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Allow to fusestatic a body if it doesn't generate a referencing error.

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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
This commit is contained in:
Alessio Quaglino
2025-06-09 10:04:47 -07:00
committed by Copybara-Service
parent f75772587a
commit b8768aa1cd
7 changed files with 242 additions and 73 deletions
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src/user/user_objects.cc
+39 -27
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@@ -3562,6 +3562,19 @@ void mjCCamera::CopyFromSpec() {
void mjCCamera::ResolveReferences(const mjCModel* m) {
if (!targetbody_.empty()) {
mjCBody* tb = (mjCBody*)m->FindObject(mjOBJ_BODY, targetbody_);
if (tb) {
targetbodyid = tb->id;
} else {
throw mjCError(this, "unknown target body in camera");
}
}
}
// compiler
void mjCCamera::Compile(void) {
CopyFromSpec();
@@ -3587,14 +3600,7 @@ void mjCCamera::Compile(void) {
mjuu_normvec(quat, 4);
// get targetbodyid
if (!targetbody_.empty()) {
mjCBody* tb = (mjCBody*)model->FindObject(mjOBJ_BODY, targetbody_);
if (tb) {
targetbodyid = tb->id;
} else {
throw mjCError(this, "unknown target body in camera");
}
}
ResolveReferences(model);
// make sure the image size is finite
if (fovy >= 180) {
@@ -3716,6 +3722,27 @@ void mjCLight::CopyFromSpec() {
void mjCLight::ResolveReferences(const mjCModel* m) {
if (!targetbody_.empty()) {
mjCBody* tb = (mjCBody*)m->FindObject(mjOBJ_BODY, targetbody_);
if (tb) {
targetbodyid = tb->id;
} else {
throw mjCError(this, "unknown target body in light");
}
}
if (!texture_.empty()) {
mjCTexture* tex = (mjCTexture*)m->FindObject(mjOBJ_TEXTURE, texture_);
if (tex) {
texid = tex->id;
} else {
throw mjCError(this, "unknown texture in light");
}
}
}
// compiler
void mjCLight::Compile(void) {
CopyFromSpec();
@@ -3735,25 +3762,8 @@ void mjCLight::Compile(void) {
throw mjCError(this, "zero direction in light");
}
// get targetbodyid
if (!targetbody_.empty()) {
mjCBody* tb = (mjCBody*)model->FindObject(mjOBJ_BODY, targetbody_);
if (tb) {
targetbodyid = tb->id;
} else {
throw mjCError(this, "unknown target body in light");
}
}
// get texture
if (!texture_.empty()) {
mjCTexture* tex = (mjCTexture*)model->FindObject(mjOBJ_TEXTURE, texture_);
if (tex) {
texid = tex->id;
} else {
throw mjCError(this, "unknown target body in light");
}
}
// get targetbodyid and texid
ResolveReferences(model);
}
@@ -6493,6 +6503,8 @@ void mjCSensor::CopyPlugin() {
void mjCSensor::ResolveReferences(const mjCModel* m) {
obj = nullptr;
ref = nullptr;
objname_ = prefix + objname_ + suffix;
refname_ = prefix + refname_ + suffix;