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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_composite.cc
+11 -11
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@@ -560,7 +560,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// create tendon
mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(ten->element, &model->Defaults(0)->spec);
mjs_setDefault(ten->element, &model->Default()->spec);
mjs_setString(ten->name, txt0);
ten->group = 4;
mjs_wrapSite(ten, txt1);
@@ -568,7 +568,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
// add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->Defaults(0)->spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, mjs_getString(ten->name));
}
@@ -674,7 +674,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->Defaults(0);
ten->def = model->Default();
mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy);
ten->name = txt;
ten->WrapSite(txt1);
@@ -682,7 +682,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
// add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->Defaults(0)->spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, ten->name.c_str());
}
@@ -1045,7 +1045,7 @@ mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int i
// add constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
mjs_setDefault(eq->element, &model->Defaults(0)->spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
@@ -1063,7 +1063,7 @@ mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int i
// add constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
mjs_setDefault(eq->element, &model->Defaults(0)->spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
@@ -1131,7 +1131,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// fixed tendon for all joints
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->Defaults(0);
ten->def = model->Default();
mju::sprintf_arr(txt, "%sT", prefix.c_str());
ten->name = txt;
@@ -1185,7 +1185,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// add fix constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
mjs_setDefault(eq->element, &model->Defaults(0)->spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
@@ -1219,7 +1219,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
// finalize fixed tendon
mjsEquality* eqt = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eqt->element, &model->Defaults(0)->spec);
mjs_setDefault(eqt->element, &model->Default()->spec);
eqt->type = mjEQ_TENDON;
mjs_setString(eqt->name1, ten->name.c_str());
@@ -1245,7 +1245,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR);
ten->def = model->Defaults(0);
ten->def = model->Default();
ten->WrapSite(txt1);
ten->WrapSite(txt2);
@@ -1255,7 +1255,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
// equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjs_setDefault(eq->element, &model->Defaults(0)->spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, txt);
}