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Small performance improvement: Parse body once during replicate.

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PiperOrigin-RevId: 657227162
Change-Id: I5b60c25ab4634a44ed0474fdbf22e676bcb8f6d7
This commit is contained in:
Alessio Quaglino
2024-07-29 09:31:54 -07:00
committed by Copybara-Service
parent a29f67c850
commit 6928e09f36
1 changed files with 9 additions and 8 deletions
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src/xml/xml_native_reader.cc
+9 -8
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@@ -3497,12 +3497,16 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame,
double pos[3] = {0, 0, 0}; double pos[3] = {0, 0, 0};
double quat[4] = {1, 0, 0, 0}; double quat[4] = {1, 0, 0, 0};
for (int i = 0; i < count; i++) { // parent frame that will be used to attach the subtree
// create parent frame mjsFrame* pframe = mjs_addFrame(subtree, frame);
mjsFrame* pframe = mjs_addFrame(subtree, frame); mjs_setDefault(pframe->element, childdef ? childdef : def);
mjs_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str()); mjs_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
mjs_setDefault(pframe->element, childdef ? childdef : def);
// parse subtree
Body(elem, subtree, pframe, vfs);
// update pframe and attach
for (int i = 0; i < count; i++) {
// accumulate rotation // accumulate rotation
mjuu_setvec(pframe->pos, pos[0], pos[1], pos[2]); mjuu_setvec(pframe->pos, pos[0], pos[1], pos[2]);
mjuu_frameaccum(pos, quat, offset, rotation); mjuu_frameaccum(pos, quat, offset, rotation);
@@ -3518,9 +3522,6 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame,
std::string suffix = separator; std::string suffix = separator;
UpdateString(suffix, count, i); UpdateString(suffix, count, i);
// process subtree
Body(elem, subtree, pframe, vfs);
// attach to parent // attach to parent
if (mjs_attachFrame(pbody, pframe, /*prefix=*/"", suffix.c_str()) != 0) { if (mjs_attachFrame(pbody, pframe, /*prefix=*/"", suffix.c_str()) != 0) {
throw mjXError(elem, mjs_getError(spec)); throw mjXError(elem, mjs_getError(spec));