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Store the mjsCompiler -> appended mjSpec map when appending an mjSpec.

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Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.

While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.

PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384
This commit is contained in:
Alessio Quaglino
2025-03-28 06:26:30 -07:00
committed by Copybara-Service
parent 6e19035aab
commit 01d4c46753
4 changed files with 69 additions and 25 deletions
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src/user/user_model.cc
+14 -15
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@@ -212,9 +212,6 @@ mjCModel::mjCModel() {
// create mjCBase lists from children lists
CreateObjectLists();
// the source spec is the model itself, overwritten in the copy constructor
source_spec_ = &spec;
// set the signature
spec.element->signature = 0;
}
@@ -223,7 +220,6 @@ mjCModel::mjCModel() {
mjCModel::mjCModel(const mjCModel& other) {
CreateObjectLists();
source_spec_ = (mjSpec*)&other.spec;
*this = other;
}
@@ -239,6 +235,7 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
// copy attached specs first so that we can resolve references to them
for (const auto* s : other.specs_) {
specs_.push_back(mj_copySpec(s));
compiler2spec_[&s->compiler] = specs_.back();
}
// the world copy constructor takes care of copying the tree
@@ -1165,9 +1162,13 @@ mjCPlugin* mjCModel::AddPlugin() {
// append spec to spec
void mjCModel::AppendSpec(mjSpec* spec) {
void mjCModel::AppendSpec(mjSpec* spec, const mjsCompiler* compiler_) {
// TODO: check if the spec is already in the list
specs_.push_back(spec);
if (compiler_) {
compiler2spec_[compiler_] = spec;
}
}
@@ -1461,10 +1462,15 @@ mjSpec* mjCModel::FindSpec(std::string name) const {
// find spec by mjsCompiler pointer
mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
if (&GetSourceSpec()->compiler == compiler_) {
return (mjSpec*)&spec;
mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) {
if (compiler_ == &spec.compiler) {
return &spec;
}
if (compiler2spec_.find(compiler_) != compiler2spec_.end()) {
return compiler2spec_[compiler_];
}
for (auto s : specs_) {
mjSpec* source = static_cast<mjCModel*>(s->element)->FindSpec(compiler_);
if (source) {
@@ -1476,13 +1482,6 @@ mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
// get the spec from which this model was created
mjSpec* mjCModel::GetSourceSpec() const {
return source_spec_;
}
//------------------------------- COMPILER PHASES --------------------------------------------------
// make lists of objects in tree: bodies, geoms, joints, sites, cameras, lights