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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_objects.cc
+30 -4
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@@ -789,6 +789,7 @@ mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
mjSpec* origin = model->FindSpec(mjs_getString(other.model->spec.modelname));
compiler = origin ? &origin->compiler : &model->spec.compiler;
*this = other;
CopyPlugin();
}
@@ -942,6 +943,7 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
dst.back()->model = model;
dst.back()->compiler = origin ? &origin->compiler : &model->spec.compiler;
dst.back()->id = -1;
dst.back()->CopyPlugin();
dst.back()->classname = src[i]->classname;
// assign dst frame to src frame
@@ -992,6 +994,12 @@ void mjCBody::CopyFromSpec() {
void mjCBody::CopyPlugin() {
model->CopyExplicitPlugin(this);
}
// destructor
mjCBody::~mjCBody() {
// delete objects allocated here
@@ -1011,7 +1019,7 @@ mjCBody::~mjCBody() {
cameras.clear();
lights.clear();
if (spec.plugin.active && spec.plugin.name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty() && model) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -2221,7 +2229,7 @@ mjCGeom::mjCGeom(const mjCGeom& other) {
mjCGeom::~mjCGeom() {
if (spec.plugin.active && spec.plugin.name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty() && model) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -2273,6 +2281,12 @@ void mjCGeom::CopyFromSpec() {
void mjCGeom::CopyPlugin() {
model->CopyExplicitPlugin(this);
}
void mjCGeom::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
if (!spec_material_.empty() && model != m) {
@@ -5636,7 +5650,7 @@ mjCActuator::mjCActuator(const mjCActuator& other) {
mjCActuator::~mjCActuator() {
if (spec.plugin.active && spec.plugin.name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty() && model) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -5731,6 +5745,12 @@ void mjCActuator::CopyFromSpec() {
void mjCActuator::CopyPlugin() {
model->CopyExplicitPlugin(this);
}
void mjCActuator::ResolveReferences(const mjCModel* m) {
switch (trntype) {
case mjTRN_JOINT:
@@ -6000,7 +6020,7 @@ mjCSensor::mjCSensor(const mjCSensor& other) {
mjCSensor::~mjCSensor() {
if (spec.plugin.active && spec.plugin.name->empty()) {
if (spec.plugin.active && spec.plugin.name->empty() && model) {
model->DeleteElement(spec.plugin.element);
}
}
@@ -6063,6 +6083,12 @@ void mjCSensor::CopyFromSpec() {
void mjCSensor::CopyPlugin() {
model->CopyExplicitPlugin(this);
}
void mjCSensor::ResolveReferences(const mjCModel* m) {
objname_ = prefix + objname_ + suffix;
refname_ = prefix + refname_ + suffix;