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_FORWARD_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+// check positions, velocities, accelerations; reset if bad
+MJAPI void mj_checkPos(const mjModel* m, mjData* d);
+MJAPI void mj_checkVel(const mjModel* m, mjData* d);
+MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
+
+
+//-------------------------------- top-level API ---------------------------------------------------
+
+// advance simulation: use control callback, no external force, RK4 available
+MJAPI void mj_step(const mjModel* m, mjData* d);
+
+// advance simulation in two steps: before external force/control is set by user
+MJAPI void mj_step1(const mjModel* m, mjData* d);
+
+// advance simulation in two steps: after external force/control is set by user
+MJAPI void mj_step2(const mjModel* m, mjData* d);
+
+// forward dynamics
+MJAPI void mj_forward(const mjModel* m, mjData* d);
+
+// forward dynamics with skip; skipstage is mjtStage
+MJAPI void mj_forwardSkip(const mjModel* m, mjData* d,
+                          int skipstage, int skipsensor);
+
+
+//-------------------------------- integrators -----------------------------------------------------
+
+// Euler integrator, semi-implicit in velocity
+MJAPI void mj_Euler(const mjModel* m, mjData* d);
+
+// Runge Kutta explicit order-N integrator
+MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
+
+
+//-------------------------------- solver components -----------------------------------------------
+
+// computations that depend only on qpos
+MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
+
+// computations that depend only on qpos and qvel
+MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
+
+// compute actuator force
+MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
+
+// add up all non-constraint forces, compute qacc_unc
+MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
+
+// forward constraint
+MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_