bullet-featherstone: Support nested models #574
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -206,53 +206,16 @@ Identity EntityManagementFeatures::ConstructEmptyWorld( | |
| bool EntityManagementFeatures::RemoveModel(const Identity &_modelID) | ||
| { | ||
| auto *model = this->ReferenceInterface<ModelInfo>(_modelID); | ||
| if (!model) | ||
| return false; | ||
|
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There was a problem hiding this comment. nit: I think this check could be removed, since There was a problem hiding this comment. well, now I think I was wrong, since I didn't notice that we are dereferencing There was a problem hiding this comment. ah yes, reverted change. d08d0ef |
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| return this->RemoveModelImpl(model->world, _modelID); | ||
| } | ||
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| ///////////////////////////////////////////////// | ||
| bool EntityManagementFeatures::ModelRemoved( | ||
| const Identity &_modelID) const | ||
| { | ||
| return this->models.find(_modelID) == this->models.end(); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
|
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@@ -283,6 +246,55 @@ bool EntityManagementFeatures::RemoveModelByName( | |
| this->GenerateIdentity(it->second, this->models.at(it->second))); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| bool EntityManagementFeatures::RemoveNestedModelByIndex( | ||
| const Identity &_modelID, std::size_t _nestedModelIndex) | ||
| { | ||
| auto *model = this->ReferenceInterface<ModelInfo>(_modelID); | ||
| if (!model) | ||
| return false; | ||
| if (_nestedModelIndex >= model->nestedModelEntityIds.size()) | ||
| return false; | ||
| const auto nestedModelID = model->nestedModelEntityIds[_nestedModelIndex]; | ||
|
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||
| auto modelIt = this->models.find(nestedModelID); | ||
| if (modelIt != this->models.end()) | ||
| { | ||
| return RemoveModelImpl(_modelID, | ||
| this->GenerateIdentity(modelIt->first, modelIt->second)); | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| bool EntityManagementFeatures::RemoveNestedModelByName(const Identity &_modelID, | ||
| const std::string &_modelName) | ||
| { | ||
| auto *model = this->ReferenceInterface<ModelInfo>(_modelID); | ||
| if (!model) | ||
| return false; | ||
|
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||
| unsigned int nestedModelID = 0u; | ||
| auto nestedModelIt = model->nestedModelNameToEntityId.find(_modelName); | ||
| if (nestedModelIt != model->nestedModelNameToEntityId.end()) | ||
| { | ||
| nestedModelID = nestedModelIt->second; | ||
| } | ||
| else | ||
| { | ||
| return false; | ||
| } | ||
|
|
||
| auto modelIt = this->models.find(nestedModelID); | ||
| if (modelIt != this->models.end()) | ||
| { | ||
| return RemoveModelImpl(_modelID, | ||
| this->GenerateIdentity(modelIt->first, modelIt->second)); | ||
| } | ||
| return false; | ||
| } | ||
|
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|
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| ///////////////////////////////////////////////// | ||
| const std::string &EntityManagementFeatures::GetEngineName( | ||
| const Identity &) const | ||
|
|
@@ -359,9 +371,15 @@ Identity EntityManagementFeatures::GetEngineOfWorld( | |
|
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| ///////////////////////////////////////////////// | ||
| std::size_t EntityManagementFeatures::GetModelCount( | ||
| const Identity &_worldID) const | ||
| { | ||
| // Get world model and return its nested model count | ||
| auto modelIt = this->models.find(_worldID); | ||
| if (modelIt != this->models.end()) | ||
| { | ||
| return modelIt->second->nestedModelEntityIds.size(); | ||
| } | ||
| return 0u; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
|
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@@ -414,6 +432,58 @@ Identity EntityManagementFeatures::GetWorldOfModel( | |
| return this->ReferenceInterface<ModelInfo>(_modelID)->world; | ||
| } | ||
|
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| ///////////////////////////////////////////////// | ||
| std::size_t EntityManagementFeatures::GetNestedModelCount( | ||
| const Identity &_modelID) const | ||
| { | ||
| return this->ReferenceInterface<ModelInfo>( | ||
| _modelID)->nestedModelEntityIds.size(); | ||
| } | ||
|
|
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| ///////////////////////////////////////////////// | ||
| Identity EntityManagementFeatures::GetNestedModel( | ||
| const Identity &_modelID, const std::size_t _modelIndex) const | ||
| { | ||
| const auto modelInfo = this->ReferenceInterface<ModelInfo>(_modelID); | ||
| if (_modelIndex >= modelInfo->nestedModelEntityIds.size()) | ||
| { | ||
| return this->GenerateInvalidId(); | ||
| } | ||
|
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| const auto nestedModelID = modelInfo->nestedModelEntityIds[_modelIndex]; | ||
|
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| // If the model doesn't exist in "models", it means the containing entity has | ||
| // been removed. | ||
| if (this->models.find(nestedModelID) != this->models.end()) | ||
| { | ||
| return this->GenerateIdentity(nestedModelID, | ||
| this->models.at(nestedModelID)); | ||
| } | ||
| else | ||
| { | ||
| return this->GenerateInvalidId(); | ||
| } | ||
| } | ||
|
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| ///////////////////////////////////////////////// | ||
| Identity EntityManagementFeatures::GetNestedModel( | ||
| const Identity &_modelID, const std::string &_modelName) const | ||
| { | ||
| const auto modelInfo = this->ReferenceInterface<ModelInfo>(_modelID); | ||
| auto modelIt = modelInfo->nestedModelNameToEntityId.find(_modelName); | ||
| if (modelIt == modelInfo->nestedModelNameToEntityId.end()) | ||
| return this->GenerateInvalidId(); | ||
| auto nestedModelID = modelIt->second; | ||
| return this->GenerateIdentity(nestedModelID, | ||
| this->models.at(nestedModelID)); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| Identity EntityManagementFeatures::GetWorldModel(const Identity &_worldID) const | ||
| { | ||
| return this->GenerateIdentity(_worldID, this->models.at(_worldID)); | ||
| } | ||
|
|
||
| } // namespace bullet_featherstone | ||
| } // namespace physics | ||
| } // namespace gz | ||
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Why was this ownership change (here and elsewhere) necessary? Is a unique_ptr not still sufficient here?
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yeah, all we now use a single
btMultiBodyto store links from both the top level model and also nested models. So the nested model now keeps a shared pointer to it.