Add copy constructors and assignments to user_objects.

All of the constructors and assignments operators are declared by this CL, but only those that are currently used are implemented here.

PiperOrigin-RevId: 615369559
Change-Id: I9f8cc4a7cd2070362baba04f2af4c5567a696596

src/user/user_mesh.cc

@@ -168,7 +168,6 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->mesh.CopyFromSpec();
     *this = _def->mesh;
   }
 
@@ -179,12 +178,70 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
   // in case this body is not compiled
   CopyFromSpec();
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 }
 
 
 
+mjCMesh::mjCMesh(const mjCMesh& other) {
+  *this = other;
+}
+
+
+
+mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjCMesh_*>(this) = static_cast<const mjCMesh_&>(other);
+    *static_cast<mjmMesh*>(this) = static_cast<const mjmMesh&>(other);
+    if (other.vert_) {
+      size_t nvert = 3*other.nvert_*sizeof(float);
+      this->vert_ = (float*)mju_malloc(nvert);
+      memcpy(this->vert_, other.vert_, nvert);
+    }
+    if (other.normal_) {
+      size_t nnormal = 3*other.nnormal_*sizeof(float);
+      this->normal_ = (float*)mju_malloc(nnormal);
+      memcpy(this->normal_, other.normal_, nnormal);
+    }
+    if (other.center_) {
+      size_t ncenter = 3*other.nface_*sizeof(double);
+      this->center_ = (double*)mju_malloc(ncenter);
+      memcpy(this->center_, other.center_, ncenter);
+    }
+    if (other.texcoord_) {
+      size_t ntexcoord = 2*other.ntexcoord_*sizeof(float);
+      this->texcoord_ = (float*)mju_malloc(ntexcoord);
+      memcpy(this->texcoord_, other.texcoord_, ntexcoord);
+    }
+    if (other.face_) {
+      size_t nface = 3*other.nface_*sizeof(int);
+      this->face_ = (int*)mju_malloc(nface);
+      memcpy(this->face_, other.face_, nface);
+    }
+    if (other.facenormal_) {
+      size_t nfacenormal = 3*other.nface_*sizeof(int);
+      this->facenormal_ = (int*)mju_malloc(nfacenormal);
+      memcpy(this->facenormal_, other.facenormal_, nfacenormal);
+    }
+    if (other.facetexcoord_) {
+      size_t nfacetexcoord = 3*other.nface_*sizeof(int);
+      this->facetexcoord_ = (int*)mju_malloc(nfacetexcoord);
+      memcpy(this->facetexcoord_, other.facetexcoord_, nfacetexcoord);
+    }
+    if (other.graph_) {
+      size_t szgraph = szgraph_*sizeof(int);
+      this->graph_ = (int*)mju_malloc(szgraph);
+      memcpy(this->graph_, other.graph_, szgraph);
+    }
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 void mjCMesh::PointToLocal() {
   spec.element = (mjElement)this;
   spec.name = (mjString)&name;
@@ -1873,7 +1930,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
   bodyid.clear();
   matid = -1;
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -2262,6 +2319,22 @@ mjCFlex::mjCFlex(mjCModel* _model) {
 }
 
 
+mjCFlex::mjCFlex(const mjCFlex& other) {
+  *this = other;
+}
+
+
+mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjCFlex_*>(this) = static_cast<const mjCFlex_&>(other);
+    *static_cast<mjmFlex*>(this) = static_cast<const mjmFlex&>(other);
+  }
+  PointToLocal();
+  return *this;
+}
+
+
 void mjCFlex::PointToLocal() {
   spec.element = (mjElement)this;
   spec.name = (mjString)&name;

src/user/user_objects.cc

@@ -506,6 +506,8 @@ mjCDef::mjCDef(const mjCDef& other) {
 
 // compiler
 void mjCDef::Compile(const mjCModel* model) {
+  CopyFromSpec();
+
   // enforce length of all default userdata arrays
   joint.userdata_.resize(model->nuser_jnt);
   geom.userdata_.resize(model->nuser_geom);
@@ -1425,7 +1427,6 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->joint.CopyFromSpec();
     *this = _def->joint;
   }
 
@@ -1433,7 +1434,7 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this joint is not compiled
@@ -1637,7 +1638,6 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->geom.CopyFromSpec();
     *this = _def->geom;
   }
 
@@ -1645,7 +1645,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this geom is not compiled
@@ -2256,11 +2256,10 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->site.CopyFromSpec();
     *this = _def->site;
   }
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this site is not compiled
@@ -2416,7 +2415,6 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->camera.CopyFromSpec();
     *this = _def->camera;
   }
 
@@ -2424,7 +2422,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -2571,7 +2569,6 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->light.CopyFromSpec();
     *this = _def->light;
   }
 
@@ -2913,7 +2910,7 @@ mjCTexture::mjCTexture(mjCModel* _model) {
   // clear internal variables
   rgb = 0;
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -3637,7 +3634,6 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->material.CopyFromSpec();
     *this = _def->material;
   }
 
@@ -3645,7 +3641,7 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -3654,6 +3650,24 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
 
 
 
+mjCMaterial::mjCMaterial(const mjCMaterial& other) {
+  *this = other;
+}
+
+
+
+mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjCMaterial_*>(this) = static_cast<const mjCMaterial_&>(other);
+    *static_cast<mjmMaterial*>(this) = static_cast<const mjmMaterial&>(other);
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 void mjCMaterial::PointToLocal() {
   spec.element = (mjElement)this;
   spec.name = (mjString)&name;
@@ -3696,7 +3710,6 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->pair.CopyFromSpec();
     *this = _def->pair;
   }
 
@@ -3704,7 +3717,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -3713,6 +3726,26 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
 
 
 
+mjCPair::mjCPair(const mjCPair& other) {
+  *this = other;
+}
+
+
+
+mjCPair& mjCPair::operator=(const mjCPair& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjCPair_*>(this) = static_cast<const mjCPair_&>(other);
+    *static_cast<mjmPair*>(this) = static_cast<const mjmPair&>(other);
+    this->geom1 = other.geom1;
+    this->geom2 = other.geom2;
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 void mjCPair::PointToLocal() {
   spec.element = (mjElement)this;
   spec.name = (mjString)&name;
@@ -3956,7 +3989,6 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->equality.CopyFromSpec();
     *this = _def->equality;
   }
 
@@ -3964,7 +3996,7 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -3972,6 +4004,25 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
 }
 
 
+
+mjCEquality::mjCEquality(const mjCEquality& other) {
+  *this = other;
+}
+
+
+
+mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjCEquality_*>(this) = static_cast<const mjCEquality_&>(other);
+    *static_cast<mjmEquality*>(this) = static_cast<const mjmEquality&>(other);
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 void mjCEquality::PointToLocal() {
   spec.element = (mjElement)this;
   spec.name = (mjString)&name;
@@ -4082,7 +4133,6 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->tendon.CopyFromSpec();
     *this = _def->tendon;
   }
 
@@ -4090,7 +4140,7 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
   model = _model;
   def = (_def ? _def : (_model ? _model->defaults[0] : 0));
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 
   // in case this camera is not compiled
@@ -4098,6 +4148,25 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
 }
 
 
+
+mjCTendon::mjCTendon(const mjCTendon& other) {
+  *this = other;
+}
+
+
+
+mjCTendon& mjCTendon::operator=(const mjCTendon& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjmTendon*>(this) = static_cast<const mjmTendon&>(other);
+    *static_cast<mjmTendon*>(this) = static_cast<const mjmTendon&>(other);
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 bool mjCTendon::is_limited() const { return islimited(limited, range); }
 
 
@@ -4467,7 +4536,6 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
 
   // reset to default if given
   if (_def) {
-    _def->actuator.CopyFromSpec();
     *this = _def->actuator;
   }
 
@@ -4478,12 +4546,30 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
   // in case this actuator is not compiled
   CopyFromSpec();
 
-  // point to local (needs to be after defaults)
+  // point to local
   PointToLocal();
 }
 
 
 
+mjCActuator::mjCActuator(const mjCActuator& other) {
+  *this = other;
+}
+
+
+
+mjCActuator& mjCActuator::operator=(const mjCActuator& other) {
+  if (this != &other) {
+    this->spec = other.spec;
+    *static_cast<mjCActuator_*>(this) = static_cast<const mjCActuator_&>(other);
+    *static_cast<mjmActuator*>(this) = static_cast<const mjmActuator&>(other);
+  }
+  PointToLocal();
+  return *this;
+}
+
+
+
 bool mjCActuator::is_ctrllimited() const { return islimited(ctrllimited, ctrlrange); }
 bool mjCActuator::is_forcelimited() const { return islimited(forcelimited, forcerange); }
 bool mjCActuator::is_actlimited() const { return islimited(actlimited, actrange); }

src/user/user_objects.h

@@ -660,6 +660,9 @@ class mjCFlex: public mjCFlex_, private mjmFlex {
 
  private:
   mjCFlex(mjCModel* = 0);
+  mjCFlex(const mjCFlex& other);             // copy constructor
+  mjCFlex& operator=(const mjCFlex& other);  // copy assignment
+
   void Compile(const mjVFS* vfs);         // compiler
   void CreateBVH(void);                   // create flex BVH
   void CreateShellPair(void);             // create shells and evpairs
@@ -735,6 +738,8 @@ class mjCMesh: public mjCMesh_, private mjmMesh {
   friend class mjXWriter;
  public:
   mjCMesh(mjCModel* = 0, mjCDef* = 0);
+  mjCMesh(const mjCMesh& other);             // copy constructor
+  mjCMesh& operator=(const mjCMesh& other);  // copy assignment
   ~mjCMesh();
 
   mjmMesh spec;
@@ -890,7 +895,10 @@ class mjCSkin: public mjCSkin_, private mjmSkin {
 
  private:
   mjCSkin(mjCModel* = 0);                     // constructor
+  mjCSkin(const mjCSkin& other);             // copy constructor
+  mjCSkin& operator=(const mjCSkin& other);  // copy assignment
   ~mjCSkin();                                 // destructor
+
   void Compile(const mjVFS* vfs);             // compiler
   void LoadSKN(mjResource* resource);         // load skin in SKN BIN format
 };
@@ -929,8 +937,11 @@ class mjCHField : public mjCHField_, private mjmHField {
   std::vector<float>& get_userdata() { return userdata_; }
 
  private:
-  mjCHField(mjCModel* model);             // constructor
-  ~mjCHField();                           // destructor
+  mjCHField(mjCModel* model);                    // constructor
+  mjCHField(const mjCHField& other);             // copy constructor
+  mjCHField& operator=(const mjCHField& other);  // copy assignment
+  ~mjCHField();                                  // destructor
+
   float* data;                            // elevation data, row-major format
   void Compile(const mjVFS* vfs);         // compiler
 
@@ -974,7 +985,10 @@ class mjCTexture : public mjCTexture_, private mjmTexture {
   std::vector<std::string> get_cubefiles() const { return cubefiles_; }
 
  private:
-  mjCTexture(mjCModel*);                  // constructor
+  mjCTexture(mjCModel*);                           // constructor
+  mjCTexture(const mjCTexture& other);             // copy constructor
+  mjCTexture& operator=(const mjCTexture& other);  // copy assignment
+
   void Compile(const mjVFS* vfs);         // compiler
 
   void Builtin2D(void);                   // make builtin 2D
@@ -1027,7 +1041,10 @@ class mjCMaterial : public mjCMaterial_, private mjmMaterial {
   void del_texture() { texture_.clear(); }
 
  private:
-  mjCMaterial(mjCModel* = 0, mjCDef* = 0);  // constructor
+  mjCMaterial(mjCModel* = 0, mjCDef* = 0);           // constructor
+  mjCMaterial(const mjCMaterial& other);             // copy constructor
+  mjCMaterial& operator=(const mjCMaterial& other);  // copy assignment
+
   void Compile(void);                       // compiler
 };
 
@@ -1068,7 +1085,10 @@ class mjCPair : public mjCPair_, private mjmPair {
   }
 
  private:
-  mjCPair(mjCModel* = 0, mjCDef* = 0);  // constructor
+  mjCPair(mjCModel* = 0, mjCDef* = 0);       // constructor
+  mjCPair(const mjCPair& other);             // copy constructor
+  mjCPair& operator=(const mjCPair& other);  // copy assignment
+
   void Compile(void);                   // compiler
 
   mjCGeom* geom1;                 // geom1
@@ -1112,7 +1132,10 @@ class mjCBodyPair : public mjCBodyPair_, private mjmExclude {
   }
 
  private:
-  mjCBodyPair(mjCModel*);          // constructor
+  mjCBodyPair(mjCModel*);                            // constructor
+  mjCBodyPair(const mjCBodyPair& other);             // copy constructor
+  mjCBodyPair& operator=(const mjCBodyPair& other);  // copy assignment
+
   void Compile(void);              // compiler
 };
 
@@ -1147,7 +1170,10 @@ class mjCEquality : public mjCEquality_, private mjmEquality {
   void PointToLocal();
 
  private:
-  mjCEquality(mjCModel* = 0, mjCDef* = 0);  // constructor
+  mjCEquality(mjCModel* = 0, mjCDef* = 0);           // constructor
+  mjCEquality(const mjCEquality& other);             // copy constructor
+  mjCEquality& operator=(const mjCEquality& other);  // copy assignment
+
   void Compile(void);                       // compiler
 };
 
@@ -1203,8 +1229,11 @@ class mjCTendon : public mjCTendon_, private mjmTendon {
   bool is_limited() const;
 
  private:
-  mjCTendon(mjCModel* = 0, mjCDef* = 0);      // constructor
-  ~mjCTendon();                               // destructor
+  mjCTendon(mjCModel* = 0, mjCDef* = 0);         // constructor
+  mjCTendon(const mjCTendon& other);             // copy constructor
+  mjCTendon& operator=(const mjCTendon& other);  // copy assignment
+  ~mjCTendon();                                  // destructor
+
   void Compile(void);                         // compiler
 };
 
@@ -1233,7 +1262,10 @@ class mjCWrap : public mjCWrap_, private mjmWrap {
   mjCBase* obj;                   // wrap object pointer
 
  private:
-  mjCWrap(mjCModel*, mjCTendon*);     // constructor
+  mjCWrap(mjCModel*, mjCTendon*);            // constructor
+  mjCWrap(const mjCWrap& other);             // copy constructor
+  mjCWrap& operator=(const mjCWrap& other);  // copy assignment
+
   void Compile(void);                 // compiler
 
   mjCTendon* tendon;              // tendon owning this wrap
@@ -1263,7 +1295,10 @@ class mjCPlugin : public mjCPlugin_ {
   mjCBase* parent;   // parent object (only used when generating error message)
 
  private:
-  mjCPlugin(mjCModel*);            // constructor
+  mjCPlugin(mjCModel*);                          // constructor
+  mjCPlugin(const mjCPlugin& other);             // copy constructor
+  mjCPlugin& operator=(const mjCPlugin& other);  // copy assignment
+
   void Compile(void);              // compiler
 };
 
@@ -1311,7 +1346,10 @@ class mjCActuator : public mjCActuator_, private mjmActuator {
   bool is_actlimited() const;
 
  private:
-  mjCActuator(mjCModel* = 0, mjCDef* = 0);  // constructor
+  mjCActuator(mjCModel* = 0, mjCDef* = 0);           // constructor
+  mjCActuator(const mjCActuator& other);             // copy constructor
+  mjCActuator& operator=(const mjCActuator& other);  // copy assignment
+
   void Compile(void);                       // compiler
   void CopyFromSpec();
   void PointToLocal();
@@ -1354,7 +1392,10 @@ class mjCSensor : public mjCSensor_, private mjmSensor {
   const std::string& get_refname() { return spec_refname_; }
 
  private:
-  mjCSensor(mjCModel*);           // constructor
+  mjCSensor(mjCModel*);                          // constructor
+  mjCSensor(const mjCSensor& other);             // copy constructor
+  mjCSensor& operator=(const mjCSensor& other);  // copy assignment
+
   void Compile(void);             // compiler
   void CopyFromSpec();
   void MakePointerLocal();
@@ -1386,8 +1427,11 @@ class mjCNumeric : public mjCNumeric_, private mjmNumeric {
   void CopyFromSpec();
 
  private:
-  mjCNumeric(mjCModel*);              // constructor
-  ~mjCNumeric();                      // destructor
+  mjCNumeric(mjCModel*);                           // constructor
+  mjCNumeric(const mjCNumeric& other);             // copy constructor
+  mjCNumeric& operator=(const mjCNumeric& other);  // copy assignment
+  ~mjCNumeric();                                   // destructor
+
   void Compile(void);                 // compiler
 };
 
@@ -1415,8 +1459,11 @@ class mjCText : public mjCText_, private mjmText {
   void CopyFromSpec();
 
  private:
-  mjCText(mjCModel*);                 // constructor
-  ~mjCText();                         // destructor
+  mjCText(mjCModel*);                        // constructor
+  mjCText(const mjCText& other);             // copy constructor
+  mjCText& operator=(const mjCText& other);  // copy assignment
+  ~mjCText();                                // destructor
+
   void Compile(void);                 // compiler
 };
 
@@ -1449,8 +1496,11 @@ class mjCTuple : public mjCTuple_, private mjmTuple {
   void CopyFromSpec();
 
  private:
-  mjCTuple(mjCModel*);            // constructor
-  ~mjCTuple();                    // destructor
+  mjCTuple(mjCModel*);                         // constructor
+  mjCTuple(const mjCTuple& other);             // copy constructor
+  mjCTuple& operator=(const mjCTuple& other);  // copy assignment
+  ~mjCTuple();                                 // destructor
+
   void Compile(void);             // compiler
 };
 
@@ -1488,8 +1538,11 @@ class mjCKey : public mjCKey_, private mjmKey {
   void CopyFromSpec();
 
  private:
-  mjCKey(mjCModel*);               // constructor
-  ~mjCKey();                       // destructor
+  mjCKey(mjCModel*);                       // constructor
+  mjCKey(const mjCKey& other);             // copy constructor
+  mjCKey& operator=(const mjCKey& other);  // copy assignment
+  ~mjCKey();                               // destructor
+
   void Compile(const mjModel* m);  // compiler
 };