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Do not attach elements not referenced in the subtree.

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PiperOrigin-RevId: 617849280
Change-Id: I391fe7c00f67d020d7394ddd31219d727b2eaa94
This commit is contained in:
Alessio Quaglino
2024-03-21 08:20:50 -07:00
committed by Copybara-Service
parent b0daccc234
commit c3fb8e7f35
6 changed files with 475 additions and 240 deletions
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src/user/user_mesh.cc
+45 -16
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@@ -2120,6 +2120,14 @@ void mjCSkin::PointToLocal() {
void mjCSkin::NameSpace(const mjCModel* m) {
for (int i=0; i<(int)spec_bodyname_.size(); i++) {
spec_bodyname_[i] = m->prefix + spec_bodyname_[i] + m->suffix;
}
}
void mjCSkin::CopyFromSpec() {
*static_cast<mjmSkin*>(this) = spec;
file_ = spec_file_;
@@ -2163,6 +2171,20 @@ mjCSkin::~mjCSkin() {
void mjCSkin::ResolveReferences(const mjCModel* m) {
size_t nbone = bodyname_.size();
bodyid.resize(nbone);
for (int i=0; i<nbone; i++) {
mjCBase* pbody = m->FindObject(mjOBJ_BODY, bodyname_[i]);
if (!pbody) {
throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
}
bodyid[i] = pbody->id;
}
}
// compiler
void mjCSkin::Compile(const mjVFS* vfs) {
CopyFromSpec();
@@ -2243,14 +2265,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
}
// resolve body names
bodyid.resize(nbone);
for (int i=0; i<nbone; i++) {
mjCBase* pbody = model->FindObject(mjOBJ_BODY, bodyname_[i]);
if (!pbody) {
throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
}
bodyid[i] = pbody->id;
}
ResolveReferences(model);
// resolve material name
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
@@ -2510,6 +2525,15 @@ void mjCFlex::PointToLocal() {
}
void mjCFlex::NameSpace(const mjCModel* m) {
for (int i=0; i<(int)spec_vertbody_.size(); i++) {
spec_vertbody_[i] = m->prefix + spec_vertbody_[i] + m->suffix;
}
}
void mjCFlex::CopyFromSpec() {
*static_cast<mjmFlex*>(this) = spec;
spec.info = (mjString)&info;
@@ -2542,6 +2566,18 @@ void mjCFlex::DelTexcoord() {
}
void mjCFlex::ResolveReferences(const mjCModel* m) {
for (int i=0; i<(int)vertbody_.size(); i++) {
mjCBase* pbody = m->FindObject(mjOBJ_BODY, vertbody_[i]);
if (pbody) {
vertbodyid.push_back(pbody->id);
} else {
throw mjCError(this, "unkown body '%s' in flex", vertbody_[i].c_str());
}
}
}
// compiler
void mjCFlex::Compile(const mjVFS* vfs) {
CopyFromSpec();
@@ -2603,14 +2639,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
// resolve body ids
for (int i=0; i<(int)vertbody_.size(); i++) {
mjCBase* pbody = model->FindObject(mjOBJ_BODY, vertbody_[i]);
if (pbody) {
vertbodyid.push_back(pbody->id);
} else {
throw mjCError(this, "unkown body '%s' in flex", vertbody_[i].c_str());
}
}
ResolveReferences(model);
// process elements
for (int e=0; e<(int)elem_.size()/(dim+1); e++) {