From 5fe3e169ab534b5ef3fdac34c999525f93ff7773 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 22 Feb 2024 01:26:13 -0800
Subject: [PATCH] Remove mjm_finalize.

PiperOrigin-RevId: 609284351
Change-Id: I066332784d8210de6fec5aa718e097c9ef67903c
---
 src/user/user_api.cc         |  8 --------
 src/user/user_api.h          |  3 ---
 src/user/user_mesh.cc        |  1 +
 src/user/user_objects.cc     | 10 ++++++++++
 src/xml/xml_native_reader.cc | 14 --------------
 5 files changed, 11 insertions(+), 25 deletions(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index e54d402b..611bea39 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -42,14 +42,6 @@ void mjm_deleteModel(mjmModel* modelspec) {
 
 
 
-// copy spec into private attributes
-MJAPI void mjm_finalize(mjElement object) {
-  mjCBase* baseC = reinterpret_cast<mjCBase*>(object);
-  baseC->CopyFromSpec();
-}
-
-
-
 // add child body to body, return child spec
 mjmBody* mjm_addBody(mjmBody* bodyspec, mjmDefault* defspec) {
   mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 91dfffbe..7aed24a9 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -727,9 +727,6 @@ MJAPI mjmModel* mjm_createModel();
 // Delete model.
 MJAPI void mjm_deleteModel(mjmModel* modelspec);
 
-// Copy spec into private attributes.
-MJAPI void mjm_finalize(mjElement object);
-
 // Add child body to body, return child spec.
 MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
 
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index ee1323fd..a2a1a5d2 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -168,6 +168,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->mesh.CopyFromSpec();
     *this = _def->mesh;
   }
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 2fcd2fcd..a475a76d 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1275,6 +1275,7 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->joint.CopyFromSpec();
     *this = _def->joint;
   }
 
@@ -1468,6 +1469,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->geom.CopyFromSpec();
     *this = _def->geom;
   }
 
@@ -2068,6 +2070,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->site.CopyFromSpec();
     *this = _def->site;
   }
 
@@ -2209,6 +2212,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->camera.CopyFromSpec();
     *this = _def->camera;
   }
 
@@ -2345,6 +2349,7 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->light.CopyFromSpec();
     *this = _def->light;
   }
 
@@ -3376,6 +3381,7 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->material.CopyFromSpec();
     *this = _def->material;
   }
 
@@ -3434,6 +3440,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->pair.CopyFromSpec();
     *this = _def->pair;
   }
 
@@ -3693,6 +3700,7 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->equality.CopyFromSpec();
     *this = _def->equality;
   }
 
@@ -3818,6 +3826,7 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->tendon.CopyFromSpec();
     *this = _def->tendon;
   }
 
@@ -4197,6 +4206,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
+    _def->actuator.CopyFromSpec();
     *this = _def->actuator;
   }
 
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index f394bcec..ea45cd6f 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -2717,20 +2717,6 @@ void mjXReader::Default(XMLElement* section, int parentid) {
       OneActuator(elem, def->actuator);
     }
 
-    // copy into private attributes
-    mjm_finalize(def->joint->element);
-    mjm_finalize(def->geom->element);
-    mjm_finalize(def->site->element);
-    mjm_finalize(def->camera->element);
-    mjm_finalize(def->light->element);
-    mjm_finalize(def->flex->element);
-    mjm_finalize(def->mesh->element);
-    mjm_finalize(def->material->element);
-    mjm_finalize(def->pair->element);
-    mjm_finalize(def->equality->element);
-    mjm_finalize(def->tendon->element);
-    mjm_finalize(def->actuator->element);
-
     // advance
     elem = NextSiblingElement(elem);
   }