Remove classname from mjs* structs.

PiperOrigin-RevId: 647277317 Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
2024-06-27 05:12:16 -07:00
parent 62e2842116
commit f6cc3f4091
9 changed files with 110 additions and 254 deletions
@@ -195,7 +195,6 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
 void mjCMesh::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.file = &spec_file_;
  spec.content_type = &spec_content_type_;
  spec.uservert = &spec_vert_;
@@ -1982,7 +1981,6 @@ mjCSkin& mjCSkin::operator=(const mjCSkin& other) {
 void mjCSkin::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.file = &spec_file_;
  spec.material = &spec_material_;
  spec.vert = &spec_vert_;
@@ -2394,7 +2392,6 @@ mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
 void mjCFlex::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.material = &spec_material_;
  spec.vertbody = &spec_vertbody_;
  spec.vert = &spec_vert_;
@@ -1686,6 +1686,7 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // point to local
  PointToLocal();
@@ -1726,7 +1727,6 @@ bool mjCJoint::is_actfrclimited() const { return islimited(actfrclimited, actfrc
 void mjCJoint::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.userdata = &spec_userdata_;
  spec.info = &info;
 }
@@ -1894,6 +1894,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // point to local
  PointToLocal();
@@ -1927,7 +1928,6 @@ void mjCGeom::PointToLocal(void) {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
  spec.info = &info;
-  spec.classname = &classname;
  spec.userdata = &spec_userdata_;
  spec.material = &spec_material_;
  spec.meshname = &spec_meshname_;
@@ -2537,6 +2537,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";
 }


@@ -2563,7 +2564,6 @@ void mjCSite::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
  spec.info = &info;
-  spec.classname = &classname;
  spec.material = &spec_material_;
  spec.userdata = &spec_userdata_;
 }
@@ -2683,6 +2683,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // point to local
  PointToLocal();
@@ -2714,7 +2715,6 @@ mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
 void mjCCamera::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.userdata = &spec_userdata_;
  spec.targetbody = &spec_targetbody_;
  spec.info = &info;
@@ -2837,6 +2837,7 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  PointToLocal();
  CopyFromSpec();
@@ -2865,7 +2866,6 @@ mjCLight& mjCLight::operator=(const mjCLight& other) {
 void mjCLight::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.targetbody = &spec_targetbody_;
  spec.info = &info;
 }
@@ -3194,7 +3194,6 @@ mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
 void mjCTexture::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.file = &spec_file_;
  spec.content_type = &spec_content_type_;
  spec.cubefiles = &spec_cubefiles_;
@@ -3873,6 +3872,7 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {

  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  PointToLocal();

@@ -3903,7 +3903,6 @@ mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
 void mjCMaterial::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.texture = &spec_texture_;
  spec.info = &info;
 }
@@ -3960,6 +3959,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // point to local
  PointToLocal();
@@ -3993,7 +3993,6 @@ mjCPair& mjCPair::operator=(const mjCPair& other) {
 void mjCPair::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.geomname1 = &spec_geomname1_;
  spec.geomname2 = &spec_geomname2_;
  spec.info = &info;
@@ -4321,6 +4320,7 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // point to local
  PointToLocal();
@@ -4352,7 +4352,6 @@ mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
 void mjCEquality::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.name1 = &spec_name1_;
  spec.name2 = &spec_name2_;
  spec.info = &info;
@@ -4483,6 +4482,7 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // point to local
  PointToLocal();
@@ -4521,7 +4521,6 @@ bool mjCTendon::is_limited() const { return islimited(limited, range); }
 void mjCTendon::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.material = &spec_material_;
  spec.userdata = &spec_userdata_;
  spec.info = &info;
@@ -4961,6 +4960,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
  // set model, def
  model = _model;
  def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
+  classname = def ? def->name : "";

  // in case this actuator is not compiled
  CopyFromSpec();
@@ -5002,7 +5002,6 @@ bool mjCActuator::is_actlimited() const { return islimited(actlimited, actrange)
 void mjCActuator::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.userdata = &spec_userdata_;
  spec.target = &spec_target_;
  spec.refsite = &spec_refsite_;
@@ -5325,7 +5324,6 @@ mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
 void mjCSensor::PointToLocal() {
  spec.element = static_cast<mjsElement*>(this);
  spec.name = &name;
-  spec.classname = &classname;
  spec.userdata = &spec_userdata_;
  spec.objname = &spec_objname_;
  spec.refname = &spec_refname_;
@@ -300,7 +300,6 @@ class mjCBody : public mjCBody_, private mjsBody {

  // inherited
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  // used by mjXWriter and mjCModel
@@ -362,7 +361,6 @@ class mjCFrame : public mjCFrame_, private mjsFrame {

  mjsFrame spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec(void);
@@ -409,7 +407,6 @@ class mjCJoint : public mjCJoint_, private mjsJoint {

  mjsJoint spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec(void);
@@ -510,7 +507,6 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
  void NameSpace(const mjCModel* m);

  // inherited
-  using mjCBase::classname;
  using mjCBase::info;
 };

@@ -548,7 +544,6 @@ class mjCSite : public mjCSite_, private mjsSite {

  // use strings from mjCBase rather than mjStrings from mjsSite
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  // used by mjXWriter and mjCModel
@@ -591,7 +586,6 @@ class mjCCamera : public mjCCamera_, private mjsCamera {

  mjsCamera spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  // used by mjXWriter and mjCModel
@@ -631,7 +625,6 @@ class mjCLight : public mjCLight_, private mjsLight {

  mjsLight spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  // used by mjXWriter and mjCModel
@@ -694,7 +687,6 @@ class mjCFlex: public mjCFlex_, private mjsFlex {

  mjsFlex spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec(void);
@@ -794,7 +786,6 @@ class mjCMesh: public mjCMesh_, private mjsMesh {

  mjsMesh spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec(void);
@@ -925,7 +916,6 @@ class mjCSkin: public mjCSkin_, private mjsSkin {

  mjsSkin spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  const std::string& get_file() const { return file_; }
@@ -1027,7 +1017,6 @@ class mjCTexture : public mjCTexture_, private mjsTexture {

  mjsTexture spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec(void);
@@ -1082,7 +1071,6 @@ class mjCMaterial : public mjCMaterial_, private mjsMaterial {

  mjsMaterial spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec();
@@ -1123,7 +1111,6 @@ class mjCPair : public mjCPair_, private mjsPair {

  mjsPair spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec();
@@ -1220,7 +1207,6 @@ class mjCEquality : public mjCEquality_, private mjsEquality {

  mjsEquality spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void CopyFromSpec();
@@ -1261,7 +1247,6 @@ class mjCTendon : public mjCTendon_, private mjsTendon {

  mjsTendon spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  void set_material(std::string _material) { material_ = _material; }
@@ -1394,7 +1379,6 @@ class mjCActuator : public mjCActuator_, private mjsActuator {

  mjsActuator spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  // used by mjXWriter and mjCModel
@@ -1453,7 +1437,6 @@ class mjCSensor : public mjCSensor_, private mjsSensor {

  mjsSensor spec;
  using mjCBase::name;
-  using mjCBase::classname;
  using mjCBase::info;

  // used by mjXWriter and mjCModel