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Add copy constructors to body subelements.

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PiperOrigin-RevId: 614665384
Change-Id: I1ad2b644cf9816fb9490b5634c16e95f360a8684
This commit is contained in:
Alessio Quaglino
2024-03-11 07:58:59 -07:00
committed by Copybara-Service
parent b1a941db8b
commit 8413a615d7
2 changed files with 230 additions and 88 deletions
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src/user/user_objects.cc
+105
View File
@@ -605,6 +605,21 @@ mjCBase::mjCBase() {
mjCBase::mjCBase(const mjCBase& other) {
*this = other;
}
mjCBase& mjCBase::operator=(const mjCBase& other) {
if (this != &other) {
*static_cast<mjCBase_*>(this) = static_cast<const mjCBase_&>(other);
}
return *this;
}
// load resource if found (fallback to OS filesystem)
mjResource* mjCBase::LoadResource(string filename, const mjVFS* vfs) {
// try reading from provided VFS
@@ -1349,6 +1364,24 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
mjCJoint::mjCJoint(const mjCJoint& other) {
*this = other;
}
mjCJoint& mjCJoint::operator=(const mjCJoint& other) {
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCJoint_*>(this) = static_cast<const mjCJoint_&>(other);
*static_cast<mjmJoint*>(this) = static_cast<const mjmJoint&>(other);
}
PointToLocal();
return *this;
}
bool mjCJoint::is_limited() const { return islimited(limited, range); }
bool mjCJoint::is_actfrclimited() const { return islimited(actfrclimited, actfrcrange); }
@@ -1543,6 +1576,24 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
mjCGeom::mjCGeom(const mjCGeom& other) {
*this = other;
}
mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCGeom_*>(this) = static_cast<const mjCGeom_&>(other);
*static_cast<mjmGeom*>(this) = static_cast<const mjmGeom&>(other);
}
PointToLocal();
return *this;
}
// to be called after any default copy constructor
void mjCGeom::PointToLocal(void) {
spec.element = (mjElement)this;
@@ -2144,6 +2195,24 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
mjCSite::mjCSite(const mjCSite& other) {
*this = other;
}
mjCSite& mjCSite::operator=(const mjCSite& other) {
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCSite_*>(this) = static_cast<const mjCSite_&>(other);
*static_cast<mjmSite*>(this) = static_cast<const mjmSite&>(other);
}
PointToLocal();
return *this;
}
void mjCSite::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
@@ -2286,6 +2355,24 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
mjCCamera::mjCCamera(const mjCCamera& other) {
*this = other;
}
mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCCamera_*>(this) = static_cast<const mjCCamera_&>(other);
*static_cast<mjmCamera*>(this) = static_cast<const mjmCamera&>(other);
}
PointToLocal();
return *this;
}
void mjCCamera::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
@@ -2420,6 +2507,24 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
mjCLight::mjCLight(const mjCLight& other) {
*this = other;
}
mjCLight& mjCLight::operator=(const mjCLight& other) {
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCLight_*>(this) = static_cast<const mjCLight_&>(other);
*static_cast<mjmLight*>(this) = static_cast<const mjmLight&>(other);
}
PointToLocal();
return *this;
}
void mjCLight::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
src/user/user_objects.h
+125 -88
View File
@@ -148,7 +148,18 @@ class mjCBoundingVolumeHierarchy {
//------------------------- class mjCBase ----------------------------------------------------------
// Generic functionality for all derived classes
class mjCBase {
class mjCBase_ {
public:
std::string name; // object name
std::string classname; // defaults class name
int id; // object id
std::string info; // error message info set by the user
mjCDef* def; // defaults class used to init this object
mjCModel* model; // pointer to model that created object
mjCFrame* frame; // pointer to frame transformation
};
class mjCBase : public mjCBase_ {
friend class mjCDef;
public:
@@ -165,17 +176,13 @@ class mjCBase {
// Copy spec into private attributes
virtual void CopyFromSpec() {}
std::string name; // object name
std::string classname; // defaults class name
int id; // object id
std::string info; // error message info set by the user
mjCDef* def; // defaults class used to init this object
mjCModel* model; // pointer to model that created object
mjCFrame* frame; // pointer to frame transformation
// Copy assignment
mjCBase& operator=(const mjCBase& other);
protected:
mjCBase(); // constructor
virtual ~mjCBase() = default; // destructor
mjCBase(); // constructor
mjCBase(const mjCBase& other); // copy constructor
virtual ~mjCBase() = default; // destructor
};
@@ -314,7 +321,16 @@ class mjCFrame : public mjCBase, private mjmFrame {
//------------------------- class mjCJoint ---------------------------------------------------------
// Describes a motion degree of freedom of a body relative to its parent
class mjCJoint : public mjCBase, private mjmJoint {
class mjCJoint_ : public mjCBase {
protected:
mjCBody* body; // joint's body
// variable-size data
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
class mjCJoint : public mjCJoint_, private mjmJoint {
friend class mjCDef;
friend class mjCEquality;
friend class mjCBody;
@@ -341,15 +357,11 @@ class mjCJoint : public mjCBase, private mjmJoint {
private:
mjCJoint(mjCModel* = 0, mjCDef* = 0);
mjCJoint(const mjCJoint& other); // copy constructor
mjCJoint& operator=(const mjCJoint& other); // copy assignment
int Compile(void); // compiler; return dofnum
void PointToLocal(void);
mjCBody* body; // joint's body
// variable-size data
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
@@ -357,49 +369,11 @@ class mjCJoint : public mjCBase, private mjmJoint {
//------------------------- class mjCGeom ----------------------------------------------------------
// Describes a geometric shape belonging to a body
class mjCGeom : public mjCBase, private mjmGeom {
friend class mjCDef;
friend class mjCMesh;
friend class mjCPair;
friend class mjCBody;
friend class mjCModel;
friend class mjCWrap;
friend class mjXWriter;
friend class mjXURDF;
class mjCGeom_ : public mjCBase {
public:
using mjCBase::name;
mjmGeom spec; // variables set by user
double GetVolume(void); // compute geom volume
void SetInertia(void); // compute and set geom inertia
bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; }
bool inferinertia; // true if inertia should be computed from geom
// Compute all coefs modeling the interaction with the surrounding fluid.
void SetFluidCoefs(void);
// Compute the kappa coefs of the added inertia due to the surrounding fluid.
double GetAddedMassKappa(double dx, double dy, double dz);
// sets properties of a bounding volume
void SetBoundingVolume(mjCBoundingVolume* bv) const;
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
const std::string& get_hfieldname() { return spec_hfieldname_; }
const std::string& get_meshname() { return spec_meshname_; }
const std::string& get_material() { return spec_material_; }
void del_material() { spec_material_.clear(); }
private:
mjCGeom(mjCModel* = 0, mjCDef* = 0);
void Compile(void); // compiler
double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box
void CopyFromSpec(void);
void PointToLocal(void);
protected:
mjCAlternative alt_;
bool visual_; // true: geom does not collide and is unreferenced
int matid; // id of geom's material
@@ -422,6 +396,51 @@ class mjCGeom : public mjCBase, private mjmGeom {
std::string spec_meshname_;
std::string spec_material_;
std::vector<double> spec_userdata_;
};
class mjCGeom : public mjCGeom_, private mjmGeom {
friend class mjCDef;
friend class mjCMesh;
friend class mjCPair;
friend class mjCBody;
friend class mjCModel;
friend class mjCWrap;
friend class mjXWriter;
friend class mjXURDF;
public:
using mjCBase::name;
mjmGeom spec; // variables set by user
double GetVolume(void); // compute geom volume
void SetInertia(void); // compute and set geom inertia
bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; }
// Compute all coefs modeling the interaction with the surrounding fluid.
void SetFluidCoefs(void);
// Compute the kappa coefs of the added inertia due to the surrounding fluid.
double GetAddedMassKappa(double dx, double dy, double dz);
// sets properties of a bounding volume
void SetBoundingVolume(mjCBoundingVolume* bv) const;
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
const std::string& get_hfieldname() { return spec_hfieldname_; }
const std::string& get_meshname() { return spec_meshname_; }
const std::string& get_material() { return spec_material_; }
void del_material() { spec_material_.clear(); }
private:
mjCGeom(mjCModel* = 0, mjCDef* = 0);
mjCGeom(const mjCGeom& other); // copy constructor
mjCGeom& operator=(const mjCGeom& other); // copy assignment
void Compile(void); // compiler
double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box
void CopyFromSpec(void);
void PointToLocal(void);
// inherited
using mjCBase::classname;
@@ -433,7 +452,22 @@ class mjCGeom : public mjCBase, private mjmGeom {
//------------------------- class mjCSite ----------------------------------------------------------
// Describes a site on a body
class mjCSite : public mjCBase, private mjmSite {
class mjCSite_ : public mjCBase {
protected:
mjCAlternative alt_;
// variable-size data
std::string material_;
std::vector<double> userdata_;
std::string spec_material_;
std::vector<double> spec_userdata_;
// variables computed by 'compile' and 'mjCBody::addSite'
mjCBody* body; // site's body
int matid; // material id for rendering
};
class mjCSite : public mjCSite_, private mjmSite {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -454,22 +488,13 @@ class mjCSite : public mjCBase, private mjmSite {
void del_material() { material_.clear(); }
private:
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
mjCSite(const mjCSite& other); // copy constructor
mjCSite& operator=(const mjCSite& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec(); // copy spec into attributes
void PointToLocal(void);
mjCAlternative alt_;
// variable-size data
std::string material_;
std::vector<double> userdata_;
std::string spec_material_;
std::vector<double> spec_userdata_;
// variables computed by 'compile' and 'mjCBody::addSite'
mjCBody* body; // site's body
int matid; // material id for rendering
};
@@ -477,7 +502,18 @@ class mjCSite : public mjCBase, private mjmSite {
//------------------------- class mjCCamera --------------------------------------------------------
// Describes a camera, attached to a body
class mjCCamera : public mjCBase, private mjmCamera {
class mjCCamera_ : public mjCBase {
protected:
mjCBody* body; // camera's body
int targetbodyid; // id of target body; -1: none
mjCAlternative alt_;
std::string targetbody_;
std::string spec_targetbody_;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
class mjCCamera : public mjCCamera_, private mjmCamera {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -495,18 +531,13 @@ class mjCCamera : public mjCBase, private mjmCamera {
const std::vector<double>& get_userdata() { return userdata_; }
private:
mjCCamera(mjCModel* = 0, mjCDef* = 0); // constructor
mjCCamera(mjCModel* = 0, mjCDef* = 0); // constructor
mjCCamera(const mjCCamera& other); // copy constructor
mjCCamera& operator=(const mjCCamera& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec(void);
void PointToLocal(void);
mjCBody* body; // camera's body
int targetbodyid; // id of target body; -1: none
mjCAlternative alt_;
std::string targetbody_;
std::string spec_targetbody_;
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
};
@@ -514,7 +545,15 @@ class mjCCamera : public mjCBase, private mjmCamera {
//------------------------- class mjCLight ---------------------------------------------------------
// Describes a light, attached to a body
class mjCLight : public mjCBase, private mjmLight {
class mjCLight_ : public mjCBase {
protected:
mjCBody* body; // light's body
int targetbodyid; // id of target body; -1: none
std::string targetbody_;
std::string spec_targetbody_;
};
class mjCLight : public mjCLight_, private mjmLight {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -530,15 +569,13 @@ class mjCLight : public mjCBase, private mjmLight {
const std::string& get_targetbody() { return targetbody_; }
private:
mjCLight(mjCModel* = 0, mjCDef* = 0); // constructor
mjCLight(mjCModel* = 0, mjCDef* = 0); // constructor
mjCLight(const mjCLight& other); // copy constructor
mjCLight& operator=(const mjCLight& other); // copy assignment
void Compile(void); // compiler
void CopyFromSpec(void);
void PointToLocal(void);
mjCBody* body; // light's body
int targetbodyid; // id of target body; -1: none
std::string targetbody_;
std::string spec_targetbody_;
};