Replace objid with obj pointers.

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

PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98

src/user/user_model.cc

@@ -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

@@ -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);
+    obj = model->FindObject(mjOBJ_JOINT, name);
-    if (!ptr) {
+    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);
+    obj = model->FindObject(mjOBJ_GEOM, name);
-    if (!ptr) {
+    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);
+    obj = model->FindObject(mjOBJ_SITE, name);
-    if (!ptr) {
+    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);
+    obj = model->FindObject(objtype, objname);
-    if (!pobj) {
+    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

@@ -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

@@ -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");
-          wrap = InsertEnd(elem, "joint");
+        WriteAttrTxt(wrap, "joint", pw->obj->name);
-          WriteAttrTxt(wrap, "joint", pobj->name);
+        WriteAttr(wrap, "coef", 1, &pw->prm);
-          WriteAttr(wrap, "coef", 1, &pw->prm);
-        }
         break;
 
       case mjWRAP_SITE:
-        if ((pobj = model->GetObject(mjOBJ_SITE, pw->objid))) {
+        wrap = InsertEnd(elem, "site");
-          wrap = InsertEnd(elem, "site");
+        WriteAttrTxt(wrap, "site", pw->obj->name);
-          WriteAttrTxt(wrap, "site", pobj->name);
-        }
         break;
 
       case mjWRAP_SPHERE:
       case mjWRAP_CYLINDER:
-        if ((pobj = model->GetObject(mjOBJ_GEOM, pw->objid))) {
+        wrap = InsertEnd(elem, "geom");
-          wrap = InsertEnd(elem, "geom");
+        WriteAttrTxt(wrap, "geom", pw->obj->name);
-          WriteAttrTxt(wrap, "geom", pobj->name);
+        if (!pw->sidesite.empty()) {
-          if (!pw->sidesite.empty()) {
+          WriteAttrTxt(wrap, "sidesite", pw->sidesite);
-            WriteAttrTxt(wrap, "sidesite", pw->sidesite);
-          }
         }
         break;