chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Clean up mj_id2name and mj_name2id.

Browse Source 
PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
This commit is contained in:
Kyle Bayes
2023-03-06 01:58:51 -08:00
committed by Copybara-Service
parent 222ee00a66
commit 49dd6b4193
5 changed files with 23 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_support.c
+15 -14
View File
@@ -636,8 +636,8 @@ uint64_t mj_hashdjb2(const char* s, uint64_t n) {
return h % n;
}
// get id of object with specified name; -1: not found
// get id of object with the specified mjtObj type and name,
// returns -1 if id not found
int mj_name2id(const mjModel* m, int type, const char* name) {
int mapadr;
int* adr = 0;
@@ -652,19 +652,23 @@ int mj_name2id(const mjModel* m, int type, const char* name) {
do {
int j = m->names_map[mapadr + i];
if (j < 0) return -1;
if (j<0) {
return -1;
}
if (!strncmp(name, m->names+adr[j], m->nnames-adr[j])) {
return j;
}
if (++i == num) i = 0;
} while(i != hash);
if ((++i)==num) i = 0;
} while (i!=hash);
}
return -1;
}
// get name of object with specified id; 0: invalid type or id, or null name
// get name of object with the specified mjtObj type and id,
// returns NULL if name not found
const char* mj_id2name(const mjModel* m, int type, int id) {
int mapadr;
int* adr = 0;
@@ -672,15 +676,12 @@ const char* mj_id2name(const mjModel* m, int type, int id) {
// get number of objects and name addresses
int num = _getnumadr(m, type, &adr, &mapadr);
if (id>=0 && id<num) {
if (m->names[adr[id]]) {
return m->names+adr[id];
} else {
return 0;
}
} else {
return 0;
// id is in [0, num) and the found name is not the empty string "\0"
if (id>=0 && id<num && m->names[adr[id]]) {
return m->names+adr[id];
}
return NULL;
}