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Change user_api handle types.

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PiperOrigin-RevId: 640978033
Change-Id: I53496671ac823b50e6f90ceee15bf3b314b06db8
This commit is contained in:
Alessio Quaglino
2024-06-06 12:05:17 -07:00
committed by Copybara-Service
parent 9a140bad14
commit f6084b4328
7 changed files with 427 additions and 424 deletions
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src/user/user_api.cc
+27 -39
View File
@@ -581,66 +581,61 @@ mjElement* mjs_nextChild(mjsBody* body, mjElement* child) {
// set string
void mjs_setString(mjString dest, const char* text) {
std::string* str = reinterpret_cast<std::string*>(dest);
void mjs_setString(mjString* dest, const char* text) {
std::string* str = static_cast<std::string*>(dest);
*str = std::string(text);
}
// Set specific entry in destination string vector.
mjtByte mjs_setInStringVec(mjStringVec dest, int i, const char* text) {
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
if (v->size() <= i) {
mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text) {
if (dest->size() <= i) {
mju_error("Requested index in mjs_setInStringVec is out of bounds");
return 0;
}
v->at(i) = std::string(text);
dest->at(i) = std::string(text);
return 1;
}
// split text and copy into string array
void mjs_setStringVec(mjStringVec dest, const char* text) {
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
void mjs_setStringVec(mjStringVec* dest, const char* text) {
std::vector<std::string>* v = static_cast<std::vector<std::string>*>(dest);
*v = mjXUtil::String2Vector<std::string>(text);
}
// add text entry to destination string vector
void mjs_appendString(mjStringVec dest, const char* text) {
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
v->push_back(std::string(text));
void mjs_appendString(mjStringVec* dest, const char* text) {
dest->push_back(std::string(text));
}
// copy int array to vector
void mjs_setInt(mjIntVec dest, const int* array, int size) {
std::vector<int>* v = reinterpret_cast<std::vector<int>*>(dest);
v->assign(size, 0.0);
void mjs_setInt(mjIntVec* dest, const int* array, int size) {
dest->assign(size, 0.0);
for (int i = 0; i < size; ++i) {
(*v)[i] = array[i];
(*dest)[i] = array[i];
}
}
// append int array to vector of arrays
void mjs_appendIntVec(mjIntVecVec dest, const int* array, int size) {
std::vector<std::vector<int>>* v = reinterpret_cast<std::vector<std::vector<int>>*>(dest);
v->push_back(std::vector<int>(array, array + size));
void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size) {
dest->push_back(std::vector<int>(array, array + size));
}
// copy float array to vector
void mjs_setFloat(mjFloatVec dest, const float* array, int size) {
std::vector<float>* v = reinterpret_cast<std::vector<float>*>(dest);
v->assign(size, 0.0);
void mjs_setFloat(mjFloatVec* dest, const float* array, int size) {
dest->assign(size, 0.0);
for (int i = 0; i < size; ++i) {
(*v)[i] = array[i];
(*dest)[i] = array[i];
}
}
@@ -648,42 +643,35 @@ void mjs_setFloat(mjFloatVec dest, const float* array, int size) {
// append float array to vector of arrays
void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size) {
std::vector<std::vector<float>>* v = reinterpret_cast<std::vector<std::vector<float>>*>(dest);
v->push_back(std::vector<float>(array, array + size));
void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size) {
dest->push_back(std::vector<float>(array, array + size));
}
// copy double array to vector
void mjs_setDouble(mjDoubleVec dest, const double* array, int size) {
std::vector<double>* v = reinterpret_cast<std::vector<double>*>(dest);
v->assign(size, 0.0);
void mjs_setDouble(mjDoubleVec* dest, const double* array, int size) {
dest->assign(size, 0.0);
for (int i = 0; i < size; ++i) {
(*v)[i] = array[i];
(*dest)[i] = array[i];
}
}
// get string
const char* mjs_getString(const mjString source) {
std::string* str = reinterpret_cast<std::string*>(source);
if (!str) {
return nullptr;
}
return str->c_str();
const char* mjs_getString(const mjString* source) {
return source->c_str();
}
// get double array
const double* mjs_getDouble(const mjDoubleVec source, int* size) {
std::vector<double>* v = reinterpret_cast<std::vector<double>*>(source);
const double* mjs_getDouble(const mjDoubleVec* source, int* size) {
if (size) {
*size = v->size();
*size = source->size();
}
return v->data();
return source->data();
}
src/user/user_api.h
+175 -160
View File
@@ -25,21 +25,36 @@
// this is a C-API
#ifdef __cplusplus
#include <string>
#include <vector>
extern "C" {
#endif
#define mjNAN NAN // used to mark undefined fields
//---------------------------------- handles to internal objects -----------------------------------
//---------------------------------- C/C++ handles to strings and arrays ---------------------------
typedef struct mjString_* mjString;
typedef struct mjStringVec_* mjStringVec;
typedef struct mjIntVec_* mjIntVec;
typedef struct mjIntVecVec_* mjIntVecVec;
typedef struct mjFloatVec_* mjFloatVec;
typedef struct mjFloatVecVec_* mjFloatVecVec;
typedef struct mjDoubleVec_* mjDoubleVec;
#ifdef __cplusplus
// C++, defined to be compatible with corresponding std types
using mjString = std::string;
using mjStringVec = std::vector<std::string>;
using mjIntVec = std::vector<int>;
using mjIntVecVec = std::vector<std::vector<int>>;
using mjFloatVec = std::vector<float>;
using mjFloatVecVec = std::vector<std::vector<float>>;
using mjDoubleVec = std::vector<double>;
#else
// C, opaque pointers
typedef struct mjString_ mjString;
typedef struct mjStringVec_ mjStringVec;
typedef struct mjIntVec_ mjIntVec;
typedef struct mjIntVecVec_ mjIntVecVec;
typedef struct mjFloatVec_ mjFloatVec;
typedef struct mjFloatVecVec_ mjFloatVecVec;
typedef struct mjDoubleVec_ mjDoubleVec;
#endif
//---------------------------------- enum types (mjt) ----------------------------------------------
@@ -98,7 +113,7 @@ typedef struct mjElement_ { // element type, do not modify
typedef struct mjSpec_ { // model specification
mjElement* element; // element type
mjString modelname; // model name
mjString* modelname; // model name
// compiler settings
mjtByte autolimits; // infer "limited" attribute based on range
@@ -110,8 +125,8 @@ typedef struct mjSpec_ { // model specification
mjtByte fitaabb; // meshfit to aabb instead of inertia box
mjtByte degree; // angles in radians or degrees
char euler[3]; // sequence for euler rotations
mjString meshdir; // mesh and hfield directory
mjString texturedir; // texture directory
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
mjtByte discardvisual; // discard visual geoms in parser
mjtByte convexhull; // compute mesh convex hulls
mjtByte usethread; // use multiple threads to speed up compiler
@@ -144,8 +159,8 @@ typedef struct mjSpec_ { // model specification
size_t nstack; // (deprecated) number of mjtNums in mjData stack
// global data
mjString comment; // comment at top of XML
mjString modelfiledir; // path to model file
mjString* comment; // comment at top of XML
mjString* modelfiledir; // path to model file
// other
mjtByte hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
@@ -163,18 +178,18 @@ typedef struct mjsOrientation_ { // alternative orientation specifiers
typedef struct mjsPlugin_ { // plugin specification
mjElement* instance; // element type
mjString name; // name
mjString instance_name; // instance name
mjString* name; // name
mjString* instance_name; // instance name
int plugin_slot; // global registered slot number of the plugin
mjtByte active; // is the plugin active
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsPlugin;
typedef struct mjsBody_ { // body specification
mjElement* element; // element type
mjString name; // name
mjString childclass; // childclass name
mjString* name; // name
mjString* childclass; // childclass name
// body frame
double pos[3]; // frame position
@@ -192,28 +207,28 @@ typedef struct mjsBody_ { // body specification
// other
mjtByte mocap; // is this a mocap body
double gravcomp; // gravity compensation
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
mjsPlugin plugin; // passive force plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsBody;
typedef struct mjsFrame_ { // frame specification
mjElement* element; // element type
mjString name; // name
mjString childclass; // childclass name
mjString* name; // name
mjString* childclass; // childclass name
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsFrame;
typedef struct mjsJoint_ { // joint specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
mjtJoint type; // joint type
// kinematics
@@ -245,15 +260,15 @@ typedef struct mjsJoint_ { // joint specification
// other
int group; // group
mjtByte actgravcomp; // is gravcomp force applied via actuators
mjDoubleVec userdata; // user data
mjString info; // message appended to compiler errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsJoint;
typedef struct mjsGeom_ { // geom specification
mjElement* element; // element type
mjString name; // name
mjString classname; // classname
mjString* name; // name
mjString* classname; // classname
mjtGeom type; // geom type
// frame, size
@@ -285,24 +300,24 @@ typedef struct mjsGeom_ { // geom specification
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual
mjString material; // name of material
mjString* material; // name of material
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjString hfieldname; // heightfield attached to geom
mjString meshname; // mesh attached to geom
mjString* hfieldname; // heightfield attached to geom
mjString* meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sdf plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsGeom;
typedef struct mjsSite_ { // site specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// frame, size
double pos[3]; // position
@@ -313,27 +328,27 @@ typedef struct mjsSite_ { // site specification
// visual
mjtGeom type; // geom type
mjString material; // name of material
mjString* material; // name of material
int group; // group
float rgba[4]; // rgba when material is omitted
// other
mjDoubleVec userdata; // user data
mjString info; // message appended to compiler errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsSite;
typedef struct mjsCamera_ { // camera specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// extrinsics
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for tracking/targeting
mjString* targetbody; // target body for tracking/targeting
// intrinsics
double fovy; // y-field of view
@@ -347,21 +362,21 @@ typedef struct mjsCamera_ { // camera specification
float principal_pixel[2]; // principal point (pixel)
// other
mjDoubleVec userdata; // user data
mjString info; // message appended to compiler errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsCamera;
typedef struct mjsLight_ { // light specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// frame
double pos[3]; // position
double dir[3]; // direction
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for targeting
mjString* targetbody; // target body for targeting
// intrinsics
mjtByte active; // is light active
@@ -376,14 +391,14 @@ typedef struct mjsLight_ { // light specification
float specular[3]; // specular color
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errorsx
} mjsLight;
typedef struct mjsFlex_ {
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// contact properties
int contype; // contact type
@@ -408,85 +423,85 @@ typedef struct mjsFlex_ {
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
float rgba[4]; // rgba when material is omitted
mjString material; // name of material used for rendering
mjString* material; // name of material used for rendering
// mesh properties
mjStringVec vertbody; // vertex body names
mjDoubleVec vert; // vertex positions
mjIntVec elem; // element vertex ids
mjFloatVec texcoord; // vertex texture coordinates
mjStringVec* vertbody; // vertex body names
mjDoubleVec* vert; // vertex positions
mjIntVec* elem; // element vertex ids
mjFloatVec* texcoord; // vertex texture coordinates
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsFlex;
typedef struct mjsMesh_ { // mesh specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString content_type; // content type of file
mjString file; // mesh file
mjString* name; // name
mjString* classname; // class name
mjString* content_type; // content type of file
mjString* file; // mesh file
double refpos[3]; // reference position
double refquat[4]; // reference orientation
double scale[3]; // rescale mesh
mjtByte smoothnormal; // do not exclude large-angle faces from normals
mjFloatVec uservert; // user vertex data
mjFloatVec usernormal; // user normal data
mjFloatVec usertexcoord; // user texcoord data
mjIntVec userface; // user vertex indices
mjIntVec userfacenormal; // user normal indices
mjIntVec userfacetexcoord; // user texcoord indices
mjFloatVec* uservert; // user vertex data
mjFloatVec* usernormal; // user normal data
mjFloatVec* usertexcoord; // user texcoord data
mjIntVec* userface; // user vertex indices
mjIntVec* userfacenormal; // user normal indices
mjIntVec* userfacetexcoord; // user texcoord indices
mjsPlugin plugin; // sdf plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsMesh;
typedef struct mjsHField_ { // height field specification
mjElement* element; // element type
mjString name; // name
mjString content_type; // content type of file
mjString file; // file: (nrow, ncol, [elevation data])
mjString* name; // name
mjString* content_type; // content type of file
mjString* file; // file: (nrow, ncol, [elevation data])
double size[4]; // hfield size (ignore referencing geom size)
int nrow; // number of rows
int ncol; // number of columns
mjFloatVec userdata; // user-provided elevation data
mjString info; // message appended to compiler errors
mjFloatVec* userdata; // user-provided elevation data
mjString* info; // message appended to compiler errors
} mjsHField;
typedef struct mjsSkin_ { // skin specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString file; // skin file
mjString material; // name of material used for rendering
mjString* name; // name
mjString* classname; // class name
mjString* file; // skin file
mjString* material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction
int group; // group for visualization
// mesh
mjFloatVec vert; // vertex positions
mjFloatVec texcoord; // texture coordinates
mjIntVec face; // faces
mjFloatVec* vert; // vertex positions
mjFloatVec* texcoord; // texture coordinates
mjIntVec* face; // faces
// skin
mjStringVec bodyname; // body names
mjFloatVec bindpos; // bind pos
mjFloatVec bindquat; // bind quat
mjIntVecVec vertid; // vertex ids
mjFloatVecVec vertweight; // vertex weights
mjStringVec* bodyname; // body names
mjFloatVec* bindpos; // bind pos
mjFloatVec* bindquat; // bind quat
mjIntVecVec* vertid; // vertex ids
mjFloatVecVec* vertweight; // vertex weights
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsSkin;
typedef struct mjsTexture_ { // texture specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
mjtTexture type; // texture type
// method 1: builtin
@@ -500,28 +515,28 @@ typedef struct mjsTexture_ { // texture specification
int width; // width in pixels
// method 2: single file
mjString content_type; // content type of file
mjString file; // png file to load; use for all sides of cube
mjString* content_type; // content type of file
mjString* file; // png file to load; use for all sides of cube
int gridsize[2]; // size of grid for composite file; (1,1)-repeat
char gridlayout[13]; // row-major: L,R,F,B,U,D for faces; . for unused
// method 3: separate files
mjStringVec cubefiles; // different file for each side of the cube
mjStringVec* cubefiles; // different file for each side of the cube
// flip options
mjtByte hflip; // horizontal flip
mjtByte vflip; // vertical flip
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsTexture;
typedef struct mjsMaterial_ { // material specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString texture; // name of texture (empty: none)
mjString* name; // name
mjString* classname; // class name
mjString* texture; // name of texture (empty: none)
mjtByte texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
float emission; // emission
@@ -531,16 +546,16 @@ typedef struct mjsMaterial_ { // material specification
float metallic; // metallic
float roughness; // roughness
float rgba[4]; // rgba
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsMaterial;
typedef struct mjsPair_ {
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString geomname1; // name of geom 1
mjString geomname2; // name of geom 2
mjString* name; // name
mjString* classname; // class name
mjString* geomname1; // name of geom 1
mjString* geomname2; // name of geom 2
// optional parameters: computed from geoms if not set by user
int condim; // contact dimensionality
@@ -550,38 +565,38 @@ typedef struct mjsPair_ {
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double friction[5]; // full contact friction
mjString info; // message appended to errors
mjString* info; // message appended to errors
} mjsPair;
typedef struct mjsExclude_ {
mjElement* element; // element type
mjString name; // name
mjString bodyname1; // name of geom 1
mjString bodyname2; // name of geom 2
mjString info; // message appended to errors
mjString* name; // name
mjString* bodyname1; // name of geom 1
mjString* bodyname2; // name of geom 2
mjString* info; // message appended to errors
} mjsExclude;
typedef struct mjsEquality_ { // equality specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
mjString name1; // name of object 1
mjString name2; // name of object 2
mjString* name1; // name of object 1
mjString* name2; // name of object 2
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString info; // message appended to errors
mjString* info; // message appended to errors
} mjsEquality;
typedef struct mjsTendon_ { // tendon specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// stiffness, damping, friction
double stiffness; // stiffness coefficient
@@ -599,27 +614,27 @@ typedef struct mjsTendon_ { // tendon specification
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
// visual
mjString material; // name of material for rendering
mjString* material; // name of material for rendering
double width; // width for rendering
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjDoubleVec userdata; // user data
mjString info; // message appended to errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to errors
} mjsTendon;
typedef struct mjsWrap_ { // wrapping object specification
mjElement* element; // element type
mjString info; // message appended to errors
mjString* info; // message appended to errors
} mjsWrap;
typedef struct mjsActuator_ { // actuator specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// gain, bias
mjtGain gaintype; // gain type
@@ -637,9 +652,9 @@ typedef struct mjsActuator_ { // actuator specification
// transmission
mjtTrn trntype; // transmission type
double gear[6]; // length and transmitted force scaling
mjString target; // name of transmission target
mjString refsite; // reference site, for site transmission
mjString slidersite; // site defining cylinder, for slider-crank
mjString* target; // name of transmission target
mjString* refsite; // reference site, for site transmission
mjString* slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
@@ -654,23 +669,23 @@ typedef struct mjsActuator_ { // actuator specification
// other
int group; // group
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // actuator plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsActuator;
typedef struct mjsSensor_ { // sensor specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// sensor defintion
mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object
mjString objname; // name of sensorized object
mjString* objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString refname; // name of referenced object
mjString* refname; // name of referenced object
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
@@ -682,56 +697,56 @@ typedef struct mjsSensor_ { // sensor specification
double noise; // noise stdev
// other
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sensor plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsSensor;
typedef struct mjsNumeric_ { // custom numeric field specification
mjElement* element; // element type
mjString name; // name
mjDoubleVec data; // initialization data
mjString* name; // name
mjDoubleVec* data; // initialization data
int size; // array size, can be bigger than data size
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsNumeric;
typedef struct mjsText_ { // custom text specification
mjElement* element; // element type
mjString name; // name
mjString data; // text string
mjString info; // message appended to compiler errors
mjString* name; // name
mjString* data; // text string
mjString* info; // message appended to compiler errors
} mjsText;
typedef struct mjsTuple_ { // tuple specification
mjElement* element; // element type
mjString name; // name
mjIntVec objtype; // object types
mjStringVec objname; // object names
mjDoubleVec objprm; // object parameters
mjString info; // message appended to compiler errors
mjString* name; // name
mjIntVec* objtype; // object types
mjStringVec* objname; // object names
mjDoubleVec* objprm; // object parameters
mjString* info; // message appended to compiler errors
} mjsTuple;
typedef struct mjsKey_ { // keyframe specification
mjElement* element; // element type
mjString name; // name
mjString* name; // name
double time; // time
mjDoubleVec qpos; // qpos
mjDoubleVec qvel; // qvel
mjDoubleVec act; // act
mjDoubleVec mpos; // mocap pos
mjDoubleVec mquat; // mocap quat
mjDoubleVec ctrl; // ctrl
mjString info; // message appended to compiler errors
mjDoubleVec* qpos; // qpos
mjDoubleVec* qvel; // qvel
mjDoubleVec* act; // act
mjDoubleVec* mpos; // mocap pos
mjDoubleVec* mquat; // mocap quat
mjDoubleVec* ctrl; // ctrl
mjString* info; // message appended to compiler errors
} mjsKey;
typedef struct mjsDefault_ { // default specification
mjElement* element; // element type
mjString name; // class name
mjString* name; // class name
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
@@ -932,31 +947,31 @@ MJAPI mjElement* mjs_nextChild(mjsBody* body, mjElement* child);
//---------------------------------- Attribute setters ---------------------------------------------
// Copy text to string.
MJAPI void mjs_setString(mjString dest, const char* text);
MJAPI void mjs_setString(mjString* dest, const char* text);
// Split text to entries and copy to string vector.
MJAPI void mjs_setStringVec(mjStringVec dest, const char* text);
MJAPI void mjs_setStringVec(mjStringVec* dest, const char* text);
// Set entry in string vector.
MJAPI mjtByte mjs_setInStringVec(mjStringVec dest, int i, const char* text);
MJAPI mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
// Append text entry to string vector.
MJAPI void mjs_appendString(mjStringVec dest, const char* text);
MJAPI void mjs_appendString(mjStringVec* dest, const char* text);
// Copy int array to vector.
MJAPI void mjs_setInt(mjIntVec dest, const int* array, int size);
MJAPI void mjs_setInt(mjIntVec* dest, const int* array, int size);
// Append int array to vector of arrays.
MJAPI void mjs_appendIntVec(mjIntVecVec dest, const int* array, int size);
MJAPI void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
// Copy float array to vector.
MJAPI void mjs_setFloat(mjFloatVec dest, const float* array, int size);
MJAPI void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
// Append float array to vector of arrays.
MJAPI void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
MJAPI void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
// Copy double array to vector.
MJAPI void mjs_setDouble(mjDoubleVec dest, const double* array, int size);
MJAPI void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
// Set plugin attributes.
MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
@@ -965,10 +980,10 @@ MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
//---------------------------------- Attribute getters ---------------------------------------------
// Get string contents.
MJAPI const char* mjs_getString(mjString source);
MJAPI const char* mjs_getString(const mjString* source);
// Get double array contents and optionally its size.
MJAPI const double* mjs_getDouble(mjDoubleVec source, int* size);
MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
//---------------------------------- Other utilities -----------------------------------------------
@@ -1079,7 +1094,7 @@ MJAPI void mj_setCacheSize(mjCache cache, size_t size);
MJAPI mjCache mj_globalCache(void);
#ifdef __cplusplus
}
} // extern "C"
#endif
#endif // MUJOCO_SRC_USER_USER_API_H_
src/user/user_composite.cc
+2 -2
View File
@@ -69,8 +69,8 @@ mjCComposite::mjCComposite(void) {
mjs_defaultPlugin(&plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
plugin.name = (mjString*)&plugin_name;
plugin.instance_name = (mjString*)&plugin_instance_name;
// cable
curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO;
src/user/user_flexcomp.cc
+2 -2
View File
@@ -91,8 +91,8 @@ mjCFlexcomp::mjCFlexcomp(void) {
mjs_defaultOrientation(&alt);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
plugin.name = (mjString*)&plugin_name;
plugin.instance_name = (mjString*)&plugin_instance_name;
}
src/user/user_mesh.cc
+56 -56
View File
@@ -196,18 +196,18 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
void mjCMesh::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_;
spec.uservert = (mjFloatVec)&spec_vert_;
spec.usernormal = (mjFloatVec)&spec_normal_;
spec.userface = (mjIntVec)&spec_face_;
spec.usertexcoord = (mjFloatVec)&spec_texcoord_;
spec.userfacetexcoord = (mjIntVec)&spec_facetexcoord_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.file = &spec_file_;
spec.content_type = &spec_content_type_;
spec.uservert = &spec_vert_;
spec.usernormal = &spec_normal_;
spec.userface = &spec_face_;
spec.usertexcoord = &spec_texcoord_;
spec.userfacetexcoord = &spec_facetexcoord_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = &plugin_instance_name;
spec.info = &info;
}
@@ -221,13 +221,13 @@ void mjCMesh::CopyFromSpec() {
face_ = spec_face_;
texcoord_ = spec_texcoord_;
facetexcoord_ = spec_facetexcoord_;
file = (mjString)&file_;
content_type = (mjString)&content_type_;
uservert = (mjFloatVec)&vert_;
usernormal = (mjFloatVec)&normal_;
userface = (mjIntVec)&face_;
usertexcoord = (mjFloatVec)&texcoord_;
userfacetexcoord = (mjIntVec)&facetexcoord_;
file = &file_;
content_type = &content_type_;
uservert = &vert_;
usernormal = &normal_;
userface = &face_;
usertexcoord = &texcoord_;
userfacetexcoord = &facetexcoord_;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.name = spec.plugin.name;
@@ -1979,19 +1979,19 @@ mjCSkin& mjCSkin::operator=(const mjCSkin& other) {
void mjCSkin::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
spec.material = (mjString)&spec_material_;
spec.vert = (mjFloatVec)&spec_vert_;
spec.texcoord = (mjFloatVec)&spec_texcoord_;
spec.face = (mjIntVec)&spec_face_;
spec.bodyname = (mjStringVec)&spec_bodyname_;
spec.bindpos = (mjFloatVec)&spec_bindpos_;
spec.bindquat = (mjFloatVec)&spec_bindquat_;
spec.vertid = (mjIntVecVec)&spec_vertid_;
spec.vertweight = (mjFloatVecVec)&spec_vertweight_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.file = &spec_file_;
spec.material = &spec_material_;
spec.vert = &spec_vert_;
spec.texcoord = &spec_texcoord_;
spec.face = &spec_face_;
spec.bodyname = &spec_bodyname_;
spec.bindpos = &spec_bindpos_;
spec.bindquat = &spec_bindquat_;
spec.vertid = &spec_vertid_;
spec.vertweight = &spec_vertweight_;
spec.info = &info;
}
@@ -2016,16 +2016,16 @@ void mjCSkin::CopyFromSpec() {
bindquat_ = spec_bindquat_;
vertid_ = spec_vertid_;
vertweight_ = spec_vertweight_;
file = (mjString)&spec_file_;
material = (mjString)&spec_material_;
vert = (mjFloatVec)&spec_vert_;
texcoord = (mjFloatVec)&spec_texcoord_;
face = (mjIntVec)&spec_face_;
bodyname = (mjStringVec)&spec_bodyname_;
bindpos = (mjFloatVec)&spec_bindpos_;
bindquat = (mjFloatVec)&spec_bindquat_;
vertid = (mjIntVecVec)&spec_vertid_;
vertweight = (mjFloatVecVec)&spec_vertweight_;
file = &spec_file_;
material = &spec_material_;
vert = &spec_vert_;
texcoord = &spec_texcoord_;
face = &spec_face_;
bodyname = &spec_bodyname_;
bindpos = &spec_bindpos_;
bindquat = &spec_bindquat_;
vertid = &spec_vertid_;
vertweight = &spec_vertweight_;
}
@@ -2391,14 +2391,14 @@ mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
void mjCFlex::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
spec.vertbody = (mjStringVec)&spec_vertbody_;
spec.vert = (mjDoubleVec)&spec_vert_;
spec.texcoord = (mjFloatVec)&spec_texcoord_;
spec.elem = (mjIntVec)&spec_elem_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.material = &spec_material_;
spec.vertbody = &spec_vertbody_;
spec.vert = &spec_vert_;
spec.texcoord = &spec_texcoord_;
spec.elem = &spec_elem_;
spec.info = &info;
}
@@ -2413,17 +2413,17 @@ void mjCFlex::NameSpace(const mjCModel* m) {
void mjCFlex::CopyFromSpec() {
*static_cast<mjsFlex*>(this) = spec;
spec.info = (mjString)&info;
spec.info = &info;
material_ = spec_material_;
vertbody_ = spec_vertbody_;
vert_ = spec_vert_;
texcoord_ = spec_texcoord_;
elem_ = spec_elem_;
material = (mjString)&material_;
vertbody = (mjStringVec)&vertbody_;
vert = (mjDoubleVec)&vert_;
texcoord = (mjFloatVec)&texcoord_;
elem = (mjIntVec)&elem_;
material = &material_;
vertbody = &vertbody_;
vert = &vert_;
texcoord = &texcoord_;
elem = &elem_;
// clear precompiled asset. TODO: use asset cache
nedge = 0;
src/user/user_model.cc
+10 -10
View File
@@ -417,11 +417,11 @@ void mjCModel::CreateObjectLists() {
void mjCModel::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.comment = (mjString)&spec_comment_;
spec.modelfiledir = (mjString)&spec_modelfiledir_;
spec.modelname = (mjString)&spec_modelname_;
spec.meshdir = (mjString)&spec_meshdir_;
spec.texturedir = (mjString)&spec_texturedir_;
spec.comment = &spec_comment_;
spec.modelfiledir = &spec_modelfiledir_;
spec.modelname = &spec_modelname_;
spec.meshdir = &spec_meshdir_;
spec.texturedir = &spec_texturedir_;
}
@@ -433,11 +433,11 @@ void mjCModel::CopyFromSpec() {
modelname_ = spec_modelname_;
meshdir_ = spec_meshdir_;
texturedir_ = spec_texturedir_;
comment = (mjString)&comment_;
modelfiledir = (mjString)&modelfiledir_;
modelname = (mjString)&modelname_;
meshdir = (mjString)&meshdir_;
texturedir = (mjString)&texturedir_;
comment = &comment_;
modelfiledir = &modelfiledir_;
modelname = &modelname_;
meshdir = &meshdir_;
texturedir = &texturedir_;
}
src/user/user_objects.cc
+155 -155
View File
@@ -641,7 +641,7 @@ void mjCDef::PointToLocal() {
tendon_.PointToLocal();
actuator_.PointToLocal();
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.name = &name;
spec.joint = &joint_.spec;
spec.geom = &geom_.spec;
spec.site = &site_.spec;
@@ -950,19 +950,19 @@ mjCBody& mjCBody::operator-=(const mjCBody& subtree) {
void mjCBody::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.childclass = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
spec.info = (mjString)&info;
spec.name = &name;
spec.childclass = &classname;
spec.userdata = &spec_userdata_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = (&plugin_instance_name);
spec.info = &info;
}
void mjCBody::CopyFromSpec() {
*static_cast<mjsBody*>(this) = spec;
userdata_ = spec_userdata_;
userdata = (mjDoubleVec)&userdata_;
userdata = &userdata_;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.name = spec.plugin.name;
@@ -1670,9 +1670,9 @@ void mjCFrame::SetParent(mjCBody* _body) {
void mjCFrame::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.childclass = (mjString)&classname;
spec.info = (mjString)&info;
spec.name = &name;
spec.childclass = &classname;
spec.info = &info;
}
@@ -1766,10 +1766,10 @@ bool mjCJoint::is_actfrclimited() const { return islimited(actfrclimited, actfrc
void mjCJoint::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.userdata = &spec_userdata_;
spec.info = &info;
}
@@ -1777,7 +1777,7 @@ void mjCJoint::PointToLocal() {
void mjCJoint::CopyFromSpec() {
*static_cast<mjsJoint*>(this) = spec;
userdata_ = spec_userdata_;
userdata = (mjDoubleVec)&spec_userdata_;
userdata = &spec_userdata_;
}
@@ -1966,15 +1966,15 @@ mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
// to be called after any default copy constructor
void mjCGeom::PointToLocal(void) {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.material = (mjString)&spec_material_;
spec.meshname = (mjString)&spec_meshname_;
spec.hfieldname = (mjString)&spec_hfieldname_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
spec.name = &name;
spec.info = &info;
spec.classname = &classname;
spec.userdata = &spec_userdata_;
spec.material = &spec_material_;
spec.meshname = &spec_meshname_;
spec.hfieldname = &spec_hfieldname_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = &plugin_instance_name;
}
@@ -1985,10 +1985,10 @@ void mjCGeom::CopyFromSpec() {
hfieldname_ = spec_hfieldname_;
meshname_ = spec_meshname_;
material_ = spec_material_;
userdata = (mjDoubleVec)&userdata_;
hfieldname = (mjString)&hfieldname_;
meshname = (mjString)&meshname_;
material = (mjString)&material_;
userdata = &userdata_;
hfieldname = &hfieldname_;
meshname = &meshname_;
material = &material_;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.name = spec.plugin.name;
@@ -2599,11 +2599,11 @@ mjCSite& mjCSite::operator=(const mjCSite& other) {
void mjCSite::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.info = (mjString)&info;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.name = &name;
spec.info = &info;
spec.classname = &classname;
spec.material = &spec_material_;
spec.userdata = &spec_userdata_;
}
@@ -2612,8 +2612,8 @@ void mjCSite::CopyFromSpec() {
*static_cast<mjsSite*>(this) = spec;
userdata_ = spec_userdata_;
material_ = spec_material_;
userdata = (mjDoubleVec)&userdata_;
material = (mjString)&material_;
userdata = &userdata_;
material = &material_;
}
@@ -2751,11 +2751,11 @@ mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
void mjCCamera::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.targetbody = (mjString)&spec_targetbody_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.userdata = &spec_userdata_;
spec.targetbody = &spec_targetbody_;
spec.info = &info;
}
@@ -2775,8 +2775,8 @@ void mjCCamera::CopyFromSpec() {
*static_cast<mjsCamera*>(this) = spec;
userdata_ = spec_userdata_;
targetbody_ = spec_targetbody_;
userdata = (mjDoubleVec)&userdata_;
targetbody = (mjString)&targetbody_;
userdata = &userdata_;
targetbody = &targetbody_;
}
@@ -2902,10 +2902,10 @@ mjCLight& mjCLight::operator=(const mjCLight& other) {
void mjCLight::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.targetbody = (mjString)&spec_targetbody_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.targetbody = &spec_targetbody_;
spec.info = &info;
}
@@ -2924,7 +2924,7 @@ void mjCLight::NameSpace(const mjCModel* m) {
void mjCLight::CopyFromSpec() {
*static_cast<mjsLight*>(this) = spec;
targetbody_ = spec_targetbody_;
targetbody = (mjString)&targetbody_;
targetbody = &targetbody_;
}
@@ -3002,11 +3002,11 @@ mjCHField& mjCHField::operator=(const mjCHField& other) {
void mjCHField::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_;
spec.userdata = (mjFloatVec)&spec_userdata_;
spec.info = (mjString)&info;
spec.name = &name;
spec.file = &spec_file_;
spec.content_type = &spec_content_type_;
spec.userdata = &spec_userdata_;
spec.info = &info;
}
@@ -3016,9 +3016,9 @@ void mjCHField::CopyFromSpec() {
file_ = spec_file_;
content_type_ = spec_content_type_;
userdata_ = spec_userdata_;
file = (mjString)&file_;
content_type = (mjString)&content_type_;
userdata = (mjFloatVec)&userdata_;
file = &file_;
content_type = &content_type_;
userdata = &userdata_;
// clear precompiled asset. TODO: use asset cache
data.clear();
@@ -3231,12 +3231,12 @@ mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
void mjCTexture::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_;
spec.cubefiles = (mjStringVec)&spec_cubefiles_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.file = &spec_file_;
spec.content_type = &spec_content_type_;
spec.cubefiles = &spec_cubefiles_;
spec.info = &info;
}
@@ -3246,9 +3246,9 @@ void mjCTexture::CopyFromSpec() {
file_ = spec_file_;
content_type_ = spec_content_type_;
cubefiles_ = spec_cubefiles_;
file = (mjString)&file_;
content_type = (mjString)&content_type_;
cubefiles = (mjStringVec)&cubefiles_;
file = &file_;
content_type = &content_type_;
cubefiles = &cubefiles_;
// clear precompiled asset. TODO: use asset cache
rgb.clear();
@@ -3942,10 +3942,10 @@ mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
void mjCMaterial::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.texture = (mjString)&spec_texture_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.texture = &spec_texture_;
spec.info = &info;
}
@@ -3953,7 +3953,7 @@ void mjCMaterial::PointToLocal() {
void mjCMaterial::CopyFromSpec() {
*static_cast<mjsMaterial*>(this) = spec;
texture_ = spec_texture_;
texture = (mjString)&texture_;
texture = &texture_;
}
@@ -4032,11 +4032,11 @@ mjCPair& mjCPair::operator=(const mjCPair& other) {
void mjCPair::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.geomname1 = (mjString)&spec_geomname1_;
spec.geomname2 = (mjString)&spec_geomname2_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.geomname1 = &spec_geomname1_;
spec.geomname2 = &spec_geomname2_;
spec.info = &info;
}
@@ -4055,8 +4055,8 @@ void mjCPair::CopyFromSpec() {
*static_cast<mjsPair*>(this) = spec;
geomname1_ = spec_geomname1_;
geomname2_ = spec_geomname2_;
geomname1 = (mjString)&geomname1_;
geomname2 = (mjString)&geomname2_;
geomname1 = &geomname1_;
geomname2 = &geomname2_;
}
@@ -4257,10 +4257,10 @@ mjCBodyPair& mjCBodyPair::operator=(const mjCBodyPair& other) {
void mjCBodyPair::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.bodyname1 = (mjString)&spec_bodyname1_;
spec.bodyname2 = (mjString)&spec_bodyname2_;
spec.info = (mjString)&info;
spec.name = &name;
spec.bodyname1 = &spec_bodyname1_;
spec.bodyname2 = &spec_bodyname2_;
spec.info = &info;
}
@@ -4279,8 +4279,8 @@ void mjCBodyPair::CopyFromSpec() {
*static_cast<mjsExclude*>(this) = spec;
bodyname1_ = spec_bodyname1_;
bodyname2_ = spec_bodyname2_;
bodyname1 = (mjString)&bodyname1_;
bodyname2 = (mjString)&bodyname2_;
bodyname1 = &bodyname1_;
bodyname2 = &bodyname2_;
}
@@ -4391,11 +4391,11 @@ mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
void mjCEquality::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.name1 = (mjString)&spec_name1_;
spec.name2 = (mjString)&spec_name2_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.name1 = &spec_name1_;
spec.name2 = &spec_name2_;
spec.info = &info;
}
@@ -4414,8 +4414,8 @@ void mjCEquality::CopyFromSpec() {
*static_cast<mjsEquality*>(this) = spec;
name1_ = spec_name1_;
name2_ = spec_name2_;
name1 = (mjString)&name1_;
name2 = (mjString)&name2_;
name1 = &name1_;
name2 = &name2_;
}
@@ -4560,11 +4560,11 @@ bool mjCTendon::is_limited() const { return islimited(limited, range); }
void mjCTendon::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.material = (mjString)&spec_material_;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.material = &spec_material_;
spec.userdata = &spec_userdata_;
spec.info = &info;
}
@@ -4583,8 +4583,8 @@ void mjCTendon::CopyFromSpec() {
*static_cast<mjsTendon*>(this) = spec;
material_ = spec_material_;
userdata_ = spec_userdata_;
material = (mjString)&material_;
userdata = (mjDoubleVec)&userdata_;
material = &material_;
userdata = &userdata_;
// clear precompiled
for (int i=0; i<path.size(); i++) {
@@ -4892,7 +4892,7 @@ mjCWrap& mjCWrap::operator=(const mjCWrap& other) {
void mjCWrap::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.info = (mjString)&info;
spec.info = &info;
}
@@ -5041,15 +5041,15 @@ bool mjCActuator::is_actlimited() const { return islimited(actlimited, actrange)
void mjCActuator::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.target = (mjString)&spec_target_;
spec.refsite = (mjString)&spec_refsite_;
spec.slidersite = (mjString)&spec_slidersite_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.userdata = &spec_userdata_;
spec.target = &spec_target_;
spec.refsite = &spec_refsite_;
spec.slidersite = &spec_slidersite_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = &plugin_instance_name;
spec.info = &info;
}
@@ -5071,10 +5071,10 @@ void mjCActuator::CopyFromSpec() {
target_ = spec_target_;
refsite_ = spec_refsite_;
slidersite_ = spec_slidersite_;
userdata = (mjDoubleVec)&userdata_;
target = (mjString)&target_;
refsite = (mjString)&refsite_;
slidersite = (mjString)&slidersite_;
userdata = &userdata_;
target = &target_;
refsite = &refsite_;
slidersite = &slidersite_;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.name = spec.plugin.name;
@@ -5364,14 +5364,14 @@ mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
void mjCSensor::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.userdata = (mjDoubleVec)&spec_userdata_;
spec.objname = (mjString)&spec_objname_;
spec.refname = (mjString)&spec_refname_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
spec.info = (mjString)&info;
spec.name = &name;
spec.classname = &classname;
spec.userdata = &spec_userdata_;
spec.objname = &spec_objname_;
spec.refname = &spec_refname_;
spec.plugin.name = &plugin_name;
spec.plugin.instance_name = &plugin_instance_name;
spec.info = &info;
}
@@ -5391,9 +5391,9 @@ void mjCSensor::CopyFromSpec() {
userdata_ = spec_userdata_;
objname_ = spec_objname_;
refname_ = spec_refname_;
userdata = (mjDoubleVec)&userdata_;
objname = (mjString)&objname_;
refname = (mjString)&refname_;
userdata = &userdata_;
objname = &objname_;
refname = &refname_;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.name = spec.plugin.name;
@@ -5867,9 +5867,9 @@ mjCNumeric& mjCNumeric::operator=(const mjCNumeric& other) {
void mjCNumeric::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.data = (mjDoubleVec)&spec_data_;
spec.info = (mjString)&info;
spec.name = &name;
spec.data = &spec_data_;
spec.info = &info;
}
@@ -5877,7 +5877,7 @@ void mjCNumeric::PointToLocal() {
void mjCNumeric::CopyFromSpec() {
*static_cast<mjsNumeric*>(this) = spec;
data_ = spec_data_;
data = (mjDoubleVec)&data_;
data = &data_;
}
@@ -5956,9 +5956,9 @@ mjCText& mjCText::operator=(const mjCText& other) {
void mjCText::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.data = (mjString)&spec_data_;
spec.info = (mjString)&info;
spec.name = &name;
spec.data = &spec_data_;
spec.info = &info;
}
@@ -5966,7 +5966,7 @@ void mjCText::PointToLocal() {
void mjCText::CopyFromSpec() {
*static_cast<mjsText*>(this) = spec;
data_ = spec_data_;
data = (mjString)&data_;
data = &data_;
}
@@ -6036,11 +6036,11 @@ mjCTuple& mjCTuple::operator=(const mjCTuple& other) {
void mjCTuple::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.objtype = (mjIntVec)&spec_objtype_;
spec.objname = (mjStringVec)&spec_objname_;
spec.objprm = (mjDoubleVec)&spec_objprm_;
spec.info = (mjString)&info;
spec.name = &name;
spec.objtype = (mjIntVec*)&spec_objtype_;
spec.objname = &spec_objname_;
spec.objprm = &spec_objprm_;
spec.info = &info;
}
@@ -6061,9 +6061,9 @@ void mjCTuple::CopyFromSpec() {
objtype_ = spec_objtype_;
objname_ = spec_objname_;
objprm_ = spec_objprm_;
objtype = (mjIntVec)&objtype_;
objname = (mjStringVec)&objname_;
objprm = (mjDoubleVec)&objprm_;
objtype = (mjIntVec*)&objtype_;
objname = &objname_;
objprm = &objprm_;
}
@@ -6171,14 +6171,14 @@ mjCKey& mjCKey::operator=(const mjCKey& other) {
void mjCKey::PointToLocal() {
spec.element = static_cast<mjElement*>(this);
spec.name = (mjString)&name;
spec.qpos = (mjDoubleVec)&spec_qpos_;
spec.qvel = (mjDoubleVec)&spec_qvel_;
spec.act = (mjDoubleVec)&spec_act_;
spec.mpos = (mjDoubleVec)&spec_mpos_;
spec.mquat = (mjDoubleVec)&spec_mquat_;
spec.ctrl = (mjDoubleVec)&spec_ctrl_;
spec.info = (mjString)&info;
spec.name = &name;
spec.qpos = &spec_qpos_;
spec.qvel = &spec_qvel_;
spec.act = &spec_act_;
spec.mpos = &spec_mpos_;
spec.mquat = &spec_mquat_;
spec.ctrl = &spec_ctrl_;
spec.info = &info;
}
@@ -6191,12 +6191,12 @@ void mjCKey::CopyFromSpec() {
mpos_ = spec_mpos_;
mquat_ = spec_mquat_;
ctrl_ = spec_ctrl_;
qpos = (mjDoubleVec)&qpos_;
qvel = (mjDoubleVec)&qvel_;
act = (mjDoubleVec)&act_;
mpos = (mjDoubleVec)&mpos_;
mquat = (mjDoubleVec)&mquat_;
ctrl = (mjDoubleVec)&ctrl_;
qpos = &qpos_;
qvel = &qvel_;
act = &act_;
mpos = &mpos_;
mquat = &mquat_;
ctrl = &ctrl_;
}
@@ -6314,9 +6314,9 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
// public interface
mjs_defaultPlugin(&spec);
elemtype = mjOBJ_PLUGIN;
spec.name = (mjString)&name;
spec.instance_name = (mjString)&instance_name;
spec.info = (mjString)&info;
spec.name = &name;
spec.instance_name = &instance_name;
spec.info = &info;
}