Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_macro.h

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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_MACRO_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
+
+#include "engine/engine_callback.h"
+
+//-------------------------------- utility macros --------------------------------------------------
+
+// mark and free stack
+#define mjMARKSTACK int _mark = d->pstack;
+#define mjFREESTACK d->pstack = _mark;
+
+// check bitflag
+#define mjDISABLED(x) (m->opt.disableflags & (x))
+#define mjENABLED(x)  (m->opt.enableflags & (x))
+
+// max and min macros
+#define mjMAX(a,b)    (((a) > (b)) ? (a) : (b))
+#define mjMIN(a,b)    (((a) < (b)) ? (a) : (b))
+
+
+//-------------------------- timer macros ----------------------------------------------------------
+
+#define TM_START mjtNum _tm = (mjcb_time ? mjcb_time() : 0);
+#define TM_RESTART _tm = (mjcb_time ? mjcb_time() : 0);
+#define TM_END(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm); d->timer[i].number++;}
+#define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
+#define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_