dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/detail/BodyNodePtr.hpp

@@ -0,0 +1,351 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_DETAIL_BODYNODEPTR_HPP_
+#define DART_DYNAMICS_DETAIL_BODYNODEPTR_HPP_
+
+#include <atomic>
+#include <memory>
+#include <mutex>
+
+namespace dart {
+namespace dynamics {
+
+class Skeleton;
+
+//==============================================================================
+struct MutexedWeakSkeletonPtr
+{
+  std::mutex mMutex;
+  std::weak_ptr<const Skeleton> mSkeleton;
+};
+
+//==============================================================================
+class SkeletonRefCountingBase
+{
+public:
+  template <class>
+  friend class TemplateBodyNodePtr;
+  template <class>
+  friend class TemplateWeakBodyNodePtr;
+
+  /// Return the Skeleton this BodyNode belongs to
+  std::shared_ptr<Skeleton> getSkeleton();
+
+  /// Return the (const) Skeleton this BodyNode belongs to
+  std::shared_ptr<const Skeleton> getSkeleton() const;
+
+private:
+  //--------------------------------------------------------------------------
+  // Reference counting
+  //--------------------------------------------------------------------------
+
+  /// Atomically increment the reference count for this BodyNode. This should
+  /// only be called by the BodyNodePtr class
+  void incrementReferenceCount() const;
+
+  /// Atomically decrement the reference count for this BodyNode. This should
+  /// only be called by the BodyNodePtr class
+  void decrementReferenceCount() const;
+
+protected:
+  /// Default Constructor
+  SkeletonRefCountingBase();
+
+  /// Weak pointer to the Skeleton this BodyNode belongs to.
+  std::weak_ptr<Skeleton> mSkeleton;
+
+  /// Reference count for the number of BodyNodePtrs that are referring to this
+  /// BodyNode
+  mutable std::atomic<int> mReferenceCount;
+
+  /// If mReferenceCount is zero, then mReferenceSkeleton will hold a nullptr.
+  /// If mReferenceCount is greater than zero, then mReferenceSkeleton will hold
+  /// a shared_ptr to the Skeleton that this BodyNode belongs to. This is to
+  /// keep this BodyNode alive, so long as a BodyNodePtr that references it
+  /// exists.
+  mutable std::shared_ptr<Skeleton> mReferenceSkeleton;
+
+  /// Shared reference to a weak_ptr of this BodyNode's Skeleton, along with a
+  /// mutex to ensure thread safety. This is used by WeakBodyNodePtrs to know
+  /// when this BodyNode has expired.
+  std::shared_ptr<MutexedWeakSkeletonPtr> mLockedSkeleton;
+};
+
+/// TemplateBodyNodePtr is a templated class that enables users to create a
+/// reference-counting BodyNodePtr. Holding onto a BodyNodePtr will ensure that
+/// the BodyNode (and by extension, its Skeleton) does not get deleted. This
+/// remains true even if the BodyNode is moved into another Skeleton.
+template <class BodyNodeT>
+class TemplateBodyNodePtr
+{
+public:
+  /// Default constructor
+  TemplateBodyNodePtr() : mPtr(nullptr) {}
+
+  /// Typical constructor. _ptr must be a valid pointer (or a nullptr) when
+  /// passed to this constructor
+  TemplateBodyNodePtr(BodyNodeT* _ptr) : mPtr(nullptr)
+  {
+    set(_ptr);
+  }
+
+  /// User defined copy-constructor
+  TemplateBodyNodePtr(const TemplateBodyNodePtr& _bnp) : mPtr(nullptr)
+  {
+    set(_bnp.get());
+  }
+
+  /// Templated constructor for copying other BodyNodePtrs
+  template <class OtherBodyNodeT>
+  TemplateBodyNodePtr(const TemplateBodyNodePtr<OtherBodyNodeT>& _bnp)
+    : mPtr(nullptr)
+  {
+    set(_bnp.get());
+  }
+
+  /// Destructor. Releases the BodyNode reference before being destroyed
+  ~TemplateBodyNodePtr()
+  {
+    set(nullptr);
+  }
+
+  /// User defined assignment operator
+  TemplateBodyNodePtr& operator=(const TemplateBodyNodePtr& bnp)
+  {
+    set(bnp.get());
+    return *this;
+  }
+
+  /// Change the BodyNode that this BodyNodePtr references
+  template <class OtherBodyNodeT>
+  TemplateBodyNodePtr& operator=(
+      const TemplateBodyNodePtr<OtherBodyNodeT>& _bnp)
+  {
+    set(_bnp.get());
+    return *this;
+  }
+
+  /// Assignment operator
+  TemplateBodyNodePtr& operator=(BodyNodeT* _ptr)
+  {
+    set(_ptr);
+    return *this;
+  }
+
+  /// Implicit conversion
+  operator BodyNodeT*() const
+  {
+    return mPtr;
+  }
+
+  /// Dereferencing operator
+  BodyNodeT& operator*() const
+  {
+    return *mPtr;
+  }
+
+  /// Dereferencing operation
+  BodyNodeT* operator->() const
+  {
+    return mPtr;
+  }
+
+  /// Get the raw BodyNode pointer
+  BodyNodeT* get() const
+  {
+    return mPtr;
+  }
+
+  /// Set the BodyNode for this BodyNodePtr
+  void set(BodyNodeT* _ptr)
+  {
+    if (mPtr == _ptr)
+      return;
+
+    if (nullptr != mPtr) {
+      static_cast<const SkeletonRefCountingBase*>(mPtr)
+          ->decrementReferenceCount();
+    }
+
+    if (nullptr != _ptr) {
+      static_cast<const SkeletonRefCountingBase*>(_ptr)
+          ->incrementReferenceCount();
+    }
+
+    mPtr = _ptr;
+  }
+
+private:
+  /// Raw pointer for the BodyNode that this BodyNodePtr references
+  BodyNodeT* mPtr;
+};
+
+/// TemplateWeakBodyNodePtr is a templated class that enables users to create a
+/// non-reference-holding WeakBodyNodePtr. Holding onto a WeakBodyNodePtr will
+/// NOT prevent the BodyNode from getting deleted, but you can use lock() to
+/// check whether the BodyNode still exists. If it does exist, it will return a
+/// valid strong BodyNodePtr. Otherwise, it will return a nullptr BodyNodePtr.
+template <class BodyNodeT>
+class TemplateWeakBodyNodePtr
+{
+public:
+  template <class>
+  friend class TemplateWeakBodyNodePtr;
+
+  /// Default constructor
+  TemplateWeakBodyNodePtr() : mPtr(nullptr) {}
+
+  /// Typical constructor. _ptr must be a valid pointer (or a nullptr) when
+  /// passed to this constructor
+  TemplateWeakBodyNodePtr(BodyNodeT* _ptr) : mPtr(nullptr)
+  {
+    set(_ptr);
+  }
+
+  /// Constructor that takes in a WeakBodyNodePtr
+  template <class OtherBodyNodeT>
+  TemplateWeakBodyNodePtr(
+      const TemplateWeakBodyNodePtr<OtherBodyNodeT>& _weakPtr)
+    : mPtr(nullptr)
+  {
+    set(_weakPtr);
+  }
+
+  /// Assignment operator for raw BodyNode pointers
+  TemplateWeakBodyNodePtr& operator=(BodyNodeT* _ptr)
+  {
+    set(_ptr);
+    return *this;
+  }
+
+  /// Assignment operator for WeakBodyNodePtrs
+  template <class OtherBodyNodeT>
+  TemplateWeakBodyNodePtr& operator=(
+      const TemplateWeakBodyNodePtr<OtherBodyNodeT>& _weakPtr)
+  {
+    set(_weakPtr);
+    return *this;
+  }
+
+  /// Locks the BodyNode reference to ensure that the referenced BodyNode (1) is
+  /// currently still available, and (2) does not get deleted. If the BodyNode
+  /// is not available any longer (i.e. has been deleted), then this will return
+  /// a nullptr.
+  ///
+  /// To keep the BodyNode active, you should capture the return value of this
+  /// function in a BodyNodePtr.
+  TemplateBodyNodePtr<BodyNodeT> lock() const
+  {
+    if (nullptr == mLocker)
+      return nullptr;
+
+    // We do not use the expired() function here, because we want to ensure that
+    // the Skeleton's reference count remains up while we create the strong
+    // BodyNodePtr that we're going to return.
+    std::lock_guard<std::mutex> lock(mLocker->mMutex);
+    std::shared_ptr<const Skeleton> skeleton = mLocker->mSkeleton.lock();
+    if (nullptr == skeleton)
+      return nullptr;
+
+    return TemplateBodyNodePtr<BodyNodeT>(mPtr);
+  }
+
+  /// Set the BodyNode for this WeakBodyNodePtr
+  void set(BodyNodeT* _ptr)
+  {
+    mPtr = _ptr;
+
+    if (nullptr == mPtr)
+      mLocker = nullptr;
+    else
+      mLocker
+          = static_cast<const SkeletonRefCountingBase*>(_ptr)->mLockedSkeleton;
+  }
+
+  /// Attempt to set the BodyNode for this WeakBodyNodePtr based on another
+  /// WeakBodyNodePtr
+  template <class OtherBodyNodeT>
+  void set(const TemplateWeakBodyNodePtr<OtherBodyNodeT>& _weakPtr)
+  {
+    if (nullptr == _weakPtr.mLocker) {
+      set(nullptr);
+      return;
+    }
+
+    std::lock_guard<std::mutex> lock(_weakPtr.mLocker->mMutex);
+    std::shared_ptr<const Skeleton> skeleton
+        = _weakPtr.mLocker->mSkeleton.lock();
+    if (nullptr == skeleton) {
+      set(nullptr);
+      return;
+    }
+
+    set(_weakPtr.mPtr);
+  }
+
+  /// Returns true if this WeakBodyNodePtr is referencing a nullptr or a pointer
+  /// which has been deleted. Returns false if it is referencing a pointer which
+  /// is still active.
+  ///
+  /// Note: in multithreaded application, there is no guarantee that the pointer
+  /// will still be active after this function has finished. To guarantee that
+  /// the pointer remains active, use lock() and store its return in a
+  /// BodyNodePtr
+  bool expired() const
+  {
+    if (nullptr == mLocker)
+      return true;
+
+    // It is okay for 'lock' to go "unused", because it is managed by RAII after
+    // it has been initialized
+    std::lock_guard<std::mutex> lock(mLocker->mMutex);
+    std::shared_ptr<const Skeleton> skeleton = mLocker->mSkeleton.lock();
+    if (nullptr == skeleton)
+      return true;
+
+    return false;
+  }
+
+private:
+  /// Raw pointer for the BodyNode that this WeakBodyNodePtr references
+  BodyNodeT* mPtr;
+
+  /// A shared_ptr that allows the WeakBodyNodePtr to know whether it can lock
+  /// into a BodyNodePtr
+  std::shared_ptr<MutexedWeakSkeletonPtr> mLocker;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_BODYNODEPTR_HPP_

include/dart/dynamics/detail/CompositeNode.hpp

@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_DETAIL_COMPOSITENODE_HPP_
+#define DART_DYNAMICS_DETAIL_COMPOSITENODE_HPP_
+
+#include <dart/dynamics/CompositeNode.hpp>
+
+namespace dart {
+namespace dynamics {
+
+//==============================================================================
+template <class Base>
+void CompositeStateNode<Base>::setNodeState(const Node::State& otherState)
+{
+  common::Composite::setCompositeState(static_cast<const State&>(otherState));
+}
+
+//==============================================================================
+template <class Base>
+std::unique_ptr<Node::State> CompositeStateNode<Base>::getNodeState() const
+{
+  return std::make_unique<State>(common::Composite::getCompositeState());
+}
+
+//==============================================================================
+template <class Base>
+void CompositeStateNode<Base>::copyNodeStateTo(
+    std::unique_ptr<Node::State>& outputState) const
+{
+  common::Composite::copyCompositeStateTo(static_cast<State&>(*outputState));
+}
+
+//==============================================================================
+template <class Base>
+void CompositePropertiesNode<Base>::setNodeProperties(
+    const Node::Properties& otherProperties)
+{
+  common::Composite::setCompositeProperties(
+      static_cast<const Properties&>(otherProperties));
+}
+
+//==============================================================================
+template <class Base>
+std::unique_ptr<Node::Properties>
+CompositePropertiesNode<Base>::getNodeProperties() const
+{
+  return std::make_unique<Properties>(
+      common::Composite::getCompositeProperties());
+}
+
+//==============================================================================
+template <class Base>
+void CompositePropertiesNode<Base>::copyNodePropertiesTo(
+    std::unique_ptr<Node::Properties>& outputProperties) const
+{
+  common::Composite::copyCompositePropertiesTo(
+      static_cast<Properties&>(*outputProperties));
+}
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_COMPOSITENODE_HPP_