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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
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@@ -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];
}