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Add replicate element to MJCF. Fixes #553

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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
This commit is contained in:
Alessio Quaglino
2024-04-30 06:28:09 -07:00
committed by Copybara-Service
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
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src/user/user_model.cc
+21 -13
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@@ -230,21 +230,27 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
// create global lists
MakeLists(bodies[0]);
CreateObjectLists();
ProcessLists();
ProcessLists(/*checkrepeat=*/false);
// copy all elements not in the tree
std::map<mjCDef*, int> def_map;
int ndefaults = (int)other.defaults.size();
for (int i = 0; i < ndefaults; i++) {
defaults.push_back(new mjCDef(*other.defaults[i]));
if (this != &other) {
defaults.push_back(new mjCDef(*other.defaults[i]));
}
def_map[other.defaults[i]] = i;
}
if (this != &other) {
// do not copy assets for self-attach
CopyList(meshes, other.meshes, def_map, defaults);
CopyList(skins, other.skins, def_map, defaults);
CopyList(hfields, other.hfields, def_map, defaults);
CopyList(textures, other.textures, def_map, defaults);
CopyList(materials, other.materials, def_map, defaults);
CopyList(keys, other.keys, def_map, defaults);
}
CopyList(flexes, other.flexes, def_map, defaults);
CopyList(meshes, other.meshes, def_map, defaults);
CopyList(skins, other.skins, def_map, defaults);
CopyList(hfields, other.hfields, def_map, defaults);
CopyList(textures, other.textures, def_map, defaults);
CopyList(materials, other.materials, def_map, defaults);
CopyList(pairs, other.pairs, def_map, defaults);
CopyList(excludes, other.excludes, def_map, defaults);
CopyList(tendons, other.tendons, def_map, defaults);
@@ -254,7 +260,6 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
CopyList(numerics, other.numerics, def_map, defaults);
CopyList(texts, other.texts, def_map, defaults);
CopyList(tuples, other.tuples, def_map, defaults);
CopyList(keys, other.keys, def_map, defaults);
// plugins are global
plugins = other.plugins;
@@ -309,6 +314,7 @@ void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
element->id -= removed;
try {
// check if the element contains an error
element->NameSpace(&other);
element->CopyFromSpec();
element->ResolveReferences(&other);
} catch (mjCError err) {
@@ -316,6 +322,7 @@ void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
}
try {
// check if the element references something that was removed
element->NameSpace(this);
element->ResolveReferences(this);
} catch (mjCError err) {
delete element;
@@ -333,7 +340,7 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
mjCModel oldmodel(*this);
oldmodel.MakeLists(oldmodel.bodies[0]);
oldmodel.CreateObjectLists();
oldmodel.ProcessLists();
oldmodel.ProcessLists(/*checkrepeat=*/false);
// remove body from tree
*bodies[0] -= subtree;
@@ -341,7 +348,7 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
// create global lists
MakeLists(bodies[0]);
CreateObjectLists();
ProcessLists();
ProcessLists(/*checkrepeat=*/false);
// check if we have to remove anything else
RemoveFromList(pairs, oldmodel);
@@ -3044,15 +3051,16 @@ static void processlist(mjListKeyMap& ids, vector<T*>& list,
// set object ids, check for repeated names
void mjCModel::ProcessLists() {
void mjCModel::ProcessLists(bool checkrepeat) {
for (int i = 0; i < mjNOBJECT; i++) {
if (i != mjOBJ_XBODY && object_lists[i]) {
processlist(ids, *object_lists[i], (mjtObj) i);
ids[i].clear();
processlist(ids, *object_lists[i], (mjtObj) i, checkrepeat);
}
}
// check repeated names in meta elements
processlist(ids, frames, mjOBJ_FRAME);
processlist(ids, frames, mjOBJ_FRAME, checkrepeat);
}