Keep tree lists updated at all times.

This simplifies the compiler logic since an updated tree list was necessary at many stages (e.g. attach and keyframes resizing) and it will be anyway required when computing the mjSpec signature.

PiperOrigin-RevId: 740356447
Change-Id: I7f2ec25b27b8d4ca4364801c9a401c40c6d84569

src/user/user_objects.cc

@@ -1231,6 +1231,11 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
   obj->classname = _def ? _def->name : classname;
 
   bodies.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   obj->parent = this;
   return obj;
 }
@@ -1241,6 +1246,8 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
 mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
   mjCFrame* obj = new mjCFrame(model, _frame ? _frame : NULL);
   frames.push_back(obj);
+  model->ResetTreeLists();
+  model->MakeTreeLists();
   return obj;
 }
 
@@ -1256,6 +1263,11 @@ mjCJoint* mjCBody::AddFreeJoint() {
   obj->body = this;
 
   joints.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1270,6 +1282,11 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
   obj->body = this;
 
   joints.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1284,6 +1301,11 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
   obj->body = this;
 
   geoms.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1298,6 +1320,11 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
   obj->body = this;
 
   sites.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1312,6 +1339,11 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
   obj->body = this;
 
   cameras.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1326,6 +1358,11 @@ mjCLight* mjCBody::AddLight(mjCDef* _def) {
   obj->body = this;
 
   lights.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1347,11 +1384,8 @@ mjCFrame* mjCBody::ToFrame() {
       std::remove_if(parent->bodies.begin(), parent->bodies.end(),
                      [this](mjCBody* body) { return body == this; }),
       parent->bodies.end());
-  if (model->IsCompiled()) {
-    mjCBody *world = model->bodies_[0];
-    model->ResetTreeLists();
-    model->MakeLists(world);
-  }
+  model->ResetTreeLists();
+  model->MakeTreeLists();
   return newframe;
 }