Add copy constructor and assignment to mjCModel.
PiperOrigin-RevId: 616850780 Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
de918a8b2d
commit
372aa021d0
+328
-132
@@ -570,12 +570,6 @@ mjCBase::mjCBase(const mjCBase& other) {
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mjCBase& mjCBase::operator=(const mjCBase& other) {
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if (this != &other) {
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*static_cast<mjCBase_*>(this) = static_cast<const mjCBase_&>(other);
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if (other.def) {
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def = new mjCDef(*other.def);
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}
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if (other.frame) {
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frame = new mjCFrame(*other.frame);
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}
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}
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return *this;
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}
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@@ -663,7 +657,8 @@ mjCBody::mjCBody(mjCModel* _model) {
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mjCBody::mjCBody(const mjCBody& other) {
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mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
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model = _model;
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*this = other;
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}
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@@ -671,43 +666,63 @@ mjCBody::mjCBody(const mjCBody& other) {
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mjCBody& mjCBody::operator=(const mjCBody& other) {
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if (this != &other) {
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this->spec = other.spec;
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spec = other.spec;
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*static_cast<mjCBody_*>(this) = static_cast<const mjCBody_&>(other);
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*static_cast<mjmBody*>(this) = static_cast<const mjmBody&>(other);
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this->bodies.clear();
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this->frames.clear();
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this->geoms.clear();
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this->joints.clear();
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this->sites.clear();
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this->cameras.clear();
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this->lights.clear();
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std::map<mjCFrame*, int> fmap;
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mjCFrame *np = nullptr;
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bodies.clear();
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frames.clear();
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geoms.clear();
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joints.clear();
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sites.clear();
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cameras.clear();
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lights.clear();
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// create frames and map them to the old ones
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for (int i=0; i<other.frames.size(); i++) {
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frames.push_back(new mjCFrame(*other.frames[i]));
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frames.back()->model = model;
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fmap[other.frames[i]] = i;
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}
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// copy all children
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for (int i=0; i<other.bodies.size(); i++) {
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this->bodies.push_back(new mjCBody(*other.bodies[i])); // triggers recursive call
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bodies.push_back(new mjCBody(*other.bodies[i], model)); // triggers recursive call
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bodies.back()->frame = other.bodies[i]->frame ? frames[fmap[other.bodies[i]->frame]] : np;
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}
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for (int i=0; i<other.frames.size(); i++) {
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this->frames.push_back(new mjCFrame(*other.frames[i]));
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frames[i]->frame = other.frames[i]->frame ? frames[fmap[other.frames[i]->frame]] : np;
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}
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for (int i=0; i<other.geoms.size(); i++) {
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this->geoms.push_back(new mjCGeom(*other.geoms[i]));
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this->geoms.back()->body = this;
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geoms.push_back(new mjCGeom(*other.geoms[i]));
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geoms.back()->body = this;
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geoms.back()->model = model;
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geoms.back()->frame = other.geoms[i]->frame ? frames[fmap[other.geoms[i]->frame]] : np;
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}
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for (int i=0; i<other.joints.size(); i++) {
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this->joints.push_back(new mjCJoint(*other.joints[i]));
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this->joints.back()->body = this;
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joints.push_back(new mjCJoint(*other.joints[i]));
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joints.back()->body = this;
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joints.back()->model = model;
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joints.back()->frame = other.joints[i]->frame ? frames[fmap[other.joints[i]->frame]] : np;
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}
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for (int i=0; i<other.sites.size(); i++) {
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this->sites.push_back(new mjCSite(*other.sites[i]));
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this->sites.back()->body = this;
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sites.push_back(new mjCSite(*other.sites[i]));
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sites.back()->body = this;
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sites.back()->model = model;
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sites.back()->frame = other.sites[i]->frame ? frames[fmap[other.sites[i]->frame]] : np;
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}
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for (int i=0; i<other.cameras.size(); i++) {
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this->cameras.push_back(new mjCCamera(*other.cameras[i]));
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this->cameras.back()->body = this;
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cameras.push_back(new mjCCamera(*other.cameras[i]));
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cameras.back()->body = this;
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cameras.back()->model = model;
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cameras.back()->frame = other.cameras[i]->frame ? frames[fmap[other.cameras[i]->frame]] : np;
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}
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for (int i=0; i<other.lights.size(); i++) {
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this->lights.push_back(new mjCLight(*other.lights[i]));
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this->lights.back()->body = this;
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lights.push_back(new mjCLight(*other.lights[i]));
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lights.back()->body = this;
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lights.back()->model = model;
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lights.back()->frame = other.lights[i]->frame ? frames[fmap[other.lights[i]->frame]] : np;
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}
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}
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PointToLocal();
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@@ -2618,7 +2633,7 @@ mjCHField::mjCHField(mjCModel* _model) {
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model = _model;
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// clear variables
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data = 0;
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data.clear();
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spec_file_.clear();
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spec_userdata_.clear();
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@@ -2631,6 +2646,24 @@ mjCHField::mjCHField(mjCModel* _model) {
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mjCHField::mjCHField(const mjCHField& other) {
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*this = other;
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}
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mjCHField& mjCHField::operator=(const mjCHField& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCHField_*>(this) = static_cast<const mjCHField_&>(other);
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*static_cast<mjmHField*>(this) = static_cast<const mjmHField&>(other);
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}
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PointToLocal();
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return *this;
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}
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void mjCHField::PointToLocal() {
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spec.element = (mjElement)this;
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spec.name = (mjString)&name;
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@@ -2652,10 +2685,7 @@ void mjCHField::CopyFromSpec() {
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userdata = (mjFloatVec)&userdata_;
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// clear precompiled asset. TODO: use asset cache
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if (data) {
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mju_free(data);
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data = 0;
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}
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data.clear();
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if (!file_.empty()) {
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nrow = 0;
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ncol = 0;
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@@ -2666,9 +2696,7 @@ void mjCHField::CopyFromSpec() {
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// destructor
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mjCHField::~mjCHField() {
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if (data) {
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mju_free(data);
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}
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data.clear();
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userdata_.clear();
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spec_userdata_.clear();
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}
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@@ -2708,13 +2736,13 @@ void mjCHField::LoadCustom(mjResource* resource) {
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}
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// allocate
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data = (float*) mju_malloc(nrow*ncol*sizeof(float));
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if (!data) {
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data.assign(nrow*ncol, 0);
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if (data.empty()) {
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throw mjCError(this, "could not allocate buffers in hfield");
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}
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// copy data
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memcpy(data, (void*)(pint+2), nrow*ncol*sizeof(float));
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memcpy(data.data(), (void*)(pint+2), nrow*ncol*sizeof(float));
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}
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@@ -2747,8 +2775,8 @@ void mjCHField::LoadPNG(mjResource* resource) {
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}
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// allocate
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data = (float*) mju_malloc(w*h*sizeof(float));
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if (!data) {
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data.assign(w*h, 0);
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if (data.empty()) {
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throw mjCError(this, "could not allocate buffers in hfield");
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}
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@@ -2770,11 +2798,11 @@ void mjCHField::Compile(const mjVFS* vfs) {
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// copy userdata into data
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if (!userdata_.empty()) {
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data = (float*) mju_malloc(nrow*ncol*sizeof(float));
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if (!data) {
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data.assign(nrow*ncol, 0);
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if (data.empty()) {
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throw mjCError(this, "could not allocate buffers in hfield");
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}
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memcpy(data, userdata_.data(), nrow*ncol*sizeof(float));
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memcpy(data.data(), userdata_.data(), nrow*ncol*sizeof(float));
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}
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// check size parameters
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@@ -2791,7 +2819,7 @@ void mjCHField::Compile(const mjVFS* vfs) {
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// load from file if specified
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if (!file_.empty()) {
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// make sure hfield was not already specified manually
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if (nrow || ncol || data) {
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if (nrow || ncol || !data.empty()) {
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throw mjCError(this,
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"hfield '%s' (id = %d) specified from file and manually", name.c_str(), id);
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}
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@@ -2824,7 +2852,7 @@ void mjCHField::Compile(const mjVFS* vfs) {
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}
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// make sure hfield was specified (from file or manually)
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if (nrow<1 || ncol<1 || data==0) {
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if (nrow<1 || ncol<1 || data.empty()) {
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throw mjCError(this, "hfield '%s' (id = %d) not specified", name.c_str(), id);
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}
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@@ -2864,7 +2892,7 @@ mjCTexture::mjCTexture(mjCModel* _model) {
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spec_cubefiles_.assign(6, "");
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// clear internal variables
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rgb = 0;
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rgb.clear();
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// point to local
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PointToLocal();
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@@ -2875,6 +2903,23 @@ mjCTexture::mjCTexture(mjCModel* _model) {
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mjCTexture::mjCTexture(const mjCTexture& other) {
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*this = other;
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}
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mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
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if (this != &other) {
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this->spec = other.spec;
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*static_cast<mjCTexture_*>(this) = static_cast<const mjCTexture_&>(other);
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}
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PointToLocal();
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return *this;
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}
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void mjCTexture::PointToLocal() {
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spec.element = (mjElement)this;
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spec.name = (mjString)&name;
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@@ -2897,20 +2942,14 @@ void mjCTexture::CopyFromSpec() {
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cubefiles = (mjStringVec)&cubefiles_;
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// clear precompiled asset. TODO: use asset cache
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if (rgb) {
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mju_free(rgb);
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rgb = 0;
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}
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rgb.clear();
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}
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// free data storage allocated by lodepng
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mjCTexture::~mjCTexture() {
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if (rgb) {
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mju_free(rgb);
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rgb = 0;
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}
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rgb.clear();
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}
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@@ -2997,21 +3036,21 @@ void mjCTexture::Builtin2D(void) {
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double pos = 2*sqrt(x*x+y*y) - 1;
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// interpolate through sigmoid
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interp(rgb + 3*(r*width+c), rgb2, rgb1, pos);
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interp(rgb.data() + 3*(r*width+c), rgb2, rgb1, pos);
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}
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}
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}
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// checker
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else if (builtin==mjBUILTIN_CHECKER) {
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checker(rgb, RGB1, RGB2, width, height);
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checker(rgb.data(), RGB1, RGB2, width, height);
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}
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// flat
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else if (builtin==mjBUILTIN_FLAT) {
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for (int r=0; r<height; r++) {
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for (int c=0; c<width; c++) {
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memcpy(rgb+3*(r*width+c), RGB1, 3);
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memcpy(rgb.data()+3*(r*width+c), RGB1, 3);
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}
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}
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}
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@@ -3021,28 +3060,28 @@ void mjCTexture::Builtin2D(void) {
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// edge
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if (mark==mjMARK_EDGE) {
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for (int r=0; r<height; r++) {
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memcpy(rgb+3*(r*width+0), RGBm, 3);
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memcpy(rgb+3*(r*width+width-1), RGBm, 3);
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memcpy(rgb.data()+3*(r*width+0), RGBm, 3);
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memcpy(rgb.data()+3*(r*width+width-1), RGBm, 3);
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}
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for (int c=0; c<width; c++) {
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memcpy(rgb+3*(0*width+c), RGBm, 3);
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memcpy(rgb+3*((height-1)*width+c), RGBm, 3);
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memcpy(rgb.data()+3*(0*width+c), RGBm, 3);
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memcpy(rgb.data()+3*((height-1)*width+c), RGBm, 3);
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}
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}
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// cross
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else if (mark==mjMARK_CROSS) {
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for (int r=0; r<height; r++) {
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memcpy(rgb+3*(r*width+width/2), RGBm, 3);
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memcpy(rgb.data()+3*(r*width+width/2), RGBm, 3);
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}
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for (int c=0; c<width; c++) {
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memcpy(rgb+3*(height/2*width+c), RGBm, 3);
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memcpy(rgb.data()+3*(height/2*width+c), RGBm, 3);
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}
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}
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// random dots
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else if (mark==mjMARK_RANDOM && random>0) {
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randomdot(rgb, markrgb, width, height, random);
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randomdot(rgb.data(), markrgb, width, height, random);
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}
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}
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@@ -3051,65 +3090,67 @@ void mjCTexture::Builtin2D(void) {
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// make builtin: Cube
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void mjCTexture::BuiltinCube(void) {
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unsigned char RGB1[3], RGB2[3], RGBm[3], RGBi[3];
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int w = width;
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int ww = width*width;
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// convert fixed colors
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for (int j=0; j<3; j++) {
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RGB1[j] = (mjtByte)(255*rgb1[j]);
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RGB2[j] = (mjtByte)(255*rgb2[j]);
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RGBm[j] = (mjtByte)(255*markrgb[j]);
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for (int j = 0; j < 3; j++) {
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RGB1[j] = (mjtByte)(255 * rgb1[j]);
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RGB2[j] = (mjtByte)(255 * rgb2[j]);
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RGBm[j] = (mjtByte)(255 * markrgb[j]);
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}
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//------------------ faces
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// gradient
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if (builtin==mjBUILTIN_GRADIENT) {
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for (int r=0; r<width; r++) {
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for (int c=0; c<width; c++) {
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if (builtin == mjBUILTIN_GRADIENT) {
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for (int r = 0; r < w; r++) {
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for (int c = 0; c < w; c++) {
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// compute normalized pixel coordinates
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double x = 2*c/((double)(width-1)) - 1;
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double y = 1 - 2*r/((double)(width-1));
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double x = 2 * c / ((double)(w - 1)) - 1;
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double y = 1 - 2 * r / ((double)(w - 1));
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// compute normalized elevation for sides and up/down
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double elside = asin(y/sqrt(1+x*x+y*y)) / (0.5*mjPI);
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double elup = 1 - acos(1.0/sqrt(1+x*x+y*y)) / (0.5*mjPI);
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double elside = asin(y / sqrt(1 + x * x + y * y)) / (0.5 * mjPI);
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double elup = 1 - acos(1.0 / sqrt(1 + x * x + y * y)) / (0.5 * mjPI);
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// set sides
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interp(RGBi, rgb1, rgb2, elside);
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memcpy(rgb+0*3*width*width+3*(r*width+c), RGBi, 3); // 0: right
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memcpy(rgb+1*3*width*width+3*(r*width+c), RGBi, 3); // 1: left
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memcpy(rgb+4*3*width*width+3*(r*width+c), RGBi, 3); // 4: front
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memcpy(rgb+5*3*width*width+3*(r*width+c), RGBi, 3); // 5: back
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memcpy(rgb.data() + 0 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 0: right
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memcpy(rgb.data() + 1 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 1: left
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memcpy(rgb.data() + 4 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 4: front
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memcpy(rgb.data() + 5 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 5: back
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// set up and down
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interp(rgb+2*3*width*width+3*(r*width+c), rgb1, rgb2, elup); // 2: up
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interp(rgb+3*3*width*width+3*(r*width+c), rgb1, rgb2, -elup); // 3: down
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interp(rgb.data() + 2 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, elup); // 2: up
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interp(rgb.data() + 3 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, -elup); // 3: down
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}
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}
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}
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// checker
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else if (builtin==mjBUILTIN_CHECKER) {
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checker(rgb+0*3*width*width, RGB1, RGB2, width, width);
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checker(rgb+1*3*width*width, RGB1, RGB2, width, width);
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checker(rgb+2*3*width*width, RGB1, RGB2, width, width);
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checker(rgb+3*3*width*width, RGB1, RGB2, width, width);
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checker(rgb+4*3*width*width, RGB2, RGB1, width, width);
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checker(rgb+5*3*width*width, RGB2, RGB1, width, width);
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else if (builtin == mjBUILTIN_CHECKER) {
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checker(rgb.data() + 0 * 3 * ww, RGB1, RGB2, w, w);
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checker(rgb.data() + 1 * 3 * ww, RGB1, RGB2, w, w);
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checker(rgb.data() + 2 * 3 * ww, RGB1, RGB2, w, w);
|
||||
checker(rgb.data() + 3 * 3 * ww, RGB1, RGB2, w, w);
|
||||
checker(rgb.data() + 4 * 3 * ww, RGB2, RGB1, w, w);
|
||||
checker(rgb.data() + 5 * 3 * ww, RGB2, RGB1, w, w);
|
||||
}
|
||||
|
||||
// flat
|
||||
else if (builtin==mjBUILTIN_FLAT) {
|
||||
for (int r=0; r<width; r++) {
|
||||
for (int c=0; c<width; c++) {
|
||||
else if (builtin == mjBUILTIN_FLAT) {
|
||||
for (int r = 0; r < w; r++) {
|
||||
for (int c = 0; c < w; c++) {
|
||||
// set sides and up
|
||||
memcpy(rgb+0*3*width*width+3*(r*width+c), RGB1, 3);
|
||||
memcpy(rgb+1*3*width*width+3*(r*width+c), RGB1, 3);
|
||||
memcpy(rgb+2*3*width*width+3*(r*width+c), RGB1, 3);
|
||||
memcpy(rgb+4*3*width*width+3*(r*width+c), RGB1, 3);
|
||||
memcpy(rgb+5*3*width*width+3*(r*width+c), RGB1, 3);
|
||||
memcpy(rgb.data() + 0 * 3 * ww + 3 * (r * w + c), RGB1, 3);
|
||||
memcpy(rgb.data() + 1 * 3 * ww + 3 * (r * w + c), RGB1, 3);
|
||||
memcpy(rgb.data() + 2 * 3 * ww + 3 * (r * w + c), RGB1, 3);
|
||||
memcpy(rgb.data() + 4 * 3 * ww + 3 * (r * w + c), RGB1, 3);
|
||||
memcpy(rgb.data() + 5 * 3 * ww + 3 * (r * w + c), RGB1, 3);
|
||||
|
||||
// set down
|
||||
memcpy(rgb+3*3*width*width+3*(r*width+c), RGB2, 3);
|
||||
memcpy(rgb.data() + 3 * 3 * ww + 3 * (r * w + c), RGB2, 3);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -3117,39 +3158,37 @@ void mjCTexture::BuiltinCube(void) {
|
||||
//------------------ marks
|
||||
|
||||
// edge
|
||||
if (mark==mjMARK_EDGE) {
|
||||
for (int j=0; j<6; j++) {
|
||||
for (int r=0; r<width; r++) {
|
||||
memcpy(rgb+j*3*width*width+3*(r*width+0), RGBm, 3);
|
||||
memcpy(rgb+j*3*width*width+3*(r*width+width-1), RGBm, 3);
|
||||
if (mark == mjMARK_EDGE) {
|
||||
for (int j = 0; j < 6; j++) {
|
||||
for (int r = 0; r < w; r++) {
|
||||
memcpy(rgb.data() + j * 3 * ww + 3 * (r * w + 0), RGBm, 3);
|
||||
memcpy(rgb.data() + j * 3 * ww + 3 * (r * w + w - 1), RGBm, 3);
|
||||
}
|
||||
for (int c=0; c<width; c++) {
|
||||
memcpy(rgb+j*3*width*width+3*(0*width+c), RGBm, 3);
|
||||
memcpy(rgb+j*3*width*width+3*((width-1)*width+c), RGBm, 3);
|
||||
for (int c = 0; c < w; c++) {
|
||||
memcpy(rgb.data() + j * 3 * ww + 3 * (0 * w + c), RGBm, 3);
|
||||
memcpy(rgb.data() + j * 3 * ww + 3 * ((w - 1) * w + c), RGBm, 3);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// cross
|
||||
else if (mark==mjMARK_CROSS) {
|
||||
for (int j=0; j<6; j++) {
|
||||
for (int r=0; r<width; r++) {
|
||||
memcpy(rgb+j*3*width*width+3*(r*width+width/2), RGBm, 3);
|
||||
else if (mark == mjMARK_CROSS) {
|
||||
for (int j = 0; j < 6; j++) {
|
||||
for (int r = 0; r < w; r++) {
|
||||
memcpy(rgb.data() + j * 3 * ww + 3 * (r * w + w / 2), RGBm, 3);
|
||||
}
|
||||
for (int c=0; c<width; c++) {
|
||||
memcpy(rgb+j*3*width*width+3*(width/2*width+c), RGBm, 3);
|
||||
for (int c = 0; c < w; c++) {
|
||||
memcpy(rgb.data() + j * 3 * ww + 3 * (w / 2 * w + c), RGBm, 3);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// random dots
|
||||
else if (mark==mjMARK_RANDOM && random>0) {
|
||||
randomdot(rgb, markrgb, width, height, random);
|
||||
else if (mark == mjMARK_RANDOM && random > 0) {
|
||||
randomdot(rgb.data(), markrgb, w, height, random);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// load PNG file
|
||||
void mjCTexture::LoadPNG(mjResource* resource,
|
||||
std::vector<unsigned char>& image,
|
||||
@@ -3307,12 +3346,12 @@ void mjCTexture::Load2D(string filename, const mjVFS* vfs) {
|
||||
height = h;
|
||||
|
||||
// allocate and copy data
|
||||
rgb = (mjtByte*) mju_malloc(3*width*height);
|
||||
if (!rgb) {
|
||||
rgb.assign(3*width*height, 0);
|
||||
if (rgb.empty()) {
|
||||
throw mjCError(this, "Could not allocate memory for texture '%s' (id %d)",
|
||||
(const char*)file_.c_str(), id);
|
||||
}
|
||||
memcpy(rgb, image.data(), 3*width*height);
|
||||
memcpy(rgb.data(), image.data(), 3*width*height);
|
||||
image.clear();
|
||||
}
|
||||
|
||||
@@ -3348,8 +3387,8 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
|
||||
}
|
||||
|
||||
// allocate data
|
||||
rgb = (mjtByte*) mju_malloc(3*width*height);
|
||||
if (!rgb) {
|
||||
rgb.assign(3*width*height, 0);
|
||||
if (rgb.empty()) {
|
||||
throw mjCError(this,
|
||||
"Could not allocate memory for texture '%s' (id %d)",
|
||||
(const char*)file_.c_str(), id);
|
||||
@@ -3357,7 +3396,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
|
||||
|
||||
// copy: repeated
|
||||
if (gridsize[0]==1 && gridsize[1]==1) {
|
||||
memcpy(rgb, image.data(), 3*width*width);
|
||||
memcpy(rgb.data(), image.data(), 3*width*width);
|
||||
}
|
||||
|
||||
// copy: grid
|
||||
@@ -3391,7 +3430,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
|
||||
int rstart = width*(k/gridsize[1]);
|
||||
int cstart = width*(k%gridsize[1]);
|
||||
for (int j=0; j<width; j++) {
|
||||
memcpy(rgb+i*3*width*width+j*3*width, image.data()+(j+rstart)*3*w+3*cstart, 3*width);
|
||||
memcpy(rgb.data()+i*3*width*width+j*3*width, image.data()+(j+rstart)*3*w+3*cstart, 3*width);
|
||||
}
|
||||
|
||||
// mark as defined
|
||||
@@ -3447,11 +3486,11 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
|
||||
}
|
||||
|
||||
// first file: set size and allocate data
|
||||
if (!rgb) {
|
||||
if (rgb.empty()) {
|
||||
width = w;
|
||||
height = 6*width;
|
||||
rgb = (mjtByte*) mju_malloc(3*width*height);
|
||||
if (!rgb) {
|
||||
rgb.assign(3*width*height, 0);
|
||||
if (rgb.empty()) {
|
||||
throw mjCError(this,
|
||||
"Could not allocate memory for texture '%s' (id %d)",
|
||||
(const char*)name.c_str(), id);
|
||||
@@ -3466,7 +3505,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
|
||||
}
|
||||
|
||||
// copy data
|
||||
memcpy(rgb+i*3*width*width, image.data(), 3*width*width);
|
||||
memcpy(rgb.data()+i*3*width*width, image.data(), 3*width*width);
|
||||
image.clear();
|
||||
|
||||
// mark as defined
|
||||
@@ -3509,8 +3548,8 @@ void mjCTexture::Compile(const mjVFS* vfs) {
|
||||
}
|
||||
|
||||
// allocate data
|
||||
rgb = (mjtByte*) mju_malloc(3*width*height);
|
||||
if (!rgb) {
|
||||
rgb.assign(3*width*height, 0);
|
||||
if (rgb.empty()) {
|
||||
throw mjCError(this,
|
||||
"Could not allocate memory for texture '%s' (id %d)",
|
||||
(const char*)name.c_str(), id);
|
||||
@@ -3570,7 +3609,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
|
||||
}
|
||||
|
||||
// make sure someone allocated data; SHOULD NOT OCCUR
|
||||
if (!rgb) {
|
||||
if (rgb.empty()) {
|
||||
throw mjCError(this,
|
||||
"texture '%s' (id %d) was not specified", (const char*)name.c_str(), id);
|
||||
}
|
||||
@@ -3877,6 +3916,24 @@ mjCBodyPair::mjCBodyPair(mjCModel* _model) {
|
||||
|
||||
|
||||
|
||||
mjCBodyPair::mjCBodyPair(const mjCBodyPair& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCBodyPair& mjCBodyPair::operator=(const mjCBodyPair& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCBodyPair_*>(this) = static_cast<const mjCBodyPair_&>(other);
|
||||
*static_cast<mjmExclude*>(this) = static_cast<const mjmExclude&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCBodyPair::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.name = (mjString)&name;
|
||||
@@ -4114,8 +4171,12 @@ mjCTendon::mjCTendon(const mjCTendon& other) {
|
||||
mjCTendon& mjCTendon::operator=(const mjCTendon& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCTendon_*>(this) = static_cast<const mjCTendon_&>(other);
|
||||
*static_cast<mjmTendon*>(this) = static_cast<const mjmTendon&>(other);
|
||||
*static_cast<mjmTendon*>(this) = static_cast<const mjmTendon&>(other);
|
||||
for (int i=0; i<other.path.size(); i++) {
|
||||
path.push_back(new mjCWrap(*other.path[i]));
|
||||
path.back()->tendon = this;
|
||||
}
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
@@ -4166,6 +4227,15 @@ mjCTendon::~mjCTendon() {
|
||||
|
||||
|
||||
|
||||
void mjCTendon::SetModel(mjCModel* _model) {
|
||||
model = _model;
|
||||
for (int i=0; i<path.size(); i++) {
|
||||
path[i]->model = _model;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// add site as wrap object
|
||||
void mjCTendon::WrapSite(string name, std::string_view info) {
|
||||
// create wrap object
|
||||
@@ -4395,6 +4465,25 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
|
||||
|
||||
|
||||
|
||||
mjCWrap::mjCWrap(const mjCWrap& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCWrap& mjCWrap::operator=(const mjCWrap& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCWrap_*>(this) = static_cast<const mjCWrap_&>(other);
|
||||
*static_cast<mjmWrap*>(this) = static_cast<const mjmWrap&>(other);
|
||||
obj = nullptr;
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCWrap::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.info = (mjString)&info;
|
||||
@@ -4822,12 +4911,30 @@ mjCSensor::mjCSensor(mjCModel* _model) {
|
||||
CopyFromSpec();
|
||||
|
||||
// point to local
|
||||
MakePointerLocal();
|
||||
PointToLocal();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCSensor::MakePointerLocal() {
|
||||
mjCSensor::mjCSensor(const mjCSensor& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCSensor_*>(this) = static_cast<const mjCSensor_&>(other);
|
||||
*static_cast<mjmSensor*>(this) = static_cast<const mjmSensor&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCSensor::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.name = (mjString)&name;
|
||||
spec.classname = (mjString)&classname;
|
||||
@@ -5271,6 +5378,24 @@ mjCNumeric::mjCNumeric(mjCModel* _model) {
|
||||
|
||||
|
||||
|
||||
mjCNumeric::mjCNumeric(const mjCNumeric& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCNumeric& mjCNumeric::operator=(const mjCNumeric& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCNumeric_*>(this) = static_cast<const mjCNumeric_&>(other);
|
||||
*static_cast<mjmNumeric*>(this) = static_cast<const mjmNumeric&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCNumeric::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.name = (mjString)&name;
|
||||
@@ -5341,6 +5466,24 @@ mjCText::mjCText(mjCModel* _model) {
|
||||
|
||||
|
||||
|
||||
mjCText::mjCText(const mjCText& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCText& mjCText::operator=(const mjCText& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCText_*>(this) = static_cast<const mjCText_&>(other);
|
||||
*static_cast<mjmText*>(this) = static_cast<const mjmText&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCText::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.name = (mjString)&name;
|
||||
@@ -5402,6 +5545,24 @@ mjCTuple::mjCTuple(mjCModel* _model) {
|
||||
|
||||
|
||||
|
||||
mjCTuple::mjCTuple(const mjCTuple& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCTuple& mjCTuple::operator=(const mjCTuple& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCTuple_*>(this) = static_cast<const mjCTuple_&>(other);
|
||||
*static_cast<mjmTuple*>(this) = static_cast<const mjmTuple&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCTuple::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.name = (mjString)&name;
|
||||
@@ -5502,6 +5663,24 @@ mjCKey::mjCKey(mjCModel* _model) {
|
||||
|
||||
|
||||
|
||||
mjCKey::mjCKey(const mjCKey& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCKey& mjCKey::operator=(const mjCKey& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCKey_*>(this) = static_cast<const mjCKey_&>(other);
|
||||
*static_cast<mjmKey*>(this) = static_cast<const mjmKey&>(other);
|
||||
}
|
||||
PointToLocal();
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mjCKey::PointToLocal() {
|
||||
spec.element = (mjElement)this;
|
||||
spec.name = (mjString)&name;
|
||||
@@ -5653,6 +5832,23 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
|
||||
|
||||
|
||||
|
||||
mjCPlugin::mjCPlugin(const mjCPlugin& other) {
|
||||
*this = other;
|
||||
}
|
||||
|
||||
|
||||
|
||||
mjCPlugin& mjCPlugin::operator=(const mjCPlugin& other) {
|
||||
if (this != &other) {
|
||||
this->spec = other.spec;
|
||||
*static_cast<mjCPlugin_*>(this) = static_cast<const mjCPlugin_&>(other);
|
||||
parent = this;
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// compiler
|
||||
void mjCPlugin::Compile(void) {
|
||||
const mjpPlugin* plugin = mjp_getPluginAtSlot(spec.plugin_slot);
|
||||
|
||||
Reference in New Issue
Block a user