Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_CALLBACK_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_CALLBACK_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// global callback function pointers
+MJAPI extern mjfGeneric  mjcb_passive;
+MJAPI extern mjfGeneric  mjcb_control;
+MJAPI extern mjfConFilt  mjcb_contactfilter;
+MJAPI extern mjfSensor   mjcb_sensor;
+MJAPI extern mjfTime     mjcb_time;
+MJAPI extern mjfAct      mjcb_act_bias;
+MJAPI extern mjfAct      mjcb_act_gain;
+MJAPI extern mjfAct      mjcb_act_dyn;
+
+
+// reset callbacks to defaults
+MJAPI void mj_resetCallbacks(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_CALLBACK_H_