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Attach the tree of defaults recursively and with namespacing.

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PiperOrigin-RevId: 650664018
Change-Id: I17751a02a406dcb2a2ca218c316b5eb0370071b8
This commit is contained in:
Alessio Quaglino
2024-07-09 09:53:05 -07:00
committed by Copybara-Service
parent d0f86bc2c5
commit 462cfa5ceb
6 changed files with 111 additions and 50 deletions
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src/user/user_model.cc
+40 -30
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@@ -147,7 +147,9 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
// add everything else
*this += other;
// update the default map
// create new default tree
mjCDef* subtree = new mjCDef(*other.defaults_[0]);
*this += *subtree;
def_map["main"] = Default();
// copy name maps
@@ -163,9 +165,7 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
// copy vector of elements from another model to this model
template <class T>
void mjCModel::CopyList(std::vector<T*>& dest,
const std::vector<T*>& source,
std::map<mjCDef*, int>& def_map,
const std::vector<mjCDef*>& defaults) {
const std::vector<T*>& source) {
// loop over the elements from the other model
int nsource = (int)source.size();
for (int i = 0; i < nsource; i++) {
@@ -220,34 +220,26 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
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++) {
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_);
// TODO: asset should be copied only when referenced
CopyList(meshes_, other.meshes_);
CopyList(skins_, other.skins_);
CopyList(hfields_, other.hfields_);
CopyList(textures_, other.textures_);
CopyList(materials_, other.materials_);
CopyList(keys_, other.keys_);
}
CopyList(flexes_, other.flexes_, def_map, defaults_);
CopyList(pairs_, other.pairs_, def_map, defaults_);
CopyList(excludes_, other.excludes_, def_map, defaults_);
CopyList(tendons_, other.tendons_, def_map, defaults_);
CopyList(equalities_, other.equalities_, def_map, defaults_);
CopyList(actuators_, other.actuators_, def_map, defaults_);
CopyList(sensors_, other.sensors_, def_map, defaults_);
CopyList(numerics_, other.numerics_, def_map, defaults_);
CopyList(texts_, other.texts_, def_map, defaults_);
CopyList(tuples_, other.tuples_, def_map, defaults_);
CopyList(flexes_, other.flexes_);
CopyList(pairs_, other.pairs_);
CopyList(excludes_, other.excludes_);
CopyList(tendons_, other.tendons_);
CopyList(equalities_, other.equalities_);
CopyList(actuators_, other.actuators_);
CopyList(sensors_, other.sensors_);
CopyList(numerics_, other.numerics_);
CopyList(texts_, other.texts_);
CopyList(tuples_, other.tuples_);
// plugins are global
plugins_ = other.plugins_;
@@ -358,6 +350,24 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
// add default tree to this model
mjCModel_& mjCModel::operator+=(mjCDef& subtree) {
defaults_.push_back(&subtree);
// set parent to the main default if this is not the only default in the model
if (!subtree.parent && &subtree != defaults_[0]) {
subtree.parent = defaults_[0];
defaults_[0]->child.push_back(&subtree);
}
for (auto def : subtree.child) {
*this += *def; // triggers recursive call
}
return *this;
}
// TODO: we should not use C-type casting with multiple C++ inheritance
void mjCModel::CreateObjectLists() {
for (int i = 0; i < mjNOBJECT; ++i) {
@@ -806,7 +816,7 @@ mjCDef* mjCModel::AddDefault(string name, mjCDef* parent) {
// initialize contents
if (parent && parent->id<thisid) {
parent->CopyFromSpec();
*def = *parent;
def->CopyWithoutChildren(*parent);
parent->child.push_back(def);
}
def->parent = parent;