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Make default class members private.
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PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
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@kbayes
kbayes authored and Copybara-Service committed May 16, 2024
1 parent 6e58ced commit e885a3d
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Showing 9 changed files with 362 additions and 346 deletions.
4 changes: 2 additions & 2 deletions src/user/user_api.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -429,7 +429,7 @@ mjsPlugin* mjs_addPlugin(mjSpec* s) {
// add default to model
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
*id = (int)modelC->Defaults().size();
*id = (int)modelC->NumDefaults();
mjCDef* def = modelC->AddDefault(classname, parentid);
if (def) {
return &def->spec;
Expand Down Expand Up @@ -469,7 +469,7 @@ 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->Defaults(0);
if (!def) {
return nullptr;
}
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26 changes: 13 additions & 13 deletions src/user/user_composite.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -561,15 +561,15 @@ 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->Defaults(0)->spec);
mjs_setString(ten->name, txt0);
ten->group = 4;
mjs_wrapSite(ten, txt1);
mjs_wrapSite(ten, txt2);

// 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->Defaults(0)->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, mjs_getString(ten->name));
}
Expand Down Expand Up @@ -675,15 +675,15 @@ 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->Defaults(0);
mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy);
ten->name = txt;
ten->WrapSite(txt1);
ten->WrapSite(txt2);

// 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->Defaults(0)->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, ten->name.c_str());
}
Expand Down Expand Up @@ -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->Defaults(0)->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
Expand All @@ -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->Defaults(0)->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
Expand Down Expand Up @@ -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->Defaults(0);
mju::sprintf_arr(txt, "%sT", prefix.c_str());
ten->name = txt;

Expand Down Expand Up @@ -1184,7 +1184,7 @@ 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->Defaults(0)->spec);
eq->type = mjEQ_JOINT;
mjs_setString(eq->name1, mjs_getString(jnt->name));

Expand Down Expand Up @@ -1218,7 +1218,7 @@ 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->Defaults(0)->spec);
eqt->type = mjEQ_TENDON;
mjs_setString(eqt->name1, ten->name.c_str());

Expand All @@ -1244,7 +1244,7 @@ void mjCComposite::MakeShear(mjCModel* model) {

// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR);
ten->def = model->Defaults()[0];
ten->def = model->Defaults(0);
ten->WrapSite(txt1);
ten->WrapSite(txt2);

Expand All @@ -1254,7 +1254,7 @@ 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->Defaults(0)->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, txt);
}
Expand Down Expand Up @@ -1552,11 +1552,11 @@ void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
// bind pose
if (iy==0) {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(-def[0].geom.spec.size[1]);
bindpos.push_back(-def[0].Geom().spec.size[1]);
bindpos.push_back(0);
} else if (iy==2) {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(def[0].geom.spec.size[1]);
bindpos.push_back(def[0].Geom().spec.size[1]);
bindpos.push_back(0);
} else {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
Expand Down
6 changes: 3 additions & 3 deletions src/user/user_flexcomp.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -400,7 +400,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjsFlex* pf = &flex->spec;
int id = flex->id;

*flex = def.flex;
*flex = def.Flex();
flex->PointToLocal();

flex->model = model;
Expand Down Expand Up @@ -521,7 +521,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
// create edge equality constraint
if (equality) {
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
mjs_setDefault(pe->element, &model->Defaults()[0]->spec);
mjs_setDefault(pe->element, &model->Defaults(0)->spec);
pe->type = mjEQ_FLEX;
pe->active = true;
mjs_setString(pe->name1, name.c_str());
Expand All @@ -544,7 +544,7 @@ int mjCFlexcomp::GridID(int ix, int iy, int iz) {

// make grid
bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
int dim = def.flex.spec.dim;
int dim = def.Flex().spec.dim;
bool hastex = texcoord.empty();

// 1D
Expand Down
8 changes: 4 additions & 4 deletions src/user/user_mesh.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -146,12 +146,12 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {

// reset to default if given
if (_def) {
*this = _def->mesh;
*this = _def->Mesh();
}

// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));

// in case this body is not compiled
CopyFromSpec();
Expand Down Expand Up @@ -1426,7 +1426,7 @@ void mjCMesh::Process() {
// apply formula, accumulate
GetVolumeRef(type) += vol;
for (int j=0; j<6; j++) {
P[j] += def->geom.density*vol /
P[j] += def->Geom().density*vol /
(type==mjINERTIA_SHELL ? 12 : 20) * (
2*(D[k[j][0]] * D[k[j][1]] +
E[k[j][0]] * E[k[j][1]] +
Expand Down Expand Up @@ -1467,7 +1467,7 @@ void mjCMesh::Process() {
}

// compute sizes of equivalent inertia box
double mass = GetVolumeRef(type) * def->geom.density;
double mass = GetVolumeRef(type) * def->Geom().density;
double* boxsz = GetInertiaBoxPtr(type);
boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;
Expand Down
3 changes: 2 additions & 1 deletion src/user/user_model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,8 @@ class mjCModel : public mjCModel_, private mjSpec {
std::string get_meshdir() const { return meshdir_; }
std::string get_texturedir() const { return texturedir_; }

const std::vector<mjCDef*>& Defaults() const { return defaults_; }
mjCDef* Defaults(int i) const { return defaults_[i]; }
int NumDefaults() const { return defaults_.size(); }

const std::vector<std::pair<const mjpPlugin*, int>>& ActivePlugins() const {
return active_plugins_;
Expand Down

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