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Do not copy the spec during attach.

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Use a reference count for managing the memory.

PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
This commit is contained in:
Alessio Quaglino
2025-01-16 03:52:31 -08:00
committed by Copybara-Service
parent 6436055c6c
commit c2138c3fb0
19 changed files with 505 additions and 173 deletions
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src/user/user_model.cc
+102 -26
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@@ -139,6 +139,7 @@ mjCModel::mjCModel() {
center_auto[0] = center_auto[1] = center_auto[2] = 0;
#endif
deepcopy_ = false;
nplugin = 0;
Clear();
@@ -181,6 +182,7 @@ mjCModel::mjCModel(const mjCModel& other) {
mjCModel& mjCModel::operator=(const mjCModel& other) {
deepcopy_ = true;
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCModel_*>(this) = static_cast<const mjCModel_&>(other);
@@ -210,6 +212,7 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
ids[i] = other.ids[i];
}
}
deepcopy_ = other.deepcopy_;
return *this;
}
@@ -222,20 +225,29 @@ void mjCModel::CopyList(std::vector<T*>& dest,
// loop over the elements from the other model
int nsource = (int)source.size();
for (int i = 0; i < nsource; i++) {
T* candidate = new T(*source[i]);
T* candidate = deepcopy_ ? new T(*source[i]) : source[i];
try {
// try to find the referenced object in this model
candidate->NameSpace(source[i]->model);
mjCModel* source_model = source[i]->model;
candidate->model = this;
candidate->NameSpace(source_model);
candidate->CopyFromSpec();
candidate->ResolveReferences(this);
} catch (mjCError err) {
// if not present, skip the element
// TODO: do not skip elements that contain user errors
delete candidate;
if (deepcopy_) {
candidate->model = nullptr;
delete candidate;
}
continue;
}
// copy the element from the other model to this model
source[i]->ForgetKeyframes();
if (deepcopy_) {
source[i]->ForgetKeyframes();
} else {
candidate->AddRef();
}
mjSpec* origin = FindSpec(source[i]->compiler);
dest.push_back(candidate);
dest.back()->model = this;
@@ -324,9 +336,12 @@ void mjCModel::CopyExplicitPlugin(T* obj) {
return;
}
mjCPlugin* origin = static_cast<mjCPlugin*>(obj->spec.plugin.element);
mjCPlugin* candidate = new mjCPlugin(*origin);
mjCPlugin* candidate = deepcopy_ ? new mjCPlugin(*origin) : origin;
candidate->id = plugins_.size();
candidate->model = this;
if (!deepcopy_) {
candidate->AddRef();
}
plugins_.push_back(candidate);
obj->spec.plugin.element = candidate;
}
@@ -566,7 +581,7 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
for (int j = 0; j < list->size(); ++j) {
list->at(j)->id = -1;
if (list->at(j) == element) {
delete list->at(j);
list->at(j)->Release();
list->erase(list->begin() + j);
j--;
}
@@ -577,8 +592,9 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
// discard all invalid elements from all lists
void mjCModel::DeleteElement(mjsElement* el) {
mjCBody *world = bodies_[0];
mjCBody *world = nullptr;
if (compiled) {
world = bodies_[0];
ResetTreeLists();
}
@@ -588,8 +604,14 @@ void mjCModel::DeleteElement(mjsElement* el) {
break;
case mjOBJ_GEOM:
deletefromlist(&(static_cast<mjCGeom*>(el)->body->geoms), el);
{
mjCGeom* geom = static_cast<mjCGeom*>(el);
if (geom->plugin.active && geom->plugin.name->empty() && geom->GetRef() == 1) {
DeleteElement(geom->plugin.element);
}
deletefromlist(&(geom->body->geoms), el);
break;
}
case mjOBJ_SITE:
deletefromlist(&(static_cast<mjCSite*>(el)->body->sites), el);
@@ -607,6 +629,36 @@ void mjCModel::DeleteElement(mjsElement* el) {
deletefromlist(&(static_cast<mjCCamera*>(el)->body->cameras), el);
break;
case mjOBJ_MESH:
{
mjCMesh* mesh = static_cast<mjCMesh*>(el);
if (mesh->plugin.active && mesh->plugin.name->empty() && mesh->GetRef() == 1) {
DeleteElement(mesh->plugin.element);
}
deletefromlist(object_lists_[mjOBJ_MESH], el);
break;
}
case mjOBJ_ACTUATOR:
{
mjCActuator* actuator = static_cast<mjCActuator*>(el);
if (actuator->plugin.active && actuator->plugin.name->empty() && actuator->GetRef() == 1) {
DeleteElement(actuator->plugin.element);
}
deletefromlist(object_lists_[mjOBJ_ACTUATOR], el);
break;
}
case mjOBJ_SENSOR:
{
mjCSensor* sensor = static_cast<mjCSensor*>(el);
if (sensor->plugin.active && sensor->plugin.name->empty() && sensor->GetRef() == 1) {
DeleteElement(sensor->plugin.element);
}
deletefromlist(object_lists_[mjOBJ_SENSOR], el);
break;
}
default:
deletefromlist(object_lists_[el->elemtype], el);
break;
@@ -621,6 +673,29 @@ void mjCModel::DeleteElement(mjsElement* el) {
// recursively delete all plugins in the subtree
void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
mjsPlugin* plugin = &(subtree->spec.plugin);
if (plugin->active && plugin->name->empty()) {
model->DeleteElement(plugin->element);
}
for (auto* body : subtree->Bodies()) {
deletesubtreeplugin(body, model);
}
}
// deletes all plugins in the subtree and then the subtree itself
void mjCModel::Detach(mjCBody* subtree) {
if (subtree->GetRef() == 1) {
deletesubtreeplugin(subtree, this);
}
subtree->Release();
}
// TODO: we should not use C-type casting with multiple C++ inheritance
void mjCModel::CreateObjectLists() {
for (int i = 0; i < mjNOBJECT; ++i) {
@@ -688,28 +763,28 @@ mjCModel::~mjCModel() {
compiled = false;
// delete kinematic tree and all objects allocated in it
delete bodies_[0];
bodies_[0]->Release();
// delete objects allocated in mjCModel
for (int i=0; i<flexes_.size(); i++) delete flexes_[i];
for (int i=0; i<meshes_.size(); i++) delete meshes_[i];
for (int i=0; i<skins_.size(); i++) delete skins_[i];
for (int i=0; i<hfields_.size(); i++) delete hfields_[i];
for (int i=0; i<textures_.size(); i++) delete textures_[i];
for (int i=0; i<materials_.size(); i++) delete materials_[i];
for (int i=0; i<pairs_.size(); i++) delete pairs_[i];
for (int i=0; i<excludes_.size(); i++) delete excludes_[i];
for (int i=0; i<equalities_.size(); i++) delete equalities_[i];
for (int i=0; i<tendons_.size(); i++) delete tendons_[i]; // also deletes wraps
for (int i=0; i<actuators_.size(); i++) delete actuators_[i];
for (int i=0; i<sensors_.size(); i++) delete sensors_[i];
for (int i=0; i<numerics_.size(); i++) delete numerics_[i];
for (int i=0; i<texts_.size(); i++) delete texts_[i];
for (int i=0; i<tuples_.size(); i++) delete tuples_[i];
for (int i=0; i<keys_.size(); i++) delete keys_[i];
for (int i=0; i<flexes_.size(); i++) flexes_[i]->Release();
for (int i=0; i<meshes_.size(); i++) meshes_[i]->Release();
for (int i=0; i<skins_.size(); i++) skins_[i]->Release();
for (int i=0; i<hfields_.size(); i++) hfields_[i]->Release();
for (int i=0; i<textures_.size(); i++) textures_[i]->Release();
for (int i=0; i<materials_.size(); i++) materials_[i]->Release();
for (int i=0; i<pairs_.size(); i++) pairs_[i]->Release();
for (int i=0; i<excludes_.size(); i++) excludes_[i]->Release();
for (int i=0; i<equalities_.size(); i++) equalities_[i]->Release();
for (int i=0; i<tendons_.size(); i++) tendons_[i]->Release(); // also deletes wraps
for (int i=0; i<actuators_.size(); i++) actuators_[i]->Release();
for (int i=0; i<sensors_.size(); i++) sensors_[i]->Release();
for (int i=0; i<numerics_.size(); i++) numerics_[i]->Release();
for (int i=0; i<texts_.size(); i++) texts_[i]->Release();
for (int i=0; i<tuples_.size(); i++) tuples_[i]->Release();
for (int i=0; i<keys_.size(); i++) keys_[i]->Release();
for (int i=0; i<defaults_.size(); i++) delete defaults_[i];
for (int i=0; i<specs_.size(); i++) mj_deleteSpec(specs_[i]);
for (int i=0; i<plugins_.size(); i++) delete plugins_[i];
for (int i=0; i<plugins_.size(); i++) plugins_[i]->Release();
// clear sizes and pointer lists created in Compile
Clear();
@@ -933,6 +1008,7 @@ mjCPlugin* mjCModel::AddPlugin() {
// append spec to spec
void mjCModel::AppendSpec(mjSpec* spec) {
// TODO: check if the spec is already in the list
specs_.push_back(spec);
}