Do not copy the spec during attach.
Use a reference count for managing the memory. PiperOrigin-RevId: 716169486 Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
6436055c6c
commit
c2138c3fb0
+136
-72
@@ -763,6 +763,7 @@ mjCBody::mjCBody(mjCModel* _model) {
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model = _model;
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if (_model) compiler = &_model->spec.compiler;
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refcount = 1;
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mjs_defaultBody(&spec);
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elemtype = mjOBJ_BODY;
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parent = nullptr;
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@@ -872,22 +873,28 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
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other.model->prefix = other.prefix;
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other.model->suffix = other.suffix;
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other.model->StoreKeyframes(model);
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mjCModel* other_model = other.model;
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// attach defaults
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if (other.model != model) {
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mjCDef* subdef = new mjCDef(*other.model->Default());
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subdef->NameSpace(other.model);
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if (other_model != model) {
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mjCDef* subdef = new mjCDef(*other_model->Default());
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subdef->NameSpace(other_model);
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*model += *subdef;
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}
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// copy input frame
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mjSpec* origin = model->FindSpec(other.compiler);
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frames.push_back(new mjCFrame(other));
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mjCFrame* newframe(model->deepcopy_ ? new mjCFrame(other) : (mjCFrame*)&other);
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frames.push_back(newframe);
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frames.back()->body = this;
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frames.back()->model = model;
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frames.back()->compiler = origin ? &origin->compiler : &model->spec.compiler;
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frames.back()->frame = other.frame;
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frames.back()->NameSpace(other.model);
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if (model->deepcopy_) {
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frames.back()->NameSpace(other_model);
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} else {
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frames.back()->AddRef();
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}
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int i = frames.size();
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last_attached = &frames.back()->spec;
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@@ -909,30 +916,43 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
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CopyList(cameras, subtree->cameras, fmap, &other);
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CopyList(lights, subtree->lights, fmap, &other);
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if (!model->deepcopy_) {
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subtree->SetModel(model);
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subtree->NameSpace(other_model);
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}
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int nbodies = (int)subtree->bodies.size();
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for (int i=0; i<nbodies; i++) {
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if (!other.IsAncestor(subtree->bodies[i]->frame)) {
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continue;
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}
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bodies.push_back(new mjCBody(*subtree->bodies[i], model)); // triggers recursive call
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if (model->deepcopy_) {
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mjCBody* newbody(new mjCBody(*subtree->bodies[i], model)); // triggers recursive call
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bodies.push_back(newbody);
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subtree->bodies[i]->ForgetKeyframes();
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bodies.back()->NameSpace_(other_model, /*propagate=*/ false);
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} else {
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bodies.push_back(subtree->bodies[i]);
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bodies.back()->SetModel(model);
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bodies.back()->ResetId();
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bodies.back()->AddRef();
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}
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bodies.back()->parent = this;
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bodies.back()->frame =
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subtree->bodies[i]->frame ? frames[fmap[subtree->bodies[i]->frame]] : nullptr;
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bodies.back()->NameSpace_(other.model, /*propagate=*/ false);
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subtree->bodies[i]->ForgetKeyframes();
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}
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// attach referencing elements
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*model += *other.model;
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*model += *other_model;
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// leave the source model in a clean state
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if (other.model != model) {
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other.model->key_pending_.clear();
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if (other_model != model) {
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other_model->key_pending_.clear();
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}
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// clear namespace and return body
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other.model->prefix.clear();
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other.model->suffix.clear();
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other_model->prefix.clear();
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other_model->suffix.clear();
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return *this;
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}
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@@ -948,7 +968,8 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
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continue; // skip if the element is not inside pframe
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}
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mjSpec* origin = model->FindSpec(src[i]->compiler);
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dst.push_back(new T(*src[i]));
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T* new_obj = model->deepcopy_ ? new T(*src[i]) : src[i];
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dst.push_back(new_obj);
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dst.back()->body = this;
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dst.back()->model = model;
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dst.back()->compiler = origin ? &origin->compiler : &model->spec.compiler;
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@@ -956,6 +977,11 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
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dst.back()->CopyPlugin();
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dst.back()->classname = src[i]->classname;
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// increment refcount if shallow copy is made
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if (!model->deepcopy_) {
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dst.back()->AddRef();
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}
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// assign dst frame to src frame
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dst.back()->frame = src[i]->frame ? frames[fmap[src[i]->frame]] : nullptr;
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@@ -981,6 +1007,73 @@ mjCBody& mjCBody::operator-=(const mjCBody& subtree) {
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// set model of this body and its subtree
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void mjCBody::SetModel(mjCModel* _model) {
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model = _model;
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mjSpec* origin = model->FindSpec(mjs_getString(model->spec.modelname));
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compiler = origin ? &origin->compiler : &model->spec.compiler;
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for (auto& body : bodies) {
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body->SetModel(_model);
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}
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for (auto& frame : frames) {
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frame->model = _model;
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frame->compiler = compiler;
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}
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for (auto& geom : geoms) {
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geom->model = _model;
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geom->compiler = compiler;
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}
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for (auto& joint : joints) {
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joint->model = _model;
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joint->compiler = compiler;
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}
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for (auto& site : sites) {
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site->model = _model;
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site->compiler = compiler;
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}
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for (auto& camera : cameras) {
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camera->model = _model;
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camera->compiler = compiler;
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}
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for (auto& light : lights) {
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light->model = _model;
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light->compiler = compiler;
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}
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}
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// reset ids of all objects in this body
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void mjCBody::ResetId() {
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id = -1;
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for (auto& body : bodies) {
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body->ResetId();
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}
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for (auto& frame : frames) {
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frame->id = -1;
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}
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for (auto& geom : geoms) {
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geom->id = -1;
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}
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for (auto& joint : joints) {
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joint->id = -1;
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joint->qposadr_ = -1;
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joint->dofadr_ = -1;
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}
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for (auto& site : sites) {
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site->id = -1;
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}
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for (auto& camera : cameras) {
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camera->id = -1;
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}
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for (auto& light : lights) {
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light->id = -1;
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}
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}
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void mjCBody::PointToLocal() {
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spec.element = static_cast<mjsElement*>(this);
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spec.name = &name;
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@@ -1012,26 +1105,13 @@ void mjCBody::CopyPlugin() {
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// destructor
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mjCBody::~mjCBody() {
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// delete objects allocated here
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for (int i=0; i<bodies.size(); i++) delete bodies[i];
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for (int i=0; i<geoms.size(); i++) delete geoms[i];
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for (int i=0; i<frames.size(); i++) delete frames[i];
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for (int i=0; i<joints.size(); i++) delete joints[i];
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for (int i=0; i<sites.size(); i++) delete sites[i];
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for (int i=0; i<cameras.size(); i++) delete cameras[i];
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for (int i=0; i<lights.size(); i++) delete lights[i];
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bodies.clear();
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geoms.clear();
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frames.clear();
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joints.clear();
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sites.clear();
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cameras.clear();
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lights.clear();
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if (spec.plugin.active && spec.plugin.name->empty() && model) {
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model->DeleteElement(spec.plugin.element);
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}
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for (int i=0; i<bodies.size(); i++) bodies[i]->Release();
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for (int i=0; i<geoms.size(); i++) geoms[i]->Release();
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for (int i=0; i<frames.size(); i++) frames[i]->Release();
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for (int i=0; i<joints.size(); i++) joints[i]->Release();
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for (int i=0; i<sites.size(); i++) sites[i]->Release();
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for (int i=0; i<cameras.size(); i++) cameras[i]->Release();
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for (int i=0; i<lights.size(); i++) lights[i]->Release();
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}
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@@ -1840,19 +1920,27 @@ mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
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other.model->StoreKeyframes(model);
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other.model->prefix = "";
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other.model->suffix = "";
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mjCModel* other_model = other.model;
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mjCBody* subtree = new mjCBody(other, model);
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other.ForgetKeyframes();
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other.model->prefix = subtree->prefix;
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other.model->suffix = subtree->suffix;
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// attach or copy the subtree
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mjCBody* subtree = model->deepcopy_ ? new mjCBody(other, model) : (mjCBody*)&other;
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if (model->deepcopy_) {
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other.ForgetKeyframes();
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} else {
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subtree->SetModel(model);
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subtree->ResetId();
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subtree->AddRef();
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}
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other_model->prefix = subtree->prefix;
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other_model->suffix = subtree->suffix;
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subtree->SetParent(body);
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subtree->SetFrame(this);
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subtree->NameSpace(other.model);
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subtree->NameSpace(other_model);
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// attach defaults
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if (other.model != model) {
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mjCDef* subdef = new mjCDef(*other.model->Default());
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subdef->NameSpace(other.model);
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if (other_model != model) {
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mjCDef* subdef = new mjCDef(*other_model->Default());
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subdef->NameSpace(other_model);
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*model += *subdef;
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}
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@@ -1861,16 +1949,16 @@ mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
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last_attached = &body->bodies.back()->spec;
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// attach referencing elements
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*model += *other.model;
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*model += *other_model;
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// leave the source model in a clean state
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if (other.model != model) {
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other.model->key_pending_.clear();
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if (other_model != model) {
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other_model->key_pending_.clear();
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}
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// clear suffixes and return
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other.model->suffix.clear();
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other.model->prefix.clear();
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other_model->suffix.clear();
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other_model->prefix.clear();
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return *this;
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}
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@@ -2221,14 +2309,6 @@ mjCGeom::mjCGeom(const mjCGeom& other) {
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mjCGeom::~mjCGeom() {
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if (spec.plugin.active && spec.plugin.name->empty() && model) {
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model->DeleteElement(spec.plugin.element);
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}
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}
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mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
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if (this != &other) {
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this->spec = other.spec;
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@@ -4591,7 +4671,7 @@ void mjCMaterial::CopyFromSpec() {
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void mjCMaterial::NameSpace(const mjCModel* m) {
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mjCBase::NameSpace(m);
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for (int i=0; i<mjNTEXROLE; i++) {
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if (!spec_textures_[i].empty() && model != m) {
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if (!spec_textures_[i].empty()) {
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spec_textures_[i] = m->prefix + spec_textures_[i] + m->suffix;
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}
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}
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@@ -5657,14 +5737,6 @@ mjCActuator::mjCActuator(const mjCActuator& other) {
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mjCActuator::~mjCActuator() {
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if (spec.plugin.active && spec.plugin.name->empty() && model) {
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model->DeleteElement(spec.plugin.element);
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}
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}
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mjCActuator& mjCActuator::operator=(const mjCActuator& other) {
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if (this != &other) {
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this->spec = other.spec;
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@@ -6033,14 +6105,6 @@ mjCSensor::mjCSensor(const mjCSensor& other) {
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mjCSensor::~mjCSensor() {
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if (spec.plugin.active && spec.plugin.name->empty() && model) {
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model->DeleteElement(spec.plugin.element);
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}
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}
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mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
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if (this != &other) {
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this->spec = other.spec;
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