// Copyright 2021 DeepMind Technologies Limited // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #include "engine/engine_name.h" #include #include #include #include "engine/engine_crossplatform.h" #include "engine/engine_io.h" //-------------------------- name functions -------------------------------------------------------- // get number of objects and name addresses for given object type static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) { int num = -1; // map address starts at the end, subtract with explicit switch fallthrough below *mapadr = m->nnames_map; // get address list and size for object type switch (type) { case mjOBJ_BODY: case mjOBJ_XBODY: *mapadr -= mjLOAD_MULTIPLE*m->nbody; *padr = m->name_bodyadr; num = m->nbody; mjFALLTHROUGH; case mjOBJ_JOINT: *mapadr -= mjLOAD_MULTIPLE*m->njnt; if (num < 0) { *padr = m->name_jntadr; num = m->njnt; } mjFALLTHROUGH; case mjOBJ_GEOM: *mapadr -= mjLOAD_MULTIPLE*m->ngeom; if (num < 0) { *padr = m->name_geomadr; num = m->ngeom; } mjFALLTHROUGH; case mjOBJ_SITE: *mapadr -= mjLOAD_MULTIPLE*m->nsite; if (num < 0) { *padr = m->name_siteadr; num = m->nsite; } mjFALLTHROUGH; case mjOBJ_CAMERA: *mapadr -= mjLOAD_MULTIPLE*m->ncam; if (num < 0) { *padr = m->name_camadr; num = m->ncam; } mjFALLTHROUGH; case mjOBJ_LIGHT: *mapadr -= mjLOAD_MULTIPLE*m->nlight; if (num < 0) { *padr = m->name_lightadr; num = m->nlight; } mjFALLTHROUGH; case mjOBJ_FLEX: *mapadr -= mjLOAD_MULTIPLE*m->nflex; if (num < 0) { *padr = m->name_flexadr; num = m->nflex; } mjFALLTHROUGH; case mjOBJ_MESH: *mapadr -= mjLOAD_MULTIPLE*m->nmesh; if (num < 0) { *padr = m->name_meshadr; num = m->nmesh; } mjFALLTHROUGH; case mjOBJ_SKIN: *mapadr -= mjLOAD_MULTIPLE*m->nskin; if (num < 0) { *padr = m->name_skinadr; num = m->nskin; } mjFALLTHROUGH; case mjOBJ_HFIELD: *mapadr -= mjLOAD_MULTIPLE*m->nhfield; if (num < 0) { *padr = m->name_hfieldadr; num = m->nhfield; } mjFALLTHROUGH; case mjOBJ_TEXTURE: *mapadr -= mjLOAD_MULTIPLE*m->ntex; if (num < 0) { *padr = m->name_texadr; num = m->ntex; } mjFALLTHROUGH; case mjOBJ_MATERIAL: *mapadr -= mjLOAD_MULTIPLE*m->nmat; if (num < 0) { *padr = m->name_matadr; num = m->nmat; } mjFALLTHROUGH; case mjOBJ_PAIR: *mapadr -= mjLOAD_MULTIPLE*m->npair; if (num < 0) { *padr = m->name_pairadr; num = m->npair; } mjFALLTHROUGH; case mjOBJ_EXCLUDE: *mapadr -= mjLOAD_MULTIPLE*m->nexclude; if (num < 0) { *padr = m->name_excludeadr; num = m->nexclude; } mjFALLTHROUGH; case mjOBJ_EQUALITY: *mapadr -= mjLOAD_MULTIPLE*m->neq; if (num < 0) { *padr = m->name_eqadr; num = m->neq; } mjFALLTHROUGH; case mjOBJ_TENDON: *mapadr -= mjLOAD_MULTIPLE*m->ntendon; if (num < 0) { *padr = m->name_tendonadr; num = m->ntendon; } mjFALLTHROUGH; case mjOBJ_ACTUATOR: *mapadr -= mjLOAD_MULTIPLE*m->nu; if (num < 0) { *padr = m->name_actuatoradr; num = m->nu; } mjFALLTHROUGH; case mjOBJ_SENSOR: *mapadr -= mjLOAD_MULTIPLE*m->nsensor; if (num < 0) { *padr = m->name_sensoradr; num = m->nsensor; } mjFALLTHROUGH; case mjOBJ_NUMERIC: *mapadr -= mjLOAD_MULTIPLE*m->nnumeric; if (num < 0) { *padr = m->name_numericadr; num = m->nnumeric; } mjFALLTHROUGH; case mjOBJ_TEXT: *mapadr -= mjLOAD_MULTIPLE*m->ntext; if (num < 0) { *padr = m->name_textadr; num = m->ntext; } mjFALLTHROUGH; case mjOBJ_TUPLE: *mapadr -= mjLOAD_MULTIPLE*m->ntuple; if (num < 0) { *padr = m->name_tupleadr; num = m->ntuple; } mjFALLTHROUGH; case mjOBJ_KEY: *mapadr -= mjLOAD_MULTIPLE*m->nkey; if (num < 0) { *padr = m->name_keyadr; num = m->nkey; } mjFALLTHROUGH; case mjOBJ_PLUGIN: *mapadr -= mjLOAD_MULTIPLE*m->nplugin; if (num < 0) { *padr = m->name_pluginadr; num = m->nplugin; } mjFALLTHROUGH; default: if (num < 0) { *padr = 0; num = 0; } } return num; } // get string hash, see http://www.cse.yorku.ca/~oz/hash.html uint64_t mj_hashString(const char* s, uint64_t n) { uint64_t h = 5381; int c; while ((c = *s++)) { h = ((h << 5) + h) ^ c; } return h % n; } // get id of object with the specified mjtObj type and name, // returns -1 if id not found int mj_name2id(const mjModel* m, int type, const char* name) { int mapadr; int* adr = 0; // get number of objects and name addresses int num = mjLOAD_MULTIPLE*_getnumadr(m, type, &adr, &mapadr); // search if (num) { // look up at hash address uint64_t hash = mj_hashString(name, num); uint64_t i = hash; do { int j = m->names_map[mapadr + i]; if (j < 0) { return -1; } if (!strncmp(name, m->names+adr[j], m->nnames-adr[j])) { return j; } if ((++i) == num)i = 0; } while (i != hash); } return -1; } // get name of object with the specified mjtObj type and id, // returns NULL if name not found const char* mj_id2name(const mjModel* m, int type, int id) { int mapadr; int* adr = 0; // get number of objects and name addresses int num = _getnumadr(m, type, &adr, &mapadr); // id is in [0, num) and the found name is not the empty string "\0" if (id >= 0 && id < num && m->names[adr[id]]) { return m->names+adr[id]; } return NULL; }