Compile-time size assertions for MuJoCo basic types

PiperOrigin-RevId: 919107499
Change-Id: I07fcba4f33c77a2a1e68528dba6d399af94d0220

test/header_test.cc

@@ -21,12 +21,7 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjui.h>
-#include <mujoco/mjvisualize.h>
+#include <mujoco/mujoco.h>
 #include <mujoco/mjxmacro.h>
 #include "test/fixture.h"
 
@@ -58,59 +53,11 @@ void CheckAddressOrdering(
 
 using HeaderTest = MujocoTest;
 
-TEST_F(HeaderTest, IntsHave4Bytes) {
-  EXPECT_EQ(4, sizeof(int));
-}
-
 TEST_F(HeaderTest, IntsHaveAtLeast31Bits) {
   int shift_left_30 = 1 << 30;
   EXPECT_GT(shift_left_30, 0);
 }
 
-TEST_F(HeaderTest, EnumsAreInts) {
-  EXPECT_EQ(sizeof(mjtDisableBit),      sizeof(int));
-  EXPECT_EQ(sizeof(mjtEnableBit),       sizeof(int));
-  EXPECT_EQ(sizeof(mjtJoint),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtGeom),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtCamLight),        sizeof(int));
-  EXPECT_EQ(sizeof(mjtTexture),         sizeof(int));
-  EXPECT_EQ(sizeof(mjtIntegrator),      sizeof(int));
-  EXPECT_EQ(sizeof(mjtCone),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtJacobian),        sizeof(int));
-  EXPECT_EQ(sizeof(mjtSolver),          sizeof(int));
-  EXPECT_EQ(sizeof(mjtEq),              sizeof(int));
-  EXPECT_EQ(sizeof(mjtWrap),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtTrn),             sizeof(int));
-  EXPECT_EQ(sizeof(mjtDyn),             sizeof(int));
-  EXPECT_EQ(sizeof(mjtGain),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtBias),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtObj),             sizeof(int));
-  EXPECT_EQ(sizeof(mjtConstraint),      sizeof(int));
-  EXPECT_EQ(sizeof(mjtConstraintState), sizeof(int));
-  EXPECT_EQ(sizeof(mjtSensor),          sizeof(int));
-  EXPECT_EQ(sizeof(mjtStage),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtDataType),        sizeof(int));
-  EXPECT_EQ(sizeof(mjtLRMode),          sizeof(int));
-  EXPECT_EQ(sizeof(mjtWarning),         sizeof(int));
-  EXPECT_EQ(sizeof(mjtTimer),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtGridPos),         sizeof(int));
-  EXPECT_EQ(sizeof(mjtFramebuffer),     sizeof(int));
-  EXPECT_EQ(sizeof(mjtFontScale),       sizeof(int));
-  EXPECT_EQ(sizeof(mjtFont),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtButton),          sizeof(int));
-  EXPECT_EQ(sizeof(mjtEvent),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtItem),            sizeof(int));
-  EXPECT_EQ(sizeof(mjtCatBit),          sizeof(int));
-  EXPECT_EQ(sizeof(mjtMouse),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtPertBit),         sizeof(int));
-  EXPECT_EQ(sizeof(mjtCamera),          sizeof(int));
-  EXPECT_EQ(sizeof(mjtLabel),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtFrame),           sizeof(int));
-  EXPECT_EQ(sizeof(mjtVisFlag),         sizeof(int));
-  EXPECT_EQ(sizeof(mjtRndFlag),         sizeof(int));
-  EXPECT_EQ(sizeof(mjtStereo),          sizeof(int));
-}
-
 TEST_F(HeaderTest, MjOptionFields) {
   mjOption o;
   std::vector<std::pair<const void*, const char*>> fields;