Generic model reference type for use in lifetime-prohibited contexts #70
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… which represents a borrow of the Model
davidhozic
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Pull Request Overview
This PR introduces generic model reference types for use in lifetime-prohibited contexts by redesigning the connection between MjModel and MjData. The change allows users to choose between regular references (requiring lifetime annotations), Rc<MjModel>, Box<MjModel>, and other types implementing Deref<Target = MjModel>.
- Replaces lifetime parameters with generic type parameters bounded by
Deref<Target = MjModel> - Updates visualization types to accept generic model references
- Adds flexibility for usage in environments with restricted lifetime usage (e.g., Python bindings)
Reviewed Changes
Copilot reviewed 25 out of 25 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| src/wrappers/mj_data.rs | Converts MjData from lifetime-based to generic type parameter with Deref bound |
| src/wrappers/mj_visualization.rs | Updates visualization types to accept generic model references |
| src/wrappers/mj_model.rs | Modifies make_data method signature to return MjData<&Self> |
| src/viewer.rs | Updates viewer types to use generic model references with Clone bound |
| src/renderer.rs | Updates renderer types to use generic model references |
| src/util.rs | Modifies macro to support optional generic type parameters |
| examples/* | Updates example code to use MjData::new(&model) consistently |
| docs/* | Updates documentation to reflect new API and explain generic usage |
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Closes #61 .
Redesigned the connection between
MjModelandMjData(and several visualization related types) to allow generic types. This gives the user a choice between using a regular reference, which requires lifetime annotations if used as another struct's attribute,Rc<MjModel>,Box<MjModel>, etc.For the most part any type that implements
Deref<Target = MjModel>can be used, with the exception for the renderer and the viewer. Those need some sort of a reference type, e.g.Rc<MjModel>and &MjModel. This is due to some attributes sharing the value, which forces a reference, thus disallowing owned values such asBox<MjModel>.