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

PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a

src/user/user_api.cc

@@ -460,7 +460,9 @@ mjSpec* mjs_getSpec(mjsBody* body) {
 
 // get default
 mjsDefault* mjs_getDefault(mjsElement* element) {
-  return &(static_cast<mjCBase*>(element)->def->spec);
+  mjCModel* model = static_cast<mjCBase*>(element)->model;
+  std::string classname = static_cast<mjCBase*>(element)->classname;
+  return &(model->def_map[classname]->spec);
 }
 
 
@@ -569,7 +571,7 @@ int mjs_getId(mjsElement* element) {
 // set default
 void mjs_setDefault(mjsElement* element, mjsDefault* defspec) {
   mjCBase* baseC = static_cast<mjCBase*>(element);
-  baseC->def = static_cast<mjCDef*>(defspec->element);
+  baseC->classname = static_cast<mjCDef*>(defspec->element)->name;
 }
 
 

src/user/user_composite.cc

@@ -674,7 +674,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int err
 
         // create tendon
         mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
-        ten->def = model->Default();
+        ten->classname = model->Default()->name;
         mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy);
         ten->name = txt;
         ten->WrapSite(txt1);
@@ -1131,7 +1131,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
 
   // fixed tendon for all joints
   mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
-  ten->def = model->Default();
+  ten->classname = model->Default()->name;
   mju::sprintf_arr(txt, "%sT", prefix.c_str());
   ten->name = txt;
 
@@ -1245,7 +1245,7 @@ void mjCComposite::MakeShear(mjCModel* model) {
 
       // create tendon
       mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR);
-      ten->def = model->Default();
+      ten->classname = model->Default()->name;
       ten->WrapSite(txt1);
       ten->WrapSite(txt2);
 

src/user/user_mesh.cc

@@ -149,7 +149,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
 
   // set model, def
   model = _model;
-  def = (_def ? _def : (_model ? _model->Default() : 0));
+  classname = (_def ? _def->name : (_model ? "main" : ""));
 
   // in case this body is not compiled
   CopyFromSpec();
@@ -1424,7 +1424,7 @@ void mjCMesh::Process() {
       // apply formula, accumulate
       GetVolumeRef(type) += vol;
       for (int j=0; j<6; j++) {
-        P[j] += def->Geom().density*vol /
+        P[j] += model->def_map[classname]->Geom().density*vol /
                   (type==mjINERTIA_SHELL ? 12 : 20) * (
                   2*(D[k[j][0]] * D[k[j][1]] +
                     E[k[j][0]] * E[k[j][1]] +
@@ -1465,7 +1465,7 @@ void mjCMesh::Process() {
     }
 
     // compute sizes of equivalent inertia box
-    double mass = GetVolumeRef(type) * def->Geom().density;
+    double mass = GetVolumeRef(type) * model->def_map[classname]->Geom().density;
     double* boxsz = GetInertiaBoxPtr(type);
     boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
     boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;

src/user/user_model.cc

@@ -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;
 }

src/user/user_model.h

@@ -269,6 +269,9 @@ class mjCModel : public mjCModel_, private mjSpec {
   void SaveState(const mjData* d);
   void RestoreState(const mjModel* m, mjData** dest);
 
+  // map from default class name to default class pointer
+  std::map<std::string, mjCDef*> def_map;
+
  private:
   // settings for each defaults class
   std::vector<mjCDef*> defaults_;

src/user/user_objects.cc

@@ -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();

src/user/user_objects.h

@@ -202,7 +202,6 @@ class mjCBase : public mjCBase_ {
   // Copy assignment
   mjCBase& operator=(const mjCBase& other);
 
-  mjCDef* def;                    // defaults class used to init this object
   mjCFrame* frame;                // pointer to frame transformation
   mjCModel* model;                // pointer to model that created object