Encapsulate mjCModel internal lists.
PiperOrigin-RevId: 631760335 Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
96844db926
commit
13bf9ae6bd
+85
-55
@@ -192,14 +192,6 @@ class mjCModel : public mjCModel_, private mjSpec {
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mjCKey* AddKey();
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mjCPlugin* AddPlugin();
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// copy vector of elements to this model
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template <class T> void CopyList(std::vector<T*>& dest,
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const std::vector<T*>& source,
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std::map<mjCDef*, int>& def_map,
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const std::vector<mjCDef*>& defaults);
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// delete from list the elements that are compatible with other but not this model
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template <class T> void RemoveFromList(std::vector<T*>& list, const mjCModel& other);
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// delete elements marked as discard=true
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template <class T> void Delete(std::vector<T*>& elements,
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@@ -214,43 +206,58 @@ class mjCModel : public mjCModel_, private mjSpec {
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// API for access to other variables
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bool IsCompiled() const; // is model already compiled
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const mjCError& GetError(void) const; // get reference of error object
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mjCBody* GetWorld() const; // pointer to world body
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mjCDef* FindDef(std::string name) const; // find default class name
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mjCDef* AddDef(std::string name, int parentid); // add default class to array
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const mjCError& GetError() const; // get reference of error object
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mjCBody* GetWorld(); // pointer to world body
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mjCDef* FindDefault(std::string name); // find defaults class name
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mjCDef* AddDefault(std::string name, int parentid); // add defaults class to array
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mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
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mjCBody* FindBody(mjCBody* body, std::string name) const; // find body given name
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mjCBody* FindBody(mjCBody* body, std::string name); // find body given name
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mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
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bool IsNullPose(const mjtNum* pos, const mjtNum* quat) const; // detect null pose
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void SetActivePlugins(const std::vector<std::pair<const mjpPlugin*, int>>&& active_plugins) {
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active_plugins_ = std::move(active_plugins);
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}
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// accessors
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std::string get_meshdir(void) const { return meshdir_; }
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std::string get_texturedir(void) const { return texturedir_; }
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std::string get_meshdir() const { return meshdir_; }
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std::string get_texturedir() const { return texturedir_; }
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const std::vector<mjCDef*>& Defaults() const { return defaults_; }
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const std::vector<std::pair<const mjpPlugin*, int>>& ActivePlugins() const {
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return active_plugins_;
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};
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const std::vector<mjCFlex*>& Flexes() const { return flexes_; }
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const std::vector<mjCMesh*>& Meshes() const {return meshes_; }
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const std::vector<mjCSkin*>& Skins() const { return skins_; }
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const std::vector<mjCHField*>& HFields() const { return hfields_; }
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const std::vector<mjCTexture*>& Textures() const { return textures_; }
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const std::vector<mjCMaterial*>& Materials() const { return materials_; }
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const std::vector<mjCPair*>& Pairs() const { return pairs_; }
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const std::vector<mjCBodyPair*>& Excludes() const { return excludes_; }
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const std::vector<mjCEquality*>& Equalities() const { return equalities_; }
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const std::vector<mjCTendon*>& Tendons() const { return tendons_; }
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const std::vector<mjCActuator*>& Actuators() const { return actuators_; }
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const std::vector<mjCSensor*>& Sensors() const { return sensors_; }
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const std::vector<mjCNumeric*>& Numerics() const { return numerics_; }
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const std::vector<mjCText*>& Texts() const { return texts_; }
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const std::vector<mjCTuple*>& Tuples() const { return tuples_; }
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const std::vector<mjCKey*>& Keys() const { return keys_; }
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const std::vector<mjCPlugin*>& Plugins() const { return plugins_; }
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const std::vector<mjCBody*>& Bodies() const { return bodies_; }
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const std::vector<mjCGeom*>& Geoms() const { return geoms_; }
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// resolve plugin instance, create a new one if needed
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void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
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const std::string& plugin_instance_name,
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mjCPlugin** plugin_instance);
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// settings for each defaults class
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std::vector<mjCDef*> defaults;
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// list of active plugins
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std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
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private:
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void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
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mjModel* _Compile(const mjVFS* vfs);
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// clear objects allocated by Compile
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void Clear(void);
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// add object of any type
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template <class T> T* AddObject(std::vector<T*>& list, std::string type);
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// add object of any type, with def parameter
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template <class T> T* AddObjectDef(std::vector<T*>& list, std::string type,
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mjCDef* def);
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void Clear();
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// if asset name is missing, set to filename
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template<class T> void SetDefaultNames(std::vector<T*>& assets);
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@@ -259,6 +266,13 @@ class mjCModel : public mjCModel_, private mjSpec {
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template <class T> void DeleteMaterial(std::vector<T*>& list,
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std::string_view name = "");
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private:
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// settings for each defaults class
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std::vector<mjCDef*> defaults_;
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// list of active plugins
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std::vector<std::pair<const mjpPlugin*, int>> active_plugins_;
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// compile phases
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void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
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void SetNuser(); // set nuser fields
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@@ -273,35 +287,51 @@ class mjCModel : public mjCModel_, private mjSpec {
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void CopyTree(mjModel*); // copy objects inside kinematic tree
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// objects created here
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std::vector<mjCFlex*> flexes; // list of flexes
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std::vector<mjCMesh*> meshes; // list of meshes
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std::vector<mjCSkin*> skins; // list of skins
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std::vector<mjCHField*> hfields; // list of height fields
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std::vector<mjCTexture*> textures; // list of textures
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std::vector<mjCMaterial*> materials; // list of materials
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std::vector<mjCPair*> pairs; // list of geom pairs to include
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std::vector<mjCBodyPair*> excludes; // list of body pairs to exclude
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std::vector<mjCEquality*> equalities; // list of equality constraints
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std::vector<mjCTendon*> tendons; // list of tendons
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std::vector<mjCActuator*> actuators; // list of actuators
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std::vector<mjCSensor*> sensors; // list of sensors
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std::vector<mjCNumeric*> numerics; // list of numeric fields
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std::vector<mjCText*> texts; // list of text fields
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std::vector<mjCTuple*> tuples; // list of tuple fields
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std::vector<mjCKey*> keys; // list of keyframe fields
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std::vector<mjCPlugin*> plugins; // list of plugin instances
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std::vector<mjCFlex*> flexes_; // list of flexes
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std::vector<mjCMesh*> meshes_; // list of meshes
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std::vector<mjCSkin*> skins_; // list of skins
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std::vector<mjCHField*> hfields_; // list of height fields
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std::vector<mjCTexture*> textures_; // list of textures
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std::vector<mjCMaterial*> materials_; // list of materials
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std::vector<mjCPair*> pairs_; // list of geom pairs to include
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std::vector<mjCBodyPair*> excludes_; // list of body pairs to exclude
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std::vector<mjCEquality*> equalities_; // list of equality constraints
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std::vector<mjCTendon*> tendons_; // list of tendons
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std::vector<mjCActuator*> actuators_; // list of actuators
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std::vector<mjCSensor*> sensors_; // list of sensors
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std::vector<mjCNumeric*> numerics_; // list of numeric fields
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std::vector<mjCText*> texts_; // list of text fields
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std::vector<mjCTuple*> tuples_; // list of tuple fields
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std::vector<mjCKey*> keys_; // list of keyframe fields
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std::vector<mjCPlugin*> plugins_; // list of plugin instances
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// pointers to objects created inside kinematic tree
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std::vector<mjCBody*> bodies; // list of bodies
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std::vector<mjCJoint*> joints; // list of joints allowing motion relative to parent
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std::vector<mjCGeom*> geoms; // list of geoms attached to this body
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std::vector<mjCSite*> sites; // list of sites attached to this body
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std::vector<mjCCamera*> cameras; // list of cameras
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std::vector<mjCLight*> lights; // list of lights
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std::vector<mjCFrame*> frames; // list of frames
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std::vector<mjCBody*> bodies_; // list of bodies
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std::vector<mjCJoint*> joints_; // list of joints allowing motion relative to parent
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std::vector<mjCGeom*> geoms_; // list of geoms attached to this body
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std::vector<mjCSite*> sites_; // list of sites attached to this body
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std::vector<mjCCamera*> cameras_; // list of cameras
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std::vector<mjCLight*> lights_; // list of lights
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std::vector<mjCFrame*> frames_; // list of frames
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// array of pointers to each object list (enumerated by type)
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std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists;
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std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists_;
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// add object of any type
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template <class T> T* AddObject(std::vector<T*>& list, std::string type);
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// add object of any type, with defaults parameter
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template <class T> T* AddObjectDefault(std::vector<T*>& list, std::string type,
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mjCDef* def);
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// copy vector of elements to this model
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template <class T> void CopyList(std::vector<T*>& dest,
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const std::vector<T*>& sources,
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std::map<mjCDef*, int>& def_map,
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const std::vector<mjCDef*>& defaults);
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// delete from list the elements that are compatible with other but not this model
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template <class T> void RemoveFromList(std::vector<T*>& list, const mjCModel& other);
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// create mjCBase lists from children lists
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void CreateObjectLists();
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