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Move detach from mjs_delete to mjs_detach.

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PiperOrigin-RevId: 773686024
Change-Id: Ida2c032a6329104df80ed134cf904dde7259bd1e
This commit is contained in:
Alessio Quaglino
2025-06-20 07:02:38 -07:00
committed by Copybara-Service
parent a2acd2d4ed
commit 7dc7a349c5
3 changed files with 62 additions and 37 deletions
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src/user/user_model.cc
+31 -17
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@@ -733,7 +733,6 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
for (int j = 0; j < list->size(); ++j) {
list->at(j)->id = -1;
if (list->at(j) == element) {
list->at(j)->Release();
list->erase(list->begin() + j);
j--;
}
@@ -743,20 +742,33 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
// recursively delete all plugins in the subtree
static void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
mjsPlugin* plugin = &(subtree->spec.plugin);
if (plugin->active && plugin->name->empty()) {
model->DeleteElement(plugin->element);
*this -= plugin->element;
detached_.push_back(static_cast<mjCBase*>(plugin->element));
}
for (auto* body : subtree->Bodies()) {
deletesubtreeplugin(body, model);
DeleteSubtreePlugin(body);
}
}
// discard all invalid elements from all lists
// delete an object from the model
void mjCModel::DeleteElement(mjsElement* el) {
static_cast<mjCBase*>(el)->Release();
}
// remove the element from the model
void mjCModel::operator-=(mjsElement* el) {
if (el->elemtype == mjOBJ_BODY) {
mjCBody* body = static_cast<mjCBody*>(el);
*this -= *body;
}
ResetTreeLists();
if (el->elemtype != mjOBJ_DEFAULT) {
@@ -774,10 +786,7 @@ void mjCModel::DeleteElement(mjsElement* el) {
{
MakeTreeLists(); // rebuild lists that were reset at the beginning of the function
mjCBody* subtree = static_cast<mjCBody*>(el);
if (subtree->GetRef() == 1) {
deletesubtreeplugin(subtree, this);
}
subtree->Release();
DeleteSubtreePlugin(subtree);
break;
}
@@ -789,8 +798,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
case mjOBJ_GEOM:
{
mjCGeom* geom = static_cast<mjCGeom*>(el);
if (geom->plugin.active && geom->plugin.name->empty() && geom->GetRef() == 1) {
DeleteElement(geom->plugin.element);
if (geom->plugin.active && geom->plugin.name->empty()) {
*this -= geom->plugin.element;
detached_.push_back(static_cast<mjCBase*>(geom->plugin.element));
}
deletefromlist(&(geom->body->geoms), el);
break;
@@ -815,8 +825,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
case mjOBJ_MESH:
{
mjCMesh* mesh = static_cast<mjCMesh*>(el);
if (mesh->plugin.active && mesh->plugin.name->empty() && mesh->GetRef() == 1) {
DeleteElement(mesh->plugin.element);
if (mesh->plugin.active && mesh->plugin.name->empty()) {
*this -= mesh->plugin.element;
detached_.push_back(static_cast<mjCBase*>(mesh->plugin.element));
}
deletefromlist(object_lists_[mjOBJ_MESH], el);
break;
@@ -825,8 +836,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
case mjOBJ_ACTUATOR:
{
mjCActuator* actuator = static_cast<mjCActuator*>(el);
if (actuator->plugin.active && actuator->plugin.name->empty() && actuator->GetRef() == 1) {
DeleteElement(actuator->plugin.element);
if (actuator->plugin.active && actuator->plugin.name->empty()) {
*this -= actuator->plugin.element;
detached_.push_back(static_cast<mjCBase*>(actuator->plugin.element));
}
deletefromlist(object_lists_[mjOBJ_ACTUATOR], el);
break;
@@ -835,8 +847,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
case mjOBJ_SENSOR:
{
mjCSensor* sensor = static_cast<mjCSensor*>(el);
if (sensor->plugin.active && sensor->plugin.name->empty() && sensor->GetRef() == 1) {
DeleteElement(sensor->plugin.element);
if (sensor->plugin.active && sensor->plugin.name->empty()) {
*this -= sensor->plugin.element;
detached_.push_back(static_cast<mjCBase*>(sensor->plugin.element));
}
deletefromlist(object_lists_[mjOBJ_SENSOR], el);
break;
@@ -946,6 +959,7 @@ mjCModel::~mjCModel() {
for (int i=0; i < defaults_.size(); i++) delete defaults_[i];
for (int i=0; i < specs_.size(); i++) mj_deleteSpec(specs_[i]);
for (int i=0; i < plugins_.size(); i++) plugins_[i]->Release();
for (int i=0; i < detached_.size(); i++) detached_[i]->Release();
// clear sizes and pointer lists created in Compile
Clear();