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Replace objid with obj pointers.

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This in preparation of adding functions to remove/add elements after compilation.

PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
This commit is contained in:
Alessio Quaglino
2024-01-10 10:19:44 -08:00
committed by Copybara-Service
parent 889353dfa8
commit 8a9b041388
4 changed files with 37 additions and 52 deletions
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src/user/user_model.cc
+3 -3
View File
@@ -2105,7 +2105,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// set wraps
for (int j=0; j<(int)pte->path.size(); j++) {
m->wrap_type[adr+j] = pte->path[j]->type;
m->wrap_objid[adr+j] = pte->path[j]->objid;
m->wrap_objid[adr+j] = pte->path[j]->obj ? pte->path[j]->obj->id : -1;
m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->prm;
if (pte->path[j]->type==mjWRAP_SPHERE || pte->path[j]->type==mjWRAP_CYLINDER) {
m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->sideid;
@@ -2160,7 +2160,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->sensor_datatype[i] = psen->datatype;
m->sensor_needstage[i] = psen->needstage;
m->sensor_objtype[i] = psen->objtype;
m->sensor_objid[i] = psen->objid;
m->sensor_objid[i] = psen->obj ? psen->obj->id : -1;
m->sensor_reftype[i] = psen->reftype;
m->sensor_refid[i] = psen->refid;
m->sensor_dim[i] = psen->dim;
@@ -2219,7 +2219,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tuple_size[i] = (int)ptu->objtype.size();
for (int j=0; j<m->tuple_size[i]; j++) {
m->tuple_objtype[adr+j] = (int)ptu->objtype[j];
m->tuple_objid[adr+j] = ptu->objid[j];
m->tuple_objid[adr+j] = ptu->obj[j]->id;
m->tuple_objprm[adr+j] = (mjtNum)ptu->objprm[j];
}
src/user/user_objects.cc
+22 -30
View File
@@ -3637,7 +3637,7 @@ void mjCTendon::Compile(void) {
}
// site cannot be repeated
if (i<sz-1 && path[i+1]->type==mjWRAP_SITE && path[i]->objid==path[i+1]->objid) {
if (i<sz-1 && path[i+1]->type==mjWRAP_SITE && path[i]->obj->id==path[i+1]->obj->id) {
throw mjCError(this,
"tendon '%s' (id = %d): site %d is repeated",
name.c_str(), id, i);
@@ -3698,7 +3698,7 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
// clear variables
type = mjWRAP_NONE;
objid = -1;
obj = nullptr;
sideid = -1;
prm = 0;
sidesite.clear();
@@ -3708,14 +3708,14 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
// compiler
void mjCWrap::Compile(void) {
mjCBase *ptr = 0, *pside;
mjCBase *pside;
// handle wrap object types
switch (type) {
case mjWRAP_JOINT: // joint
// find joint by name
ptr = model->FindObject(mjOBJ_JOINT, name);
if (!ptr) {
obj = model->FindObject(mjOBJ_JOINT, name);
if (!obj) {
throw mjCError(this,
"joint '%s' not found in tendon %d, wrap %d",
name.c_str(), tendon->id, id);
@@ -3725,17 +3725,17 @@ void mjCWrap::Compile(void) {
case mjWRAP_SPHERE: // geom (cylinder type set here)
// find geom by name
ptr = model->FindObject(mjOBJ_GEOM, name);
if (!ptr) {
obj = model->FindObject(mjOBJ_GEOM, name);
if (!obj) {
throw mjCError(this,
"geom '%s' not found in tendon %d, wrap %d",
name.c_str(), tendon->id, id);
}
// set/check geom type
if (((mjCGeom*)ptr)->type == mjGEOM_CYLINDER) {
if (((mjCGeom*)obj)->type == mjGEOM_CYLINDER) {
type = mjWRAP_CYLINDER;
} else if (((mjCGeom*)ptr)->type != mjGEOM_SPHERE) {
} else if (((mjCGeom*)obj)->type != mjGEOM_SPHERE) {
throw mjCError(this,
"geom '%s' in tendon %d, wrap %d is not sphere or cylinder",
name.c_str(), tendon->id, id);
@@ -3768,8 +3768,8 @@ void mjCWrap::Compile(void) {
case mjWRAP_SITE: // site
// find site by name
ptr = model->FindObject(mjOBJ_SITE, name);
if (!ptr) {
obj = model->FindObject(mjOBJ_SITE, name);
if (!obj) {
throw mjCError(this, "site '%s' not found in wrap %d", name.c_str(), id);
}
break;
@@ -3777,11 +3777,6 @@ void mjCWrap::Compile(void) {
default: // SHOULD NOT OCCUR
throw mjCError(this, "unknown wrap type in tendon %d, wrap %d", 0, tendon->id, id);
}
// set object id
if (ptr) {
objid = ptr->id;
}
}
@@ -4053,7 +4048,7 @@ mjCSensor::mjCSensor(mjCModel* _model) {
dim = 0;
// clear private variables
objid = -1;
obj = nullptr;
refid = -1;
plugin_instance = nullptr;
@@ -4065,8 +4060,6 @@ mjCSensor::mjCSensor(mjCModel* _model) {
// compiler
void mjCSensor::Compile(void) {
const mjCBase* pobj;
// resize userdata
if (userdata.size() > model->nuser_sensor) {
throw mjCError(this, "user has more values than nuser_sensor in sensor '%s' (id = %d)",
@@ -4094,15 +4087,14 @@ void mjCSensor::Compile(void) {
}
// find name
pobj = model->FindObject(objtype, objname);
if (!pobj) {
obj = model->FindObject(objtype, objname);
if (!obj) {
throw mjCError(this,
"unrecognized name of sensorized object in sensor '%s' (id = %d)",
name.c_str(), id);
}
// get sensorized object id
objid = pobj->id;
} else if (type != mjSENS_CLOCK && type != mjSENS_PLUGIN && type != mjSENS_USER) {
throw mjCError(this, "invalid type in sensor '%s' (id = %d)", name.c_str(), id);
}
@@ -4195,7 +4187,7 @@ void mjCSensor::Compile(void) {
}
// make sure joint is slide or hinge
if (((mjCJoint*)pobj)->type!=mjJNT_SLIDE && ((mjCJoint*)pobj)->type!=mjJNT_HINGE) {
if (((mjCJoint*)obj)->type!=mjJNT_SLIDE && ((mjCJoint*)obj)->type!=mjJNT_HINGE) {
throw mjCError(this,
"joint must be slide or hinge in sensor '%s' (id = %d)", name.c_str(), id);
}
@@ -4260,7 +4252,7 @@ void mjCSensor::Compile(void) {
}
// make sure joint is ball
if (((mjCJoint*)pobj)->type!=mjJNT_BALL) {
if (((mjCJoint*)obj)->type!=mjJNT_BALL) {
throw mjCError(this,
"joint must be ball in sensor '%s' (id = %d)", name.c_str(), id);
}
@@ -4287,7 +4279,7 @@ void mjCSensor::Compile(void) {
}
// make sure joint has limit
if (!((mjCJoint*)pobj)->limited) {
if (!((mjCJoint*)obj)->limited) {
throw mjCError(this, "joint must be limited in sensor '%s' (id = %d)", name.c_str(), id);
}
@@ -4313,7 +4305,7 @@ void mjCSensor::Compile(void) {
}
// make sure tendon has limit
if (!((mjCTendon*)pobj)->limited) {
if (!((mjCTendon*)obj)->limited) {
throw mjCError(this, "tendon must be limited in sensor '%s' (id = %d)", name.c_str(), id);
}
@@ -4535,7 +4527,7 @@ mjCTuple::mjCTuple(mjCModel* _model) {
objtype.clear();
objname.clear();
objprm.clear();
objid.clear();
obj.clear();
}
@@ -4545,7 +4537,7 @@ mjCTuple::~mjCTuple() {
objtype.clear();
objname.clear();
objprm.clear();
objid.clear();
obj.clear();
}
@@ -4564,7 +4556,7 @@ void mjCTuple::Compile(void) {
}
// resize objid to correct size
objid.resize(objtype.size());
obj.resize(objtype.size());
// find objects, fill in ids
for (int i=0; i<objtype.size(); i++) {
@@ -4575,7 +4567,7 @@ void mjCTuple::Compile(void) {
}
// assign id
objid[i] = res->id;
obj[i] = res;
}
}
src/user/user_objects.h
+3 -3
View File
@@ -1069,7 +1069,7 @@ class mjCWrap : public mjCBase {
public:
mjtWrap type; // wrap object type
int objid; // wrap object id (in array corresponding to type)
mjCBase* obj; // wrap object pointer
int sideid; // side site id; -1 if not applicable
double prm; // parameter: divisor, coefficient
std::string sidesite; // name of side site
@@ -1179,7 +1179,7 @@ class mjCSensor : public mjCBase {
mjCSensor(mjCModel*); // constructor
void Compile(void); // compiler
int objid; // id of sensorized object
mjCBase* obj; // sensorized object
int refid; // id of reference frame
};
@@ -1239,7 +1239,7 @@ class mjCTuple : public mjCBase {
~mjCTuple(); // destructor
void Compile(void); // compiler
std::vector<int> objid; // object ids
std::vector<mjCBase*> obj; // object pointers
};
src/xml/xml_native_writer.cc
+9 -16
View File
@@ -1648,34 +1648,27 @@ void mjXWriter::Tendon(XMLElement* root) {
OneTendon(elem, pten, pten->def);
// write wraps
mjCBase* pobj;
XMLElement* wrap;
for (int j=0; j<pten->NumWraps(); j++) {
mjCWrap* pw = pten->GetWrap(j);
switch (pw->type) {
case mjWRAP_JOINT:
if ((pobj = model->GetObject(mjOBJ_JOINT, pw->objid))) {
wrap = InsertEnd(elem, "joint");
WriteAttrTxt(wrap, "joint", pobj->name);
WriteAttr(wrap, "coef", 1, &pw->prm);
}
wrap = InsertEnd(elem, "joint");
WriteAttrTxt(wrap, "joint", pw->obj->name);
WriteAttr(wrap, "coef", 1, &pw->prm);
break;
case mjWRAP_SITE:
if ((pobj = model->GetObject(mjOBJ_SITE, pw->objid))) {
wrap = InsertEnd(elem, "site");
WriteAttrTxt(wrap, "site", pobj->name);
}
wrap = InsertEnd(elem, "site");
WriteAttrTxt(wrap, "site", pw->obj->name);
break;
case mjWRAP_SPHERE:
case mjWRAP_CYLINDER:
if ((pobj = model->GetObject(mjOBJ_GEOM, pw->objid))) {
wrap = InsertEnd(elem, "geom");
WriteAttrTxt(wrap, "geom", pobj->name);
if (!pw->sidesite.empty()) {
WriteAttrTxt(wrap, "sidesite", pw->sidesite);
}
wrap = InsertEnd(elem, "geom");
WriteAttrTxt(wrap, "geom", pw->obj->name);
if (!pw->sidesite.empty()) {
WriteAttrTxt(wrap, "sidesite", pw->sidesite);
}
break;