chenlin/Mujoco_WASM
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Refactor Default class to use pointers instead of indices.

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This in order to make it easier to append the default tree to another tree.

PiperOrigin-RevId: 649812975
Change-Id: I2915ac7e37957e45eadc24d6caaf7beea236bf29
This commit is contained in:
Alessio Quaglino
2024-07-06 03:50:26 -07:00
committed by Copybara-Service
parent 9d0812911c
commit f57dc90669
9 changed files with 45 additions and 47 deletions
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src/user/user_api.cc
+2 -2
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@@ -440,7 +440,7 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* parentC = parent ? static_cast<mjCDef*>(parent->element) :
static_cast<mjCModel*>(s->element)->Defaults(0);
static_cast<mjCModel*>(s->element)->Default();
mjCDef* def = modelC->AddDefault(classname, parentC);
if (def) {
return &def->spec;
@@ -480,7 +480,7 @@ mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
// get default[0] from model
mjsDefault* mjs_getSpecDefault(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = modelC->Defaults(0);
mjCDef* def = modelC->Default();
if (!def) {
return nullptr;
}