From 0ae9ba37f9278f394d586cf4b6b44e8e5a63a7ef Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 22 Feb 2024 08:11:46 -0800
Subject: [PATCH] Replace PointToLocal with operator overload in mjCDef.

PiperOrigin-RevId: 609376948
Change-Id: Id69909d06ab48824a9cbe0d5a305e8f8b72a193d
---
 src/user/user_api.cc       |  1 -
 src/user/user_composite.cc |  7 -------
 src/user/user_model.cc     |  1 -
 src/user/user_objects.cc   | 35 ++++++++++++++++++++++++++++++++++-
 src/user/user_objects.h    |  8 +++++---
 5 files changed, 39 insertions(+), 13 deletions(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 87e0839e..cb735dcb 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -405,7 +405,6 @@ int mjm_getId(mjElement element) {
 void mjm_setDefault(mjElement element, mjmDefault* defspec) {
   mjCBase* baseC = reinterpret_cast<mjCBase*>(element);
   baseC->def = reinterpret_cast<mjCDef*>(defspec->element);
-  baseC->def->PointToLocal();
 }
 
 
diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index 55ad7bef..2aa04775 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -125,13 +125,6 @@ bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
       jnt.spec.joint->group = 3;
       defjoint[(mjtCompKind)i].push_back(jnt);
     }
-
-    // TODO: push_back might invoke a copy constructor, we undo its effect on pointers here
-    for (int i=0; i<mjNCOMPKINDS; i++) {
-      for (int j=0; j<defjoint[(mjtCompKind)i].size(); j++) {
-        defjoint[(mjtCompKind)i][j].PointToLocal();
-      }
-    }
   }
   return true;
 }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index af5e05b4..77c7289d 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -543,7 +543,6 @@ mjCDef* mjCModel::AddDef(string name, int parentid) {
   if (parentid>=0 && parentid<thisid) {
     *def = *defaults[parentid];
     defaults[parentid]->childid.push_back(thisid);
-    def->PointToLocal();
   }
   def->parentid = parentid;
   def->name = name;
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index a475a76d..b1cb21ba 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -483,11 +483,20 @@ mjCDef::mjCDef(void) {
   mjm_defaultEquality(equality.spec);
   mjm_defaultTendon(tendon.spec);
   mjm_defaultActuator(actuator.spec);
+
+  // make sure all the pointers are local
   PointToLocal();
 }
 
 
 
+// copy constructor
+mjCDef::mjCDef(const mjCDef& other) {
+  *this = other;
+}
+
+
+
 // compiler
 void mjCDef::Compile(const mjCModel* model) {
   // enforce length of all default userdata arrays
@@ -501,7 +510,31 @@ void mjCDef::Compile(const mjCModel* model) {
 
 
 
-// assignment operator (TODO: use overloading)
+// assignment operator
+mjCDef& mjCDef::operator=(const mjCDef& other) {
+  if (this != &other) {
+    name = other.name;
+    parentid = other.parentid;
+    childid = other.childid;
+    joint = other.joint;
+    geom = other.geom;
+    site = other.site;
+    camera = other.camera;
+    light = other.light;
+    flex = other.flex;
+    mesh = other.mesh;
+    material = other.material;
+    pair = other.pair;
+    equality = other.equality;
+    tendon = other.tendon;
+    actuator = other.actuator;
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 void mjCDef::PointToLocal() {
   joint.PointToLocal();
   geom.PointToLocal();
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 2bafb703..d45e6968 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1394,9 +1394,11 @@ class mjCDef {
   friend class mjXWriter;
 
  public:
-  mjCDef(void);                           // constructor
-  void Compile(const mjCModel* model);    // compiler
-  void PointToLocal();
+  mjCDef(void);                            // constructor
+  mjCDef(const mjCDef& other);             // copy constructor
+  void Compile(const mjCModel* model);     // compiler
+  mjCDef& operator=(const mjCDef& other);  // copy assignment
+  void PointToLocal(void);
 
   // identifiers
   std::string name;               // class name