No public description

PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d

src/user/user_objects.cc

@@ -1210,13 +1210,6 @@ void mjCBase::NameSpace(const mjCModel* m) {
 
 
 
-mjsCompiler* mjCBase::FindCompiler(const mjsCompiler* compiler) const {
-  mjSpec* origin = model->FindSpec(compiler);
-  return origin ? &origin->compiler : &model->spec.compiler;
-}
-
-
-
 // load resource if found (fallback to OS filesystem)
 mjResource* mjCBase::LoadResource(const std::string& modelfiledir,
                                   const std::string& filename,
@@ -1320,7 +1313,8 @@ mjCBody::mjCBody(mjCModel* _model) {
 
 mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
   model = _model;
-  compiler = FindCompiler(other.compiler);
+  mjSpec* origin = model->FindSpec(other.compiler);
+  compiler = origin ? &origin->compiler : &model->spec.compiler;
   *this = other;
   CopyPlugin();
 }
@@ -1395,8 +1389,7 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
 mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
-    model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
-    static_cast<mjCModel*>(other.model->spec.element)->AddRef();
+    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
   // create a copy of the subtree that contains the frame
@@ -2651,8 +2644,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
 mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
-    model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
-    static_cast<mjCModel*>(other.model->spec.element)->AddRef();
+    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
   // apply namespace and store keyframes in the source model
@@ -4371,6 +4363,9 @@ void mjCHField::NameSpace(const mjCModel* m) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(m->spec_modelfiledir_);
   }
+  if (meshdir_.empty()) {
+    meshdir_ = FilePath(m->spec_meshdir_);
+  }
 }
 
 
@@ -4494,8 +4489,9 @@ void mjCHField::Compile(const mjVFS* vfs) {
     if (modelfiledir_.empty()) {
       modelfiledir_ = FilePath(model->modelfiledir_);
     }
-    mujoco::user::FilePath meshdir_;
-    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
+    if (meshdir_.empty()) {
+      meshdir_ = FilePath(model->meshdir_);
+    }
 
     FilePath filename = meshdir_ + FilePath(file_);
     mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
@@ -4630,6 +4626,9 @@ void mjCTexture::NameSpace(const mjCModel* m) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(m->spec_modelfiledir_);
   }
+  if (texturedir_.empty()) {
+    texturedir_ = FilePath(m->spec_texturedir_);
+  }
 }
 
 
@@ -5219,8 +5218,6 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
       }
 
       // make filename
-      mujoco::user::FilePath texturedir_;
-      texturedir_ = FilePath(mjs_getString(compiler->texturedir));
       FilePath filename = texturedir_ + FilePath(cubefiles_[i]);
 
       // load PNG or custom
@@ -5299,8 +5296,9 @@ void mjCTexture::Compile(const mjVFS* vfs) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(model->modelfiledir_);
   }
-  mujoco::user::FilePath texturedir_;
-  texturedir_ = FilePath(mjs_getString(compiler->texturedir));
+  if (texturedir_.empty()) {
+    texturedir_ = FilePath(model->texturedir_);
+  }
 
   // buffer from user
   if (!data_.empty()) {