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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_objects.cc
+17 -31
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@@ -643,7 +643,6 @@ mjCBase::mjCBase() {
id = -1;
info = "";
model = 0;
def = 0;
frame = nullptr;
}
@@ -774,9 +773,6 @@ mjCBody& mjCBody::operator=(const mjCBody& other) {
lights.clear();
id = other.id;
// copy defaults
def = other.def;
// add elements to lists
*this += other;
}
@@ -884,7 +880,7 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
dst.back()->body = this;
dst.back()->model = model;
dst.back()->id = -1;
dst.back()->def = src[i]->def;
dst.back()->classname = src[i]->classname;
// assign dst frame to src frame
dst.back()->frame = src[i]->frame ? frames[fmap[src[i]->frame]] : nullptr;
@@ -1007,7 +1003,7 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
mjCBody* obj = new mjCBody(model);
// handle def recursion (i.e. childclass)
obj->def = _def ? _def : def;
obj->classname = _def ? _def->name : classname;
bodies.push_back(obj);
return obj;
@@ -1042,7 +1038,7 @@ mjCJoint* mjCBody::AddFreeJoint() {
// create new joint and add it to body
mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
// create joint
mjCJoint* obj = new mjCJoint(model, _def ? _def : def);
mjCJoint* obj = new mjCJoint(model, _def ? _def : model->def_map[classname]);
// set body pointer, add
obj->body = this;
@@ -1056,7 +1052,7 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
// create new geom and add it to body
mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
// create geom
mjCGeom* obj = new mjCGeom(model, _def ? _def : def);
mjCGeom* obj = new mjCGeom(model, _def ? _def : model->def_map[classname]);
// set body pointer, add
obj->body = this;
@@ -1070,7 +1066,7 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
// create new site and add it to body
mjCSite* mjCBody::AddSite(mjCDef* _def) {
// create site
mjCSite* obj = new mjCSite(model, _def ? _def : def);
mjCSite* obj = new mjCSite(model, _def ? _def : model->def_map[classname]);
// set body pointer, add
obj->body = this;
@@ -1084,7 +1080,7 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
// create new camera and add it to body
mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
// create camera
mjCCamera* obj = new mjCCamera(model, _def ? _def : def);
mjCCamera* obj = new mjCCamera(model, _def ? _def : model->def_map[classname]);
// set body pointer, add
obj->body = this;
@@ -1098,7 +1094,7 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
// create new light and add it to body
mjCLight* mjCBody::AddLight(mjCDef* _def) {
// create light
mjCLight* obj = new mjCLight(model, _def ? _def : def);
mjCLight* obj = new mjCLight(model, _def ? _def : model->def_map[classname]);
// set body pointer, add
obj->body = this;
@@ -1691,8 +1687,7 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// point to local
PointToLocal();
@@ -1899,8 +1894,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// point to local
PointToLocal();
@@ -2542,8 +2536,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
}
@@ -2688,8 +2681,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// point to local
PointToLocal();
@@ -2842,8 +2834,7 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
PointToLocal();
CopyFromSpec();
@@ -3887,8 +3878,7 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
}
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
PointToLocal();
@@ -3974,8 +3964,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// point to local
PointToLocal();
@@ -4335,8 +4324,7 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// point to local
PointToLocal();
@@ -4497,8 +4485,7 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// point to local
PointToLocal();
@@ -4975,8 +4962,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
classname = _def ? _def->name : "main";
// in case this actuator is not compiled
CopyFromSpec();