model) {
model = _model; model = _model;
} }
src/xml/xml_base.h
+2 -2
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@@ -87,13 +87,13 @@ class mjXBase : public mjXUtil {
}; };
// set the model allocated externally // set the model allocated externally
virtual void SetModel(mjmModel*); virtual void SetModel(mjSpec*);
// read alternative orientation specification // read alternative orientation specification
static int ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt); static int ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
protected: protected:
mjmModel* model; // internally-allocated model mjSpec* model; // internally-allocated model
}; };
#endif // MUJOCO_SRC_XML_XML_BASE_H_ #endif // MUJOCO_SRC_XML_XML_BASE_H_
src/xml/xml_native_reader.cc
+2 -2
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@@ -913,7 +913,7 @@ void mjXReader::Parse(XMLElement* root) {
// compiler section parser // compiler section parser
void mjXReader::Compiler(XMLElement* section, mjmModel* mod) { void mjXReader::Compiler(XMLElement* section, mjSpec* mod) {
string text; string text;
int n; int n;
@@ -1100,7 +1100,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
// size section parser // size section parser
void mjXReader::Size(XMLElement* section, mjmModel* mod) { void mjXReader::Size(XMLElement* section, mjSpec* mod) {
// read memory bytes // read memory bytes
{ {
constexpr char err_msg[] = constexpr char err_msg[] =
src/xml/xml_native_reader.h
+2 -2
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@@ -42,9 +42,9 @@ class mjXReader : public mjXBase {
void SetTextureDir(std::string texturedir); void SetTextureDir(std::string texturedir);
// XML sections embedded in all formats // XML sections embedded in all formats
static void Compiler(tinyxml2::XMLElement* section, mjmModel* mod); // compiler section static void Compiler(tinyxml2::XMLElement* section, mjSpec* mod); // compiler section
static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section
static void Size(tinyxml2::XMLElement* section, mjmModel* mod); // size section static void Size(tinyxml2::XMLElement* section, mjSpec* mod); // size section
private: private:
// XML section specific to MJCF // XML section specific to MJCF
src/xml/xml_native_writer.cc
+1 -1
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@@ -765,7 +765,7 @@ mjXWriter::mjXWriter(void) {
// cast model // cast model
void mjXWriter::SetModel(mjmModel* modelspec) { void mjXWriter::SetModel(mjSpec* modelspec) {
if (modelspec) { if (modelspec) {
model = (mjCModel*)modelspec->element; model = (mjCModel*)modelspec->element;
} }
src/xml/xml_native_writer.h
+1 -1
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@@ -27,7 +27,7 @@ class mjXWriter : public mjXBase {
public: public:
mjXWriter(); // constructor mjXWriter(); // constructor
virtual ~mjXWriter() = default; // destructor virtual ~mjXWriter() = default; // destructor
void SetModel(mjmModel* modelspec); void SetModel(mjSpec* modelspec);
// write XML document to string // write XML document to string
std::string Write(char *error, std::size_t error_sz); std::string Write(char *error, std::size_t error_sz);
test/user/user_api_test.cc
+2 -2
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@@ -38,7 +38,7 @@ using ::testing::NotNull;
// ----------------------------- test set/get -------------------------------- // ----------------------------- test set/get --------------------------------
TEST_F(MujocoTest, ReadWriteData) { TEST_F(MujocoTest, ReadWriteData) {
mjmModel* model = mjm_createModel(); mjSpec* model = mjm_createModel();
mjmBody* world = mjm_findBody(model, "world"); mjmBody* world = mjm_findBody(model, "world");
mjmBody* body = mjm_addBody(world, 0); mjmBody* body = mjm_addBody(world, 0);
mjmSite* site = mjm_addSite(body, 0); mjmSite* site = mjm_addSite(body, 0);
@@ -86,7 +86,7 @@ TEST_F(PluginTest, RecompileCompare) {
// load model // load model
std::array<char, 1000> error; std::array<char, 1000> error;
mjmModel* model = mjSpec* model =
mjParseXML(xml.c_str(), nullptr, error.data(), error.size()); mjParseXML(xml.c_str(), nullptr, error.data(), error.size());
// compile twice // compile twice