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Refactor Default class to use pointers instead of indices.

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This in order to make it easier to append the default tree to another tree.

PiperOrigin-RevId: 649812975
Change-Id: I2915ac7e37957e45eadc24d6caaf7beea236bf29
This commit is contained in:
Alessio Quaglino
2024-07-06 03:50:26 -07:00
committed by Copybara-Service
parent 9d0812911c
commit f57dc90669
9 changed files with 45 additions and 47 deletions
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src/user/user_objects.cc
+14 -14
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@@ -518,8 +518,8 @@ int mjCBoundingVolumeHierarchy::MakeBVH(
mjCDef::mjCDef() {
name.clear();
id = 0;
parentid = -1;
childid.clear();
parent = nullptr;
child.clear();
mjs_defaultJoint(&joint_.spec);
mjs_defaultGeom(&geom_.spec);
mjs_defaultSite(&site_.spec);
@@ -565,8 +565,8 @@ void mjCDef::Compile(const mjCModel* model) {
mjCDef& mjCDef::operator=(const mjCDef& other) {
if (this != &other) {
name = other.name;
parentid = other.parentid;
childid = other.childid;
parent = other.parent;
child = other.child;
joint_ = other.joint_;
geom_ = other.geom_;
site_ = other.site_;
@@ -1691,7 +1691,7 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// point to local
@@ -1899,7 +1899,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// point to local
@@ -2542,7 +2542,7 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
}
@@ -2688,7 +2688,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// point to local
@@ -2842,7 +2842,7 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
PointToLocal();
@@ -3887,7 +3887,7 @@ mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
}
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
PointToLocal();
@@ -3974,7 +3974,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// point to local
@@ -4335,7 +4335,7 @@ mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// point to local
@@ -4497,7 +4497,7 @@ mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// point to local
@@ -4975,7 +4975,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->Defaults(0) : 0));
def = (_def ? _def : (_model ? _model->Default() : 0));
classname = def ? def->name : "";
// in case this actuator is not compiled