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Set parent frame of new frames after copying all frames.

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PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
This commit is contained in:
Alessio Quaglino
2025-03-17 08:18:03 -07:00
committed by Copybara-Service
parent b10b0b7055
commit 35774706ee
2 changed files with 28 additions and 4 deletions
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src/user/user_objects.cc
+12 -4
View File
@@ -847,7 +847,7 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
// map other frames to indices
std::map<mjCFrame*, int> fmap;
for (int i=0; i<other.frames.size(); i++) {
fmap[other.frames[i]] = i;
fmap[other.frames[i]] = i + frames.size();
}
// copy frames, needs to happen first
@@ -977,6 +977,7 @@ template <typename T>
void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
std::map<mjCFrame*, int>& fmap, const mjCFrame* pframe) {
int nsrc = (int)src.size();
int ndst = (int)dst.size();
for (int i=0; i<nsrc; i++) {
if (pframe && !pframe->IsAncestor(src[i]->frame)) {
continue; // skip if the element is not inside pframe
@@ -996,12 +997,19 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
dst.back()->AddRef();
}
// assign dst frame to src frame
dst.back()->frame = src[i]->frame ? frames[fmap[src[i]->frame]] : nullptr;
// set namespace
dst.back()->NameSpace(src[i]->model);
}
// assign dst frame to src frame
// needs to be done after the copy in case T is an mjCFrame
int j = 0;
for (int i = 0; i < src.size(); i++) {
if (pframe && !pframe->IsAncestor(src[i]->frame)) {
continue; // skip if the element is not inside pframe
}
dst[ndst + j++]->frame = src[i]->frame ? frames[fmap[src[i]->frame]] : nullptr;
}
}
test/user/user_api_test.cc
+16
View File
@@ -2569,5 +2569,21 @@ TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
mj_deleteSpec(child);
}
TEST_F(MujocoTest, SetFrameReverseOrder) {
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsFrame* child = mjs_addFrame(world, nullptr);
mjsFrame* parent = mjs_addFrame(world, nullptr);
mjs_setString(child->name, "child");
mjs_setString(parent->name, "parent");
mjs_setFrame(child->element, parent);
mjSpec* copy = mj_copySpec(spec);
EXPECT_THAT(copy, NotNull());
EXPECT_THAT(mjs_findFrame(copy, "child"), NotNull());
EXPECT_THAT(mjs_findFrame(copy, "parent"), NotNull());
mj_deleteSpec(spec);
mj_deleteSpec(copy);
}
} // namespace
} // namespace mujoco