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Add mjs_findElement() to find any element in a spec by name.

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Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
This commit is contained in:
Alessio Quaglino
2024-09-04 08:23:18 -07:00
committed by Copybara-Service
parent 0e8c0b80eb
commit d3dfa6f970
13 changed files with 149 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_api.cc
+24 -27
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@@ -542,18 +542,34 @@ mjsDefault* mjs_getSpecDefault(mjSpec* s) {
// find body in model by name
mjsBody* mjs_findBody(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCBase* body = 0;
if (model->IsCompiled()) {
body = model->FindObject(mjOBJ_BODY, std::string(name)); // fast lookup
} else {
body = model->FindBody(model->GetWorld(), std::string(name)); // recursive search
}
mjsElement* body = mjs_findElement(s, mjOBJ_BODY, name);
return body ? &(static_cast<mjCBody*>(body)->spec) : nullptr;
}
// find element in spec by name
mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
if (model->IsCompiled()) {
return model->FindObject(type, std::string(name)); // fast lookup
}
switch (type) {
case mjOBJ_BODY:
case mjOBJ_SITE:
case mjOBJ_GEOM:
case mjOBJ_JOINT:
case mjOBJ_CAMERA:
case mjOBJ_LIGHT:
case mjOBJ_FRAME:
return model->FindTree(model->GetWorld(), type, std::string(name)); // recursive search
default:
return model->FindObject(type, std::string(name)); // always available
}
}
// find child of a body by name
mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
@@ -563,33 +579,14 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// find mesh by name
mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
return mesh ? &(static_cast<mjCMesh*>(mesh)->spec) : nullptr;
}
// find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCFrame* frame = (mjCFrame*)model->FindFrame(model->GetWorld(), std::string(name));
mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);
return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
}
// find keyframe by name
mjsKey* mjs_findKeyframe(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjCKey* key = (mjCKey*)model->FindObject(mjOBJ_KEY, std::string(name));
return key ? &(static_cast<mjCKey*>(key)->spec) : nullptr;
}
// set frame
void mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
if (!frame) {
src/user/user_api.h
+4 -7
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@@ -188,21 +188,18 @@ MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Find spec (model asset) by name.
MJAPI mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
// Find body in model by name.
// Find body in spec by name.
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
// Find element in spec by name.
MJAPI mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
// Find child body by name.
MJAPI mjsBody* mjs_findChild(mjsBody* body, const char* name);
// Find mesh by name.
MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
// Find frame by name.
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
// Find keyframe by name.
MJAPI mjsKey* mjs_findKeyframe(mjSpec* s, const char* name);
// Get default corresponding to an element.
MJAPI mjsDefault* mjs_getDefault(mjsElement* element);
src/user/user_model.cc
+52 -24
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@@ -1031,33 +1031,61 @@ mjCBase* mjCModel::FindObject(mjtObj type, string name) const {
// find body by name
mjCBody* mjCModel::FindBody(mjCBody* body, std::string name) {
if (body->name == name) {
return body;
mjCBase* mjCModel::FindTree(mjCBody* body, mjtObj type, std::string name) {
switch (type) {
case mjOBJ_BODY:
if (body->name == name) {
return body;
}
break;
case mjOBJ_SITE:
for (auto site : body->sites) {
if (site->name == name) {
return site;
}
}
break;
case mjOBJ_GEOM:
for (auto geom : body->geoms) {
if (geom->name == name) {
return geom;
}
}
break;
case mjOBJ_JOINT:
for (auto joint : body->joints) {
if (joint->name == name) {
return joint;
}
}
break;
case mjOBJ_CAMERA:
for (auto camera : body->cameras) {
if (camera->name == name) {
return camera;
}
}
break;
case mjOBJ_LIGHT:
for (auto light : body->lights) {
if (light->name == name) {
return light;
}
}
break;
case mjOBJ_FRAME:
for (auto frame : body->frames) {
if (frame->name == name) {
return frame;
}
}
break;
default:
return nullptr;
}
for (auto child : body->bodies) {
auto candidate = FindBody(child, name);
if (candidate) {
return candidate;
}
}
return nullptr;
}
// find frame by name
mjCFrame* mjCModel::FindFrame(mjCBody* body, std::string name) const{
for (auto frame : body->frames) {
if (frame->name == name) {
return frame;
}
}
for (auto body : body->bodies) {
auto candidate = FindFrame(body, name);
auto candidate = FindTree(child, type, name);
if (candidate) {
return candidate;
}
src/user/user_model.h
+9 -10
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@@ -223,16 +223,15 @@ class mjCModel : public mjCModel_, private mjSpec {
mjsElement* NextObject(mjsElement* object, mjtObj type = mjOBJ_UNKNOWN); // next object of specified type
// API for access to other variables
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
void SetError(const mjCError& error) { errInfo = error; } // set value of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBody* FindBody(mjCBody* body, std::string name); // find body given name
mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
mjSpec* FindSpec(std::string name) const; // find spec given name
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
void SetError(const mjCError& error) { errInfo = error; } // set value of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name); // find tree object given name
mjSpec* FindSpec(std::string name) const; // find spec given name
void SetActivePlugins(const std::vector<std::pair<const mjpPlugin*, int>>&& active_plugins) {
active_plugins_ = std::move(active_plugins);
}
src/user/user_objects.cc
+2 -2
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@@ -1408,8 +1408,8 @@ void mjCBody::ForgetKeyframes() const {
joint->qpos_.clear();
joint->qvel_.clear();
}
model->FindBody((mjCBody*)this, name)->mpos_.clear(); // this is a hack to avoid const
model->FindBody((mjCBody*)this, name)->mquat_.clear(); // this is a hack to avoid const
((mjCBody*)this)->mpos_.clear();
((mjCBody*)this)->mquat_.clear();
for (auto body : bodies) {
body->ForgetKeyframes();
}
src/xml/xml_urdf.cc
+1 -1
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@@ -592,7 +592,7 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
meshname = mjuu_stripext(meshname);
// look for existing mesh
mjsMesh* mesh = mjs_findMesh(spec, meshname.c_str());
mjsMesh* mesh = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, meshname.c_str()));
mjsMesh* pmesh = 0;
// does not exist: create