Remove deprecated mjv_makeConnector function.

PiperOrigin-RevId: 690563333 Change-Id: I15dcff14e9f9c2256970b8e191930a0dcc656882
zanxueyan · Oct 28, 2024 · a16d1db · a16d1db
1 parent 600bf1a
commit a16d1db
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Showing 6 changed files with 16 additions and 37 deletions.
diff --git a/mjpc/agent.cc b/mjpc/agent.cc
@@ -508,14 +508,10 @@ void Agent::ModifyScene(mjvScene* scn) {
                   color);
 
       // make geometry
-      mjv_makeConnector(
+      mjv_connector(
           &scn->geoms[scn->ngeom], mjGEOM_CAPSULE, width,
-          winner->trace[3 * num_trace * i + 3 * j],
-          winner->trace[3 * num_trace * i + 1 + 3 * j],
-          winner->trace[3 * num_trace * i + 2 + 3 * j],
-          winner->trace[3 * num_trace * (i + 1) + 3 * j],
-          winner->trace[3 * num_trace * (i + 1) + 1 + 3 * j],
-          winner->trace[3 * num_trace * (i + 1) + 2 + 3 * j]);
+          winner->trace.data() + 3 * num_trace * i + 3 * j,
+          winner->trace.data() + 3 * num_trace * (i + 1) + 3 * j);
       // increment number of geometries
       scn->ngeom += 1;
     }

diff --git a/mjpc/planners/cross_entropy/planner.cc b/mjpc/planners/cross_entropy/planner.cc
@@ -465,14 +465,10 @@ void CrossEntropyPlanner::Traces(mjvScene* scn) {
         // elite index
         int idx = trajectory_order[k];
         // make geometry
-        mjv_makeConnector(
+        mjv_connector(
             &scn->geoms[scn->ngeom], mjGEOM_LINE, width,
-            trajectory[idx].trace[3 * task->num_trace * i + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * i + 1 + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * i + 2 + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * (i + 1) + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * (i + 1) + 1 + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * (i + 1) + 2 + 3 * j]);
+            trajectory[idx].trace.data() + 3*task->num_trace * i + 3 * j,
+            trajectory[idx].trace.data() + 3*task->num_trace * (i + 1) + 3 * j);
 
         // increment number of geometries
         scn->ngeom += 1;

diff --git a/mjpc/planners/gradient/planner.cc b/mjpc/planners/gradient/planner.cc
@@ -448,14 +448,10 @@ void GradientPlanner::Traces(mjvScene* scn) {
                      color);
 
         // make geometry
-        mjv_makeConnector(
+        mjv_connector(
             &scn->geoms[scn->ngeom], mjGEOM_LINE, width,
-            trajectory[k].trace[3 * task->num_trace * i + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * i + 1 + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * i + 2 + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * (i + 1) + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * (i + 1) + 1 + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * (i + 1) + 2 + 3 * j]);
+            trajectory[k].trace.data() + 3 * task->num_trace * i + 3 * j,
+            trajectory[k].trace.data() + 3 * task->num_trace * (i + 1) + 3 * j);
 
         // increment number of geometries
         scn->ngeom += 1;

diff --git a/mjpc/planners/sample_gradient/planner.cc b/mjpc/planners/sample_gradient/planner.cc
@@ -542,14 +542,10 @@ void SampleGradientPlanner::Traces(mjvScene* scn) {
                      idx < num_noisy ? white : orange);
 
         // make geometry
-        mjv_makeConnector(
+        mjv_connector(
             &scn->geoms[scn->ngeom], mjGEOM_LINE, width,
-            trajectory[idx].trace[3 * task->num_trace * i + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * i + 1 + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * i + 2 + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * (i + 1) + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * (i + 1) + 1 + 3 * j],
-            trajectory[idx].trace[3 * task->num_trace * (i + 1) + 2 + 3 * j]);
+            trajectory[k].trace.data() + 3 * task->num_trace * i + 3 * j,
+            trajectory[k].trace.data() + 3 * task->num_trace * (i + 1) + 3 * j);
 
         // increment number of geometries
         scn->ngeom += 1;

diff --git a/mjpc/planners/sampling/planner.cc b/mjpc/planners/sampling/planner.cc
@@ -430,14 +430,10 @@ void SamplingPlanner::Traces(mjvScene* scn) {
                      color);
 
         // make geometry
-        mjv_makeConnector(
+        mjv_connector(
             &scn->geoms[scn->ngeom], mjGEOM_LINE, width,
-            trajectory[k].trace[3 * task->num_trace * i + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * i + 1 + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * i + 2 + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * (i + 1) + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * (i + 1) + 1 + 3 * j],
-            trajectory[k].trace[3 * task->num_trace * (i + 1) + 2 + 3 * j]);
+            trajectory[k].trace.data() + 3 * task->num_trace * i + 3 * j,
+            trajectory[k].trace.data() + 3 * task->num_trace * (i + 1) + 3 * j);
 
         // increment number of geometries
         scn->ngeom += 1;

diff --git a/mjpc/utilities.cc b/mjpc/utilities.cc
@@ -751,8 +751,7 @@ void AddConnector(mjvScene* scene, mjtGeom type, mjtNum width,
   mjv_initGeom(&scene->geoms[scene->ngeom], type,
                /*size=*/nullptr, /*pos=*/nullptr, /*mat=*/nullptr, rgba);
   scene->geoms[scene->ngeom].category = mjCAT_DECOR;
-  mjv_makeConnector(&scene->geoms[scene->ngeom], type, width, from[0], from[1],
-                    from[2], to[0], to[1], to[2]);
+  mjv_connector(&scene->geoms[scene->ngeom], type, width, from, to);
 
   // increment ngeom
   scene->ngeom += 1;