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Allow detaching from a compiled model.

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PiperOrigin-RevId: 638299270
Change-Id: I944d2a24578b63463eddfa55d89f39fcfbafd2b4
This commit is contained in:
Alessio Quaglino
2024-05-29 08:46:19 -07:00
committed by Copybara-Service
parent 195bd32aa6
commit dec55b59fa
2 changed files with 47 additions and 13 deletions
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src/user/user_model.cc
+37 -12
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@@ -132,6 +132,7 @@ mjCModel::mjCModel() {
mjCModel::mjCModel(const mjCModel& other) {
CreateObjectLists();
*this = other;
}
@@ -206,8 +207,19 @@ static void resetlist(std::vector<T*>& list) {
mjCModel& mjCModel::operator+=(const mjCModel& other) {
// create global lists
MakeLists(bodies_[0]);
CreateObjectLists();
mjCBody *world = bodies_[0];
if (compiled) {
resetlist(bodies_);
resetlist(joints_);
resetlist(geoms_);
resetlist(sites_);
resetlist(cameras_);
resetlist(lights_);
resetlist(frames_);
world->id = 0;
bodies_.push_back(world);
}
MakeLists(world);
ProcessLists(/*checkrepeat=*/false);
// copy all elements not in the tree
@@ -264,9 +276,8 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
lights_[i]->def= defaults_[def_map[other.lights_[i]->def]];
}
// restore to the same state as other
// restore to the original state
if (!compiled) {
mjCBody *world = bodies_[0];
resetlist(bodies_);
resetlist(joints_);
resetlist(geoms_);
@@ -317,16 +328,30 @@ void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
mjCModel oldmodel(*this);
oldmodel.MakeLists(oldmodel.bodies_[0]);
oldmodel.CreateObjectLists();
oldmodel.ProcessLists(/*checkrepeat=*/false);
// create global lists in the old model if not compiled
if (!oldmodel.IsCompiled()) {
oldmodel.MakeLists(oldmodel.bodies_[0]);
oldmodel.ProcessLists(/*checkrepeat=*/false);
}
// remove body from tree
*bodies_[0] -= subtree;
mjCBody* world = bodies_[0];
*world -= subtree;
// create global lists
MakeLists(bodies_[0]);
CreateObjectLists();
if (compiled) {
resetlist(bodies_);
resetlist(joints_);
resetlist(geoms_);
resetlist(sites_);
resetlist(cameras_);
resetlist(lights_);
resetlist(frames_);
world->id = 0;
bodies_.push_back(world);
}
MakeLists(world);
ProcessLists(/*checkrepeat=*/false);
// check if we have to remove anything else
@@ -337,9 +362,8 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
RemoveFromList(actuators_, oldmodel);
RemoveFromList(sensors_, oldmodel);
// restore to the same state as before call
// restore to the original state
if (!compiled) {
mjCBody* world = bodies_[0];
resetlist(bodies_);
resetlist(joints_);
resetlist(geoms_);
@@ -527,6 +551,7 @@ void mjCModel::Clear() {
sites_.clear();
cameras_.clear();
lights_.clear();
frames_.clear();
// internal variables
hasImplicitPluginElem = false;