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Migrate types in mjs structs.

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PiperOrigin-RevId: 942546629
Change-Id: I46f2b24b53a43361fdc67dc32f2af1c0ce8b1de8
This commit is contained in:
Yuval Tassa
2026-07-04 11:27:00 -07:00
committed by Copybara-Service
parent 315bcfbf3a
commit 11f1da0c44
15 changed files with 339 additions and 311 deletions
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include/mujoco/mjspecmacro.h
+49 -49
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@@ -25,27 +25,27 @@
//-------------------------------- mjsCompiler -----------------------------------------------------
#define MJSCOMPILER_FIELDS \
X(mjtByte, autolimits, 1) \
X(double, boundmass, 1) \
X(double, boundinertia, 1) \
X(double, settotalmass, 1) \
X(mjtByte, balanceinertia, 1) \
X(mjtByte, fitaabb, 1) \
X(mjtByte, degree, 1) \
XVEC(char, eulerseq, 3) \
X(mjtByte, discardvisual, 1) \
X(mjtByte, usethread, 1) \
X(mjtByte, fusestatic, 1) \
X(int, inertiafromgeom, 1) \
XVEC(int, inertiagrouprange, 2) \
X(mjtByte, saveinertial, 1) \
X(int, alignfree, 1) \
X(int, conflict, 1) \
X(mjLROpt, LRopt, 1) \
X(mjString*, meshdir, 1) \
X(mjString*, texturedir, 1) \
X(uint64_t, authored, 1)
#define MJSCOMPILER_FIELDS \
X(mjtBool, autolimits, 1) \
X(double, boundmass, 1) \
X(double, boundinertia, 1) \
X(double, settotalmass, 1) \
X(mjtBool, balanceinertia, 1) \
X(mjtBool, fitaabb, 1) \
X(mjtBool, degree, 1) \
XVEC(char, eulerseq, 3) \
X(mjtBool, discardvisual, 1) \
X(mjtBool, usethread, 1) \
X(mjtBool, fusestatic, 1) \
X(mjtInertiaFromGeom, inertiafromgeom, 1) \
XVEC(int, inertiagrouprange, 2) \
X(mjtBool, saveinertial, 1) \
X(mjtBool, alignfree, 1) \
X(mjtConflict, conflict, 1) \
X(mjLROpt, LRopt, 1) \
X(mjString*, meshdir, 1) \
X(mjString*, texturedir, 1) \
X(uint64_t, authored, 1)
//-------------------------------- mjSpec ----------------------------------------------------------
@@ -53,7 +53,7 @@
X( mjsElement*, element, 1 ) \
X( mjString*, modelname, 1 ) \
X( mjsCompiler, compiler, 1 ) \
X( mjtByte, strippath, 1 ) \
X( mjtBool, strippath, 1 ) \
X( mjOption, option, 1 ) \
X( mjVisual, visual, 1 ) \
X( mjStatistic, stat, 1 ) \
@@ -74,7 +74,7 @@
X( mjtSize, nstack, 1 ) \
X( mjString*, comment, 1 ) \
X( mjString*, modelfiledir, 1 ) \
X( mjtByte, hasImplicitPluginElem, 1 )
X( mjtBool, hasImplicitPluginElem, 1 )
//-------------------------------- mjsOrientation --------------------------------------------------
@@ -93,7 +93,7 @@
X( mjsElement*, element, 1 ) \
X( mjString*, name, 1 ) \
X( mjString*, plugin_name, 1 ) \
X( mjtByte, active, 1 ) \
X( mjtBool, active, 1 ) \
X( mjString*, info, 1 )
@@ -111,12 +111,12 @@
XVEC( double, inertia, 3 ) \
X ( mjsOrientation, ialt, 1 ) \
XVEC( double, fullinertia, 6 ) \
X ( mjtByte, mocap, 1 ) \
X ( mjtBool, mocap, 1 ) \
X ( double, gravcomp, 1 ) \
X ( mjtSleepPolicy, sleep, 1 ) \
X ( mjtByte, simple, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjtByte, explicitinertial, 1 ) \
X ( mjtBool, explicitinertial, 1 ) \
X ( mjsPlugin, plugin, 1 ) \
X ( mjString*, info, 1 )
@@ -140,16 +140,16 @@
XVEC( double, pos, 3 ) \
XVEC( double, axis, 3 ) \
X ( double, ref, 1 ) \
X ( int, align, 1 ) \
X ( mjtAlignFree, align, 1 ) \
XVEC( double, stiffness, mjNPOLY+1 ) \
X ( double, springref, 1 ) \
XVEC( double, springdamper, 2 ) \
X ( int, limited, 1 ) \
X ( mjtLimited, limited, 1 ) \
XVEC( double, range, 2 ) \
X ( double, margin, 1 ) \
XVEC( mjtNum, solref_limit, mjNREF ) \
XVEC( mjtNum, solimp_limit, mjNIMP ) \
X ( int, actfrclimited, 1 ) \
X ( mjtLimited, actfrclimited, 1 ) \
XVEC( double, actfrcrange, 2 ) \
X ( double, armature, 1 ) \
XVEC( double, damping, mjNPOLY+1 ) \
@@ -157,7 +157,7 @@
XVEC( mjtNum, solref_friction, mjNREF ) \
XVEC( mjtNum, solimp_friction, mjNIMP ) \
X ( int, group, 1 ) \
X ( mjtByte, actgravcomp, 1 ) \
X ( mjtBool, actgravcomp, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjString*, info, 1 )
@@ -247,10 +247,10 @@
XVEC( double, dir, 3 ) \
X ( mjtCamLight, mode, 1 ) \
X ( mjString*, targetbody, 1 ) \
X ( mjtByte, active, 1 ) \
X ( mjtBool, active, 1 ) \
X ( mjtLightType, type, 1 ) \
X ( mjString*, texture, 1 ) \
X ( mjtByte, castshadow, 1 ) \
X ( mjtBool, castshadow, 1 ) \
X ( float, bulbradius, 1 ) \
X ( float, intensity, 1 ) \
X ( float, range, 1 ) \
@@ -280,9 +280,9 @@
X ( int, dim, 1 ) \
X ( double, radius, 1 ) \
XVEC( double, size, 3 ) \
X ( mjtByte, internal, 1 ) \
X ( mjtByte, flatskin, 1 ) \
X ( int, selfcollide, 1 ) \
X ( mjtBool, internal, 1 ) \
X ( mjtBool, flatskin, 1 ) \
X ( mjtFlexSelf, selfcollide, 1 ) \
X ( int, passive, 1 ) \
X ( int, activelayers, 1 ) \
X ( int, group, 1 ) \
@@ -317,8 +317,8 @@
XVEC( double, refquat, 4 ) \
XVEC( double, scale, 3 ) \
X ( mjtMeshInertia, inertia, 1 ) \
X ( mjtByte, smoothnormal, 1 ) \
X ( mjtByte, needsdf, 1 ) \
X ( mjtBool, smoothnormal, 1 ) \
X ( mjtBool, needsdf, 1 ) \
X ( int, maxhullvert, 1 ) \
X ( mjFloatVec*, uservert, 1 ) \
X ( mjFloatVec*, usernormal, 1 ) \
@@ -371,8 +371,8 @@
X ( mjsElement*, element, 1 ) \
X ( mjtTexture, type, 1 ) \
X ( mjtColorSpace, colorspace, 1 ) \
X ( int, builtin, 1 ) \
X ( int, mark, 1 ) \
X ( mjtBuiltin, builtin, 1 ) \
X ( mjtMark, mark, 1 ) \
XVEC( double, rgb1, 3 ) \
XVEC( double, rgb2, 3 ) \
XVEC( double, markrgb, 3 ) \
@@ -386,8 +386,8 @@
XVEC( char, gridlayout, 12 ) \
X ( mjStringVec*, cubefiles, 1 ) \
X ( mjByteVec*, data, 1 ) \
X ( mjtByte, hflip, 1 ) \
X ( mjtByte, vflip, 1 ) \
X ( mjtBool, hflip, 1 ) \
X ( mjtBool, vflip, 1 ) \
X ( mjString*, info, 1 )
@@ -396,7 +396,7 @@
#define MJSMATERIAL_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjStringVec*, textures, 1 ) \
X ( mjtByte, texuniform, 1 ) \
X ( mjtBool, texuniform, 1 ) \
XVEC( float, texrepeat, 2 ) \
X ( float, emission, 1 ) \
X ( float, specular, 1 ) \
@@ -439,7 +439,7 @@
X ( mjsElement*, element, 1 ) \
X ( mjtEq, type, 1 ) \
XVEC( double, data, mjNEQDATA ) \
X ( mjtByte, active, 1 ) \
X ( mjtBool, active, 1 ) \
X ( mjString*, name1, 1 ) \
X ( mjString*, name2, 1 ) \
X ( mjtObj, objtype, 1 ) \
@@ -459,8 +459,8 @@
XVEC( mjtNum, solref_friction, mjNREF ) \
XVEC( mjtNum, solimp_friction, mjNIMP ) \
X ( double, armature, 1 ) \
X ( int, limited, 1 ) \
X ( int, actfrclimited, 1 ) \
X ( mjtLimited, limited, 1 ) \
X ( mjtLimited, actfrclimited, 1 ) \
XVEC( double, range, 2 ) \
XVEC( double, actfrcrange, 2 ) \
X ( double, margin, 1 ) \
@@ -493,7 +493,7 @@
X ( mjtDyn, dyntype, 1 ) \
XVEC( double, dynprm, mjNDYN ) \
X ( int, actdim, 1 ) \
X ( mjtByte, actearly, 1 ) \
X ( mjtBool, actearly, 1 ) \
X ( mjtTrn, trntype, 1 ) \
XVEC( double, gear, 6 ) \
X ( mjString*, target, 1 ) \
@@ -504,11 +504,11 @@
X ( double, inheritrange, 1 ) \
XVEC( double, damping, mjNPOLY+1 ) \
X ( double, armature, 1 ) \
X ( int, ctrllimited, 1 ) \
X ( mjtLimited, ctrllimited, 1 ) \
XVEC( double, ctrlrange, 2 ) \
X ( int, forcelimited, 1 ) \
X ( mjtLimited, forcelimited, 1 ) \
XVEC( double, forcerange, 2 ) \
X ( int, actlimited, 1 ) \
X ( mjtLimited, actlimited, 1 ) \
XVEC( double, actrange, 2 ) \
X ( int, group, 1 ) \
X ( int, nsample, 1 ) \