Migrate types in mjs structs.

PiperOrigin-RevId: 942546629
Change-Id: I46f2b24b53a43361fdc67dc32f2af1c0ce8b1de8

src/experimental/platform/ux/imgui_widgets.cc

@@ -225,6 +225,13 @@ void ImGui_SpecElementTable::operator()(const char* label, mjtByte& val,
   Input(val, ref);
 }
 
+void ImGui_SpecElementTable::operator()(const char* label, bool& val,
+                                        const bool& ref,
+                                        const char* tooltip) {
+  Label(label, tooltip);
+  Input(val, ref);
+}
+
 void ImGui_SpecElementTable::operator()(const char* label, mjtSize& val,
                                         const mjtSize& ref,
                                         const char* tooltip) {

src/experimental/platform/ux/imgui_widgets.h

@@ -257,6 +257,8 @@ class ImGui_SpecElementTable : public ImGui_DataPtrTable {
   // Scalar values used by mjSpec elements.
   void operator()(const char* label, mjtByte& val, const mjtByte& ref,
                   const char* tooltip);
+  void operator()(const char* label, bool& val, const bool& ref,
+                  const char* tooltip);
   void operator()(const char* label, mjtSize& val, const mjtSize& ref,
                   const char* tooltip);
   void operator()(const char* label, int& val, const int& ref,

src/user/user_api.cc

@@ -1324,7 +1324,7 @@ const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
                                  double dampratio[1], double timeconst[1], double inheritrange) {
   mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
   actuator->dyntype = mjDYN_INTEGRATOR;
-  actuator->actlimited = 1;
+  actuator->actlimited = mjLIMITED_TRUE;
 
   if (inheritrange > 0) {
     if (actuator->actrange[0] || actuator->actrange[1]) {
@@ -1353,7 +1353,7 @@ const char* mjs_setToVelocity(mjsActuator* actuator, double kv) {
 const char* mjs_setToDamper(mjsActuator* actuator, double kv) {
   mjuu_zerovec(actuator->gainprm, mjNGAIN);
   actuator->gainprm[2] = -kv;
-  actuator->ctrllimited = 1;
+  actuator->ctrllimited = mjLIMITED_TRUE;
   actuator->dyntype = mjDYN_NONE;
   actuator->gaintype = mjGAIN_AFFINE;
   actuator->biastype = mjBIAS_NONE;
@@ -1435,7 +1435,7 @@ const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double t
 // Set to adhesion actuator.
 const char* mjs_setToAdhesion(mjsActuator* actuator, double gain) {
   actuator->gainprm[0] = gain;
-  actuator->ctrllimited = 1;
+  actuator->ctrllimited = mjLIMITED_TRUE;
   actuator->gaintype = mjGAIN_FIXED;
   actuator->biastype = mjBIAS_NONE;
 
@@ -1523,7 +1523,7 @@ const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double
     }
     actuator->forcerange[0] = -tau_max;
     actuator->forcerange[1] = tau_max;
-    actuator->forcelimited = 1;
+    actuator->forcelimited = mjLIMITED_TRUE;
   }
 
   // saturation: [tau_max, i_max, (di/dt)_max]
@@ -1601,7 +1601,7 @@ const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double
   actuator->actdim = actdim;
 
   // enforce actlimited = 0; homogeneous bounds are invalid across DC motor states
-  actuator->actlimited = 0;
+  actuator->actlimited = mjLIMITED_FALSE;
 
   // DC motor always uses actearly
   actuator->actearly = 1;

src/user/user_model.cc

@@ -5045,9 +5045,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // the internal compiler struct (not the spec) to avoid permanently mutating
   // the spec (which would cause usethread="false" to appear in a saved XML).
   struct ScopedDisableThreading {
-    mjtByte& ref;
-    mjtByte saved;
-    explicit ScopedDisableThreading(mjtByte& r) : ref(r), saved(r) { ref = 0; }
+    mjtBool& ref;
+    mjtBool saved;
+    explicit ScopedDisableThreading(mjtBool& r) : ref(r), saved(r) { ref = 0; }
     ~ScopedDisableThreading() { ref = saved; }
   } disable_usethread(compiler.usethread);
 #endif

src/xml/xml_util.h

@@ -179,6 +179,17 @@ class mjXUtil {
   static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, int* data,
                        const mjMap* map, int mapSz, bool required = false);
 
+  template <typename T>
+  static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, T* data,
+                       const mjMap* map, int mapSz, bool required = false) {
+    int value;
+    if (MapValue(elem, attr, &value, map, mapSz, required)) {
+      *data = static_cast<T>(value);
+      return true;
+    }
+    return false;
+  }
+
   // find attribute, translate unique space-separated keys to data, return number of keys found
   static int MapValues(tinyxml2::XMLElement* elem, const char* attr, int* data,
                        const mjMap* map, int mapSz, bool required = false);