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Modernize struct and enum style in MuJoCo headers.

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PiperOrigin-RevId: 936485706
Change-Id: I31864acc4bd44573127d3d04c6b1a23f9d9c4cbc
This commit is contained in:
Kyle Bayes
2026-06-23 00:47:13 -07:00
committed by Copybara-Service
parent afccd36dd4
commit 0fd7bea973
12 changed files with 463 additions and 548 deletions
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include/mujoco/mjspec.h
+12 -12
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@@ -57,13 +57,13 @@ extern "C" {
//-------------------------------- enum types (mjt) ------------------------------------------------
typedef enum mjtGeomInertia_ { // type of inertia inference
typedef enum mjtGeomInertia { // type of inertia inference
mjINERTIA_VOLUME = 0, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia;
typedef enum mjtMeshInertia_ { // type of mesh inertia
typedef enum mjtMeshInertia { // type of mesh inertia
mjMESH_INERTIA_CONVEX = 0, // convex mesh inertia
mjMESH_INERTIA_EXACT, // exact mesh inertia
mjMESH_INERTIA_LEGACY, // legacy mesh inertia
@@ -71,7 +71,7 @@ typedef enum mjtMeshInertia_ { // type of mesh inertia
} mjtMeshInertia;
typedef enum mjtMeshBuiltin_ { // type of built-in procedural mesh
typedef enum mjtMeshBuiltin { // type of built-in procedural mesh
mjMESH_BUILTIN_NONE = 0, // no built-in mesh
mjMESH_BUILTIN_SPHERE, // sphere
mjMESH_BUILTIN_HEMISPHERE, // hemisphere
@@ -83,7 +83,7 @@ typedef enum mjtMeshBuiltin_ { // type of built-in procedural mesh
} mjtMeshBuiltin;
typedef enum mjtBuiltin_ { // type of built-in procedural texture
typedef enum mjtBuiltin { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
@@ -91,7 +91,7 @@ typedef enum mjtBuiltin_ { // type of built-in procedural texture
} mjtBuiltin;
typedef enum mjtMark_ { // mark type for procedural textures
typedef enum mjtMark { // mark type for procedural textures
mjMARK_NONE = 0, // no mark
mjMARK_EDGE, // edges
mjMARK_CROSS, // cross
@@ -99,28 +99,28 @@ typedef enum mjtMark_ { // mark type for procedural textures
} mjtMark;
typedef enum mjtLimited_ { // type of limit specification
typedef enum mjtLimited { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
} mjtLimited;
typedef enum mjtAlignFree_ { // whether to align free joints with the inertial frame
typedef enum mjtAlignFree { // whether to align free joints with the inertial frame
mjALIGNFREE_FALSE = 0, // don't align
mjALIGNFREE_TRUE, // align
mjALIGNFREE_AUTO, // respect the global compiler flag
} mjtAlignFree;
typedef enum mjtInertiaFromGeom_ { // whether to infer body inertias from child geoms
typedef enum mjtInertiaFromGeom { // whether to infer body inertias from child geoms
mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
} mjtInertiaFromGeom;
typedef enum mjtOrientation_ { // type of orientation specifier
typedef enum mjtOrientation { // type of orientation specifier
mjORIENTATION_QUAT = 0, // quaternion
mjORIENTATION_AXISANGLE, // axis and angle
mjORIENTATION_XYAXES, // x and y axes
@@ -128,13 +128,13 @@ typedef enum mjtOrientation_ { // type of orientation specifier
mjORIENTATION_EULER, // Euler angles
} mjtOrientation;
typedef enum mjtConflict_ { // conflict resolution for attach
typedef enum mjtConflict { // conflict resolution for attach
mjCONFLICT_WARNING = 0, // keep parent, warn on conflict
mjCONFLICT_MERGE, // merge: min/max/error per field
mjCONFLICT_ERROR, // error on any conflict
} mjtConflict;
typedef enum mjtCTimer_ { // compiler timing categories
typedef enum mjtCTimer { // compiler timing categories
// top-level timers (wall-clock)
mjCTIMER_TOTAL = 0, // total compile time
mjCTIMER_ASSETS, // asset compilation
@@ -176,7 +176,7 @@ typedef struct mjsCompiler_ { // compiler options
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtByte saveinertial; // save explicit inertial clause for all bodies to XML
int alignfree; // align free joints with inertial frame
int conflict; // conflict resolution for attach (mjtConflict)
int conflict; // conflict resolution for attach (mjtConflict)
mjLROpt LRopt; // options for lengthrange computation
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory