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Add spec lookup in the attached spec array using the compiler option pointer.

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This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.

PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
This commit is contained in:
Alessio Quaglino
2025-01-08 05:42:59 -08:00
committed by Copybara-Service
parent 8a5f092081
commit 6654d63438
6 changed files with 161 additions and 39 deletions
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src/user/user_objects.cc
+3 -3
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@@ -798,7 +798,7 @@ mjCBody::mjCBody(mjCModel* _model) {
mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
model = _model;
mjSpec* origin = model->FindSpec(mjs_getString(other.model->spec.modelname));
mjSpec* origin = model->FindSpec(other.compiler);
compiler = origin ? &origin->compiler : &model->spec.compiler;
*this = other;
CopyPlugin();
@@ -881,7 +881,7 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
}
// copy input frame
mjSpec* origin = model->FindSpec(mjs_getString(other.model->spec.modelname));
mjSpec* origin = model->FindSpec(other.compiler);
frames.push_back(new mjCFrame(other));
frames.back()->body = this;
frames.back()->model = model;
@@ -947,7 +947,7 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
if (pframe && !pframe->IsAncestor(src[i]->frame)) {
continue; // skip if the element is not inside pframe
}
mjSpec* origin = model->FindSpec(mjs_getString(src[i]->model->spec.modelname));
mjSpec* origin = model->FindSpec(src[i]->compiler);
dst.push_back(new T(*src[i]));
dst.back()->body = this;
dst.back()->model = model;