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Implement hash map for mj_name2id using djb2 and linear probing.

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PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
This commit is contained in:
Kyle Bayes
2023-01-04 07:57:11 -08:00
committed by Copybara-Service
parent 5261cceb30
commit f1007df013
11 changed files with 404 additions and 106 deletions
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src/user/user_model.cc
+81 -23
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@@ -1201,7 +1201,21 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
// process names from one list: concatenate, compute addresses
template <class T>
static int namelist(vector<T*>& list, int adr, int* name_adr, char* names) {
static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) {
// compute hash map addresses
for (unsigned int i=0; i<list.size(); i++) {
// ignore empty strings
if (list[i]->name.empty()) {
continue;
}
uint64_t j = mj_hashdjb2(list[i]->name.c_str(), list.size());
// find first empty slot using linear probing
for (; map[j]!=-1; j=(j+1) % list.size()) {}
map[j] = i;
}
for (unsigned int i=0; i<list.size(); i++) {
name_adr[i] = adr;
@@ -1222,31 +1236,75 @@ static int namelist(vector<T*>& list, int adr, int* name_adr, char* names) {
void mjCModel::CopyNames(mjModel* m) {
// start with model name
int adr = (int)modelname.size()+1;
int* map_adr = m->names_map;
mju_strncpy(m->names, modelname.c_str(), m->nnames);
memset(m->names_map, -1, sizeof(int) * m->nnames_map);
// process all lists
adr = namelist(bodies, adr, m->name_bodyadr, m->names);
adr = namelist(joints, adr, m->name_jntadr, m->names);
adr = namelist(geoms, adr, m->name_geomadr, m->names);
adr = namelist(sites, adr, m->name_siteadr, m->names);
adr = namelist(cameras, adr, m->name_camadr, m->names);
adr = namelist(lights, adr, m->name_lightadr, m->names);
adr = namelist(meshes, adr, m->name_meshadr, m->names);
adr = namelist(skins, adr, m->name_skinadr, m->names);
adr = namelist(hfields, adr, m->name_hfieldadr, m->names);
adr = namelist(textures, adr, m->name_texadr, m->names);
adr = namelist(materials, adr, m->name_matadr, m->names);
adr = namelist(pairs, adr, m->name_pairadr, m->names);
adr = namelist(excludes, adr, m->name_excludeadr, m->names);
adr = namelist(equalities, adr, m->name_eqadr, m->names);
adr = namelist(tendons, adr, m->name_tendonadr, m->names);
adr = namelist(actuators, adr, m->name_actuatoradr, m->names);
adr = namelist(sensors, adr, m->name_sensoradr, m->names);
adr = namelist(numerics, adr, m->name_numericadr, m->names);
adr = namelist(texts, adr, m->name_textadr, m->names);
adr = namelist(tuples, adr, m->name_tupleadr, m->names);
adr = namelist(keys, adr, m->name_keyadr, m->names);
adr = namelist(plugins, adr, m->name_pluginadr, m->names);
adr = namelist(bodies, adr, m->name_bodyadr, m->names, map_adr);
map_adr += bodies.size();
adr = namelist(joints, adr, m->name_jntadr, m->names, map_adr);
map_adr += joints.size();
adr = namelist(geoms, adr, m->name_geomadr, m->names, map_adr);
map_adr += geoms.size();
adr = namelist(sites, adr, m->name_siteadr, m->names, map_adr);
map_adr += sites.size();
adr = namelist(cameras, adr, m->name_camadr, m->names, map_adr);
map_adr += cameras.size();
adr = namelist(lights, adr, m->name_lightadr, m->names, map_adr);
map_adr += lights.size();
adr = namelist(meshes, adr, m->name_meshadr, m->names, map_adr);
map_adr += meshes.size();
adr = namelist(skins, adr, m->name_skinadr, m->names, map_adr);
map_adr += skins.size();
adr = namelist(hfields, adr, m->name_hfieldadr, m->names, map_adr);
map_adr += hfields.size();
adr = namelist(textures, adr, m->name_texadr, m->names, map_adr);
map_adr += textures.size();
adr = namelist(materials, adr, m->name_matadr, m->names, map_adr);
map_adr += materials.size();
adr = namelist(pairs, adr, m->name_pairadr, m->names, map_adr);
map_adr += pairs.size();
adr = namelist(excludes, adr, m->name_excludeadr, m->names, map_adr);
map_adr += excludes.size();
adr = namelist(equalities, adr, m->name_eqadr, m->names, map_adr);
map_adr += equalities.size();
adr = namelist(tendons, adr, m->name_tendonadr, m->names, map_adr);
map_adr += tendons.size();
adr = namelist(actuators, adr, m->name_actuatoradr, m->names, map_adr);
map_adr += actuators.size();
adr = namelist(sensors, adr, m->name_sensoradr, m->names, map_adr);
map_adr += sensors.size();
adr = namelist(numerics, adr, m->name_numericadr, m->names, map_adr);
map_adr += numerics.size();
adr = namelist(texts, adr, m->name_textadr, m->names, map_adr);
map_adr += texts.size();
adr = namelist(tuples, adr, m->name_tupleadr, m->names, map_adr);
map_adr += tuples.size();
adr = namelist(keys, adr, m->name_keyadr, m->names, map_adr);
map_adr += keys.size();
adr = namelist(plugins, adr, m->name_pluginadr, m->names, map_adr);
// check size, SHOULD NOT OCCUR
if (adr != nnames) {