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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_objects.cc
+155 -155
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@@ -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;
}