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Replace mjs_detachBody and mjs_detachDefault with mjs_detach.

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In a follow-up, mjs_detach will be changed to only remove without deleting an element.

PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
This commit is contained in:
Alessio Quaglino
2025-06-20 04:11:14 -07:00
committed by Copybara-Service
parent 4ce6293217
commit 0488d9f4eb
15 changed files with 177 additions and 179 deletions
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src/user/user_model.cc
+30 -24
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@@ -742,15 +742,44 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
// recursively delete all plugins in the subtree
static void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
mjsPlugin* plugin = &(subtree->spec.plugin);
if (plugin->active && plugin->name->empty()) {
model->DeleteElement(plugin->element);
}
for (auto* body : subtree->Bodies()) {
deletesubtreeplugin(body, model);
}
}
// discard all invalid elements from all lists
void mjCModel::DeleteElement(mjsElement* el) {
ResetTreeLists();
if (el->elemtype != mjOBJ_DEFAULT) {
if (static_cast<mjCBase*>(el)->model != this) {
throw mjCError(nullptr, "element is not in this model");
}
} else {
if (static_cast<mjCDef*>(el)->model != this) {
throw mjCError(nullptr, "default is not in this model");
}
}
switch (el->elemtype) {
case mjOBJ_BODY:
{
MakeTreeLists(); // rebuild lists that were reset at the beginning of the function
throw mjCError(nullptr, "bodies cannot be deleted, use detach instead");
mjCBody* subtree = static_cast<mjCBody*>(el);
if (subtree->GetRef() == 1) {
deletesubtreeplugin(subtree, this);
}
subtree->Release();
break;
}
case mjOBJ_DEFAULT:
MakeTreeLists(); // rebuild lists that were reset at the beginning of the function
@@ -828,29 +857,6 @@ void mjCModel::DeleteElement(mjsElement* el) {
// recursively delete all plugins in the subtree
void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
mjsPlugin* plugin = &(subtree->spec.plugin);
if (plugin->active && plugin->name->empty()) {
model->DeleteElement(plugin->element);
}
for (auto* body : subtree->Bodies()) {
deletesubtreeplugin(body, model);
}
}
// deletes all plugins in the subtree and then the subtree itself
void mjCModel::Detach(mjCBody* subtree) {
if (subtree->GetRef() == 1) {
deletesubtreeplugin(subtree, this);
}
subtree->Release();
}
// TODO: we should not use C-type casting with multiple C++ inheritance
void mjCModel::CreateObjectLists() {
for (int i = 0; i < mjNOBJECT; ++i) {