Split name2id and id2name into a separate source file.

PiperOrigin-RevId: 647373431
Change-Id: I3bab0ea7157750b79826739e3d739e4114fa0af7

src/engine/CMakeLists.txt

@@ -47,6 +47,8 @@ set(MUJOCO_ENGINE_SRCS
     engine_io.c
     engine_io.h
     engine_macro.h
+    engine_name.c
+    engine_name.h
     engine_passive.c
     engine_passive.h
     engine_plugin.cc

src/engine/engine_name.c

@@ -0,0 +1,284 @@
+// 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 <stdint.h>
+#include <string.h>
+
+#include <mujoco/mjmodel.h>
+#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;
+}

src/engine/engine_name.h

@@ -0,0 +1,41 @@
+// 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.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_NAME_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_NAME_H_
+
+#include <stdint.h>
+
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//-------------------------- name functions --------------------------------------------------------
+
+// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
+uint64_t mj_hashString(const char* s, uint64_t n);
+
+// get id of object with the specified mjtObj type and name, returns -1 if id not found
+MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
+
+// get name of object with the specified mjtObj type and id, returns NULL if name not found
+MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_NAME_H_

src/engine/engine_print.c

@@ -25,6 +25,7 @@
 #include <mujoco/mjxmacro.h>
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_io.h"
+#include "engine/engine_name.h"
 #include "engine/engine_support.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"