Move mjCSite attributes to mjmSite struct.

PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948

src/user/user_composite.cc

@@ -137,7 +137,7 @@ void mjCComposite::SetDefault(void) {
   // set all deafult groups to 3
   for (int i=0; i<mjNCOMPKINDS; i++) {
     def[i].geom.group = 3;
-    def[i].site.group = 3;
+    def[i].site.spec.group = 3;
     def[i].tendon.group = 3;
   }
 
@@ -480,7 +480,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
     // add site
     mjCSite* s = b->AddSite(def);
     s->def = body->def;
-    s->type = mjGEOM_SPHERE;
+    s->spec.type = mjGEOM_SPHERE;
     mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
     s->name = txt;
 
@@ -607,7 +607,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjCBody* body, char* error, int err
       // add site
       mjCSite* s = b->AddSite(def);
       s->def = body->def;
-      s->type = mjGEOM_SPHERE;
+      s->spec.type = mjGEOM_SPHERE;
       mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix, iy);
       s->name = txt;
 
@@ -871,8 +871,8 @@ mjCBody* mjCComposite::AddCableBody(mjCModel* model, mjCBody* body, int ix, mjtN
     mjCSite* site = body->AddSite(def);
     site->def = body->def;
     site->name = txt_site;
-    mjuu_setvec(site->pos, last ? length : 0, 0, 0);
+    mjuu_setvec(site->spec.pos, last ? length : 0, 0, 0);
-    mjuu_setvec(site->quat, 1, 0, 0, 0);
+    mjuu_setvec(site->spec.quat, 1, 0, 0, 0);
   }
 
   return body;

src/user/user_model.cc

@@ -651,7 +651,7 @@ void mjCModel::MakeLists(mjCBody* body) {
 
 // delete material with given name or all materials if the name is omitted
 template <class T>
-static void DeleteMaterial(std::vector<T*>& list, std::string_view name = "") {
+void mjCModel::DeleteMaterial(std::vector<T*>& list, std::string_view name) {
   for (T* plist : list) {
     if (name.empty() || plist->material == name) {
       plist->material.clear();
@@ -660,6 +660,7 @@ static void DeleteMaterial(std::vector<T*>& list, std::string_view name = "") {
 }
 
 
+
 // delete texture with given name or all textures if the name is omitted
 template <class T>
 static void DeleteTexture(std::vector<T*>& list, std::string_view name = "") {
@@ -2900,7 +2901,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   if (nuser_site == -1) {
     nuser_site = 0;
     for (int i=0; i<sites.size(); i++) {
-      nuser_site = mjMAX(nuser_site, sites[i]->userdata.size());
+      nuser_site = mjMAX(nuser_site, sites[i]->spec.userdata.size());
     }
   }
   if (nuser_cam == -1) {

src/user/user_model.h

@@ -18,6 +18,7 @@
 #include <functional>
 #include <map>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -192,6 +193,9 @@ class mjCModel {
   template<class T>              // if asset name is missing, set to filename
   void SetDefaultNames(std::vector<T*>& assets);
 
+  template <class T>             // delete material from object
+  void DeleteMaterial(std::vector<T*>& list, std::string_view name = "");
+
   //------------------------ compile phases
   void MakeLists(mjCBody* body);        // make lists of bodies, geoms, joints, sites
   void IndexAssets(bool discard);       // convert asset names into indices

src/user/user_objects.cc

@@ -1926,24 +1926,28 @@ void mjCGeom::Compile(void) {
 // initialize default site
 mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
   // set defaults
-  type = mjGEOM_SPHERE;
+  spec.type = mjGEOM_SPHERE;
-  mjuu_setvec(size, 0.005, 0.005, 0.005);
+  mjuu_setvec(spec.size, 0.005, 0.005, 0.005);
-  group = 0;
+  spec.group = 0;
-  mjuu_setvec(quat, 1, 0, 0, 0);
+  mjuu_setvec(spec.quat, 1, 0, 0, 0);
-  mjuu_setvec(pos, 0, 0, 0);
+  mjuu_setvec(spec.pos, 0, 0, 0);
-  material.clear();
+  spec.material.clear();
-  rgba[0] = rgba[1] = rgba[2] = 0.5f;
+  spec.rgba[0] = spec.rgba[1] = spec.rgba[2] = 0.5f;
-  rgba[3] = 1.0f;
+  spec.rgba[3] = 1.0f;
-  fromto[0] = mjNAN;
+  spec.fromto[0] = mjNAN;
-  userdata.clear();
+  spec.userdata.clear();
 
   // clear internal variables
-  material.clear();
+  spec.material.clear();
   body = 0;
   matid = -1;
 
+  // initialize private attributes
+  CopyFromSpec();
+
   // reset to default if given
   if (_def) {
+    _def->site.CopyFromSpec();
     *this = _def->site;
   }
 
@@ -1954,8 +1958,16 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
 
 
 
+void mjCSite::CopyFromSpec() {
+  *static_cast<mjmSite*>(this) = spec;
+}
+
+
+
 // compiler
 void mjCSite::Compile(void) {
+  CopyFromSpec();
+
   // resize userdata
   if (userdata.size() > model->nuser_site) {
     throw mjCError(this, "user has more values than nuser_site in site '%s' (id = %d)",

src/user/user_objects.h

@@ -455,15 +455,7 @@ class mjCGeom : public mjCBase {
 //------------------------- class mjCSite ----------------------------------------------------------
 // Describes a site on a body
 
-class mjCSite : public mjCBase {
+typedef struct _mjmSite {
-  friend class mjCDef;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjXWriter;
-  friend class mjXURDF;
-
- public:
-  // variables set by user
   mjtGeom type;                   // geom type for rendering
   int group;                      // group id, used for visualization
   double size[3];                 // geom size for rendering
@@ -474,11 +466,23 @@ class mjCSite : public mjCBase {
   float rgba[4];                  // rgba when material is omitted
   double fromto[6];               // alternative for capsule, cylinder, box, ellipsoid
   mjCAlternative alt;             // alternative orientation specification
+} mjmSite;
+
+class mjCSite : public mjCBase, private mjmSite {
+  friend class mjCDef;
+  friend class mjCBody;
+  friend class mjCModel;
+  friend class mjXWriter;
+  friend class mjXURDF;
+
+ public:
+  mjmSite spec;                   // variables set by user
 
   // variables computed by 'compile' and 'mjCBody::addSite'
  private:
   mjCSite(mjCModel* = 0, mjCDef* = 0);    // constructor
   void Compile(void);                     // compiler
+  void CopyFromSpec();                    // copy spec into attributes
 
   mjCBody* body;                  // site's body
   int matid;                      // material id for rendering

src/xml/xml_native_reader.cc

@@ -1563,13 +1563,14 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
 
 
 // site element parser
-void mjXReader::OneSite(XMLElement* elem, mjCSite* psite) {
+void mjXReader::OneSite(XMLElement* elem, mjCSite* site) {
   int n;
   string text;
+  mjmSite* psite = &site->spec;
 
   // read attributes
-  ReadAttrTxt(elem, "name", psite->name);
+  ReadAttrTxt(elem, "name", site->name);
-  ReadAttrTxt(elem, "class", psite->classname);
+  ReadAttrTxt(elem, "class", site->classname);
   if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
     psite->type = (mjtGeom)n;
   }
@@ -1585,7 +1586,7 @@ void mjXReader::OneSite(XMLElement* elem, mjCSite* psite) {
   // read userdata
   ReadVector(elem, "user", psite->userdata, text);
 
-  GetXMLPos(elem, psite);
+  GetXMLPos(elem, site);
 }
 
 
@@ -2166,10 +2167,11 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
   // site
   XMLElement* esite = elem->FirstChildElement("site");
   if (esite) {
-    ReadAttr(esite, "size", 3, comp.def[0].site.size, text, false, false);
+    mjmSite& dsite = comp.def[0].site.spec;
-    ReadAttrInt(esite, "group", &comp.def[0].site.group);
+    ReadAttr(esite, "size", 3, dsite.size, text, false, false);
-    ReadAttrTxt(esite, "material", comp.def[0].site.material);
+    ReadAttrInt(esite, "group", &dsite.group);
-    ReadAttr(esite, "rgba", 4, comp.def[0].site.rgba, text);
+    ReadAttrTxt(esite, "material", dsite.material);
+    ReadAttr(esite, "rgba", 4, dsite.rgba, text);
   }
 
   // joint