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Store a copy of the attached specs in the destination spec.

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PiperOrigin-RevId: 689013340
Change-Id: I2cb7a1f3850f0e3592834b355d35dcc2cd8f150f
This commit is contained in:
Alessio Quaglino
2024-10-23 10:18:05 -07:00
committed by Copybara-Service
parent d17d9e835c
commit ed7655cf97
2 changed files with 24 additions and 3 deletions
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src/user/user_objects.cc
+12
View File
@@ -845,6 +845,12 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
// attach frame to body
mjCBody& mjCBody::operator+=(const mjCFrame& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
model->AppendSpec(mj_copySpec(&other.model->spec));
}
// create a copy of the subtree that contains the frame
mjCBody* subtree = other.body;
other.model->prefix = other.prefix;
other.model->suffix = other.suffix;
@@ -1805,6 +1811,12 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
// attach body to frame
mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
model->AppendSpec(mj_copySpec(&other.model->spec));
}
// apply namespace and store keyframes in the source model
other.model->prefix = other.prefix;
other.model->suffix = other.suffix;
other.model->StoreKeyframes(model);
test/user/user_api_test.cc
+12 -3
View File
@@ -624,7 +624,7 @@ TEST_F(PluginTest, TextureFromBuffer) {
// -------------------------------- test attach --------------------------------
static constexpr char xml_child[] = R"(
<mujoco>
<mujoco model="child">
<default>
<default class="cylinder">
<geom type="cylinder" size=".1 1 0"/>
@@ -691,7 +691,7 @@ TEST_F(MujocoTest, AttachSame) {
std::string field = "";
static constexpr char xml_result[] = R"(
<mujoco>
<mujoco model="child">
<default>
<default class="cylinder">
<geom type="cylinder" size=".1 1 0"/>
@@ -781,6 +781,9 @@ TEST_F(MujocoTest, AttachSame) {
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// check that the spec was not copied
EXPECT_THAT(mjs_findSpec(parent, "child"), IsNull());
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
@@ -912,6 +915,9 @@ TEST_F(MujocoTest, AttachDifferent) {
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// check that the spec was copied
EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
@@ -1043,6 +1049,9 @@ TEST_F(MujocoTest, AttachFrame) {
mjsFrame* attached = mjs_attachFrame(body, frame, "attached-", "-1");
EXPECT_THAT(attached, mjs_findFrame(parent, "attached-pframe-1"));
// check that the spec was copied
EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
@@ -1073,7 +1082,7 @@ void TestDetachBody(bool compile) {
std::string field = "";
static constexpr char xml_result[] = R"(
<mujoco>
<mujoco model="child">
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>