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Remove mjCBase::def and use mjCBase::classname instead.

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PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
This commit is contained in:
Alessio Quaglino
2024-07-09 08:01:38 -07:00
committed by Copybara-Service
parent c5f958bdff
commit e0d33eb1d0
8 changed files with 56 additions and 75 deletions
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src/user/user_model.cc
+7 -23
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@@ -110,7 +110,8 @@ mjCModel::mjCModel() {
world->parentid = 0;
world->weldid = 0;
world->name = "world";
world->def = defaults_[0];
world->classname = "main";
def_map["main"] = Default();
bodies_.push_back(world);
// create mjCBase lists from children lists
@@ -146,6 +147,9 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
// add everything else
*this += other;
// update the default map
def_map["main"] = Default();
// copy name maps
for (int i=0; i<mjNOBJECT; i++) {
ids[i] = other.ids[i];
@@ -179,7 +183,6 @@ void mjCModel::CopyList(std::vector<T*>& dest,
// copy the element from the other model to this model
dest.push_back(candidate);
dest.back()->model = this;
dest.back()->def = defaults[def_map[candidate->def]];
dest.back()->id = -1;
}
if (!dest.empty()) {
@@ -250,26 +253,6 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
plugins_ = other.plugins_;
active_plugins_ = other.active_plugins_;
// update defaults for the copied objects
for (int i = 1; i < other.bodies_.size(); i++) {
bodies_[i]->def = defaults_[def_map[other.bodies_[i]->def]];
}
for (int i = 0; i < other.joints_.size(); i++) {
joints_[i]->def = defaults_[def_map[other.joints_[i]->def]];
}
for (int i = 0; i < other.geoms_.size(); i++) {
geoms_[i]->def = defaults_[def_map[other.geoms_[i]->def]];
}
for (int i = 0; i < other.sites_.size(); i++) {
sites_[i]->def = defaults_[def_map[other.sites_[i]->def]];
}
for (int i = 0; i < other.cameras_.size(); i++) {
cameras_[i]->def = defaults_[def_map[other.cameras_[i]->def]];
}
for (int i = 0; i < other.lights_.size(); i++) {
lights_[i]->def= defaults_[def_map[other.lights_[i]->def]];
}
// restore to the original state
if (!compiled) {
resetlist(bodies_);
@@ -573,7 +556,7 @@ template <class T>
T* mjCModel::AddObjectDefault(vector<T*>& list, string type, mjCDef* def) {
T* obj = new T(this, def ? def : defaults_[0]);
obj->id = (int)list.size();
obj->def = def ? def : defaults_[0];
obj->classname = def ? def->name : "main";
list.push_back(obj);
return obj;
}
@@ -829,6 +812,7 @@ mjCDef* mjCModel::AddDefault(string name, mjCDef* parent) {
def->parent = parent;
def->name = name;
def->child.clear();
def_map[name] = def;
return def;
}