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Enable attaching plugins not instantiated in the extension section.

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Fixes #2217.

PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
This commit is contained in:
Alessio Quaglino
2024-11-12 09:33:32 -08:00
committed by Copybara-Service
parent eb77d5b933
commit 45f908c165
6 changed files with 164 additions and 16 deletions
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src/user/user_model.cc
+31 -9
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@@ -232,6 +232,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
dest.back()->model = this;
dest.back()->compiler = origin ? &origin->compiler : &spec.compiler;
dest.back()->id = -1;
dest.back()->CopyPlugin();
}
if (!dest.empty()) {
processlist(ids, dest, dest[0]->elemtype);
@@ -309,8 +310,28 @@ void mjCModel::SaveDofOffsets(bool computesize) {
template <class T>
void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
const std::vector<mjCPlugin*>& source,
void mjCModel::CopyExplicitPlugin(T* obj) {
if (!obj->plugin.active || !obj->plugin_instance_name.empty() || !obj->spec.plugin.element) {
return;
}
mjCPlugin* origin = static_cast<mjCPlugin*>(obj->spec.plugin.element);
mjCPlugin* candidate = new mjCPlugin(*origin);
candidate->id = plugins_.size();
candidate->model = this;
plugins_.push_back(candidate);
obj->spec.plugin.element = candidate;
}
template void mjCModel::CopyExplicitPlugin<mjCBody>(mjCBody* obj);
template void mjCModel::CopyExplicitPlugin<mjCGeom>(mjCGeom* obj);
template void mjCModel::CopyExplicitPlugin<mjCMesh>(mjCMesh* obj);
template void mjCModel::CopyExplicitPlugin<mjCActuator>(mjCActuator* obj);
template void mjCModel::CopyExplicitPlugin<mjCSensor>(mjCSensor* obj);
template <class T>
void mjCModel::CopyPlugin(const std::vector<mjCPlugin*>& source,
const std::vector<T*>& list) {
// store elements that reference a plugin instance
std::unordered_map<std::string, T*> instances;
@@ -330,9 +351,10 @@ void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
candidate->NameSpace(plugin->model);
bool referenced = instances.find(candidate->name) != instances.end();
auto same_name = [candidate](const mjCPlugin* dest) { return dest->name == candidate->name; };
bool instance_exists = std::find_if(dest.begin(), dest.end(), same_name) != dest.end();
bool instance_exists = std::find_if(plugins_.begin(), plugins_.end(),
same_name) != plugins_.end();
if (referenced && !instance_exists) {
dest.push_back(candidate);
plugins_.push_back(candidate);
instances.at(candidate->name)->spec.plugin.element = candidate;
} else {
delete candidate;
@@ -390,11 +412,11 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
CopyList(tuples_, other.tuples_);
// create new plugins and map them
CopyPlugin(plugins_, other.plugins_, bodies_);
CopyPlugin(plugins_, other.plugins_, geoms_);
CopyPlugin(plugins_, other.plugins_, meshes_);
CopyPlugin(plugins_, other.plugins_, actuators_);
CopyPlugin(plugins_, other.plugins_, sensors_);
CopyPlugin(other.plugins_, bodies_);
CopyPlugin(other.plugins_, geoms_);
CopyPlugin(other.plugins_, meshes_);
CopyPlugin(other.plugins_, actuators_);
CopyPlugin(other.plugins_, sensors_);
for (const auto& [plugin, slot] : other.active_plugins_) {
if (!IsPluginActive(plugin, active_plugins_)) {
active_plugins_.emplace_back(std::make_pair(plugin, slot));