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Order fields in mjxmacro like in mjmodel and mjdata headers, add tests.

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PiperOrigin-RevId: 798848000
Change-Id: Id1a41f6a0a4e3e6f3bb197f096061bd1d72a4b51
This commit is contained in:
Yuval Tassa
2025-08-24 11:16:47 -07:00
committed by Copybara-Service
parent 7479312218
commit 1c1bb14e1c
3 changed files with 170 additions and 17 deletions
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include/mujoco/mjxmacro.h
+12 -12
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@@ -387,20 +387,17 @@
X ( float, flex_texcoord, nflextexcoord, 2 ) \
X ( int, mesh_vertadr, nmesh, 1 ) \
X ( int, mesh_vertnum, nmesh, 1 ) \
X ( int, mesh_normaladr, nmesh, 1 ) \
X ( int, mesh_normalnum, nmesh, 1 ) \
X ( int, mesh_texcoordadr, nmesh, 1 ) \
X ( int, mesh_texcoordnum, nmesh, 1 ) \
X ( int, mesh_faceadr, nmesh, 1 ) \
X ( int, mesh_facenum, nmesh, 1 ) \
X ( int, mesh_bvhadr, nmesh, 1 ) \
X ( int, mesh_bvhnum, nmesh, 1 ) \
X ( int, mesh_octadr, nmesh, 1 ) \
X ( int, mesh_octnum, nmesh, 1 ) \
X ( int, mesh_normaladr, nmesh, 1 ) \
X ( int, mesh_normalnum, nmesh, 1 ) \
X ( int, mesh_texcoordadr, nmesh, 1 ) \
X ( int, mesh_texcoordnum, nmesh, 1 ) \
X ( int, mesh_graphadr, nmesh, 1 ) \
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
XNV ( float, mesh_vert, nmeshvert, 3 ) \
XNV ( float, mesh_normal, nmeshnormal, 3 ) \
XNV ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
@@ -408,6 +405,9 @@
XNV ( int, mesh_facenormal, nmeshface, 3 ) \
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
X ( int, mesh_pathadr, nmesh, 1 ) \
XNV ( int, mesh_polynum, nmesh, 1 ) \
XNV ( int, mesh_polyadr, nmesh, 1 ) \
@@ -670,8 +670,8 @@
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
X ( mjtNum, wrap_xpos, nwrap, 6 ) \
X ( mjtNum, actuator_length, nu, 1 ) \
@@ -741,8 +741,8 @@
X ( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_b, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_force, MJ_D(nefc), 1 ) \
X ( int, efc_state, MJ_D(nefc), 1 )
X ( int, efc_state, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_force, MJ_D(nefc), 1 )
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \
@@ -826,12 +826,12 @@
// vector fields of mjData
#define MJDATA_VECTOR \
X( size_t, maxuse_threadstack, mjMAXTHREAD, 1 ) \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjSolverStat, solver, mjNISLAND, mjNSOLVER ) \
X( int, solver_niter, mjNISLAND, 1 ) \
X( int, solver_nnz, mjNISLAND, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjtNum, energy, 2, 1 )
// alias XNV to be the same as X