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Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.

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PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
This commit is contained in:
Matija Kecman
2025-07-31 07:06:58 -07:00
committed by Copybara-Service
parent 4c288c19ac
commit 23fa7c00d5
11 changed files with 224 additions and 185 deletions
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doc/APIreference/APItypes.rst
+12
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@@ -91,6 +91,18 @@ Byte type used to represent boolean variables.
typedef unsigned char mjtByte; typedef unsigned char mjtByte;
.. _mjtSize:
mjtSize
^^^^^^^
Size type used to represent buffer sizes.
.. code-block:: C
typedef uint64_t mjtSize;
.. _tyEnums: .. _tyEnums:
Enum types Enum types
doc/includes/references.h
+9 -9
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@@ -134,8 +134,8 @@ struct mjSolverStat_ { // per-iteration solver statistics
typedef struct mjSolverStat_ mjSolverStat; typedef struct mjSolverStat_ mjSolverStat;
struct mjData_ { struct mjData_ {
// constant sizes // constant sizes
size_t narena; // size of the arena in bytes (inclusive of the stack) mjtSize narena; // size of the arena in bytes (inclusive of the stack)
size_t nbuffer; // size of main buffer in bytes mjtSize nbuffer; // size of main buffer in bytes
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// stack pointer // stack pointer
@@ -146,9 +146,9 @@ struct mjData_ {
size_t parena; // first available byte in arena size_t parena; // first available byte in arena
// memory utilization statistics // memory utilization statistics
size_t maxuse_stack; // maximum stack allocation in bytes mjtSize maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints int maxuse_efc; // maximum number of scalar constraints
@@ -1056,8 +1056,8 @@ struct mjModel_ {
int nsensordata; // number of mjtNums in sensor data vector int nsensordata; // number of mjtNums in sensor data vector
int npluginstate; // number of mjtNums in plugin state vector int npluginstate; // number of mjtNums in plugin state vector
size_t narena; // number of bytes in the mjData arena (inclusive of stack) mjtSize narena; // number of bytes in the mjData arena (inclusive of stack)
size_t nbuffer; // number of bytes in buffer mjtSize nbuffer; // number of bytes in buffer
// ------------------------------- options and statistics // ------------------------------- options and statistics
@@ -1866,7 +1866,7 @@ typedef struct mjSpec_ { // model specification
mjStatistic stat; // statistics override (if defined) mjStatistic stat; // statistics override (if defined)
// sizes // sizes
size_t memory; // number of bytes in arena+stack memory mjtSize memory; // number of bytes in arena+stack memory
int nemax; // max number of equality constraints int nemax; // max number of equality constraints
int nuserdata; // number of mjtNums in userdata int nuserdata; // number of mjtNums in userdata
int nuser_body; // number of mjtNums in body_user int nuser_body; // number of mjtNums in body_user
@@ -1880,7 +1880,7 @@ typedef struct mjSpec_ { // model specification
int nkey; // number of keyframes int nkey; // number of keyframes
int njmax; // (deprecated) max number of constraints int njmax; // (deprecated) max number of constraints
int nconmax; // (deprecated) max number of detected contacts int nconmax; // (deprecated) max number of detected contacts
size_t nstack; // (deprecated) number of mjtNums in mjData stack mjtSize nstack; // (deprecated) number of mjtNums in mjData stack
// global data // global data
mjString* comment; // comment at top of XML mjString* comment; // comment at top of XML
include/mujoco/mjdata.h
+5 -5
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@@ -162,8 +162,8 @@ typedef struct mjSolverStat_ mjSolverStat;
struct mjData_ { struct mjData_ {
// constant sizes // constant sizes
size_t narena; // size of the arena in bytes (inclusive of the stack) mjtSize narena; // size of the arena in bytes (inclusive of the stack)
size_t nbuffer; // size of main buffer in bytes mjtSize nbuffer; // size of main buffer in bytes
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// stack pointer // stack pointer
@@ -174,9 +174,9 @@ struct mjData_ {
size_t parena; // first available byte in arena size_t parena; // first available byte in arena
// memory utilization statistics // memory utilization statistics
size_t maxuse_stack; // maximum stack allocation in bytes mjtSize maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints int maxuse_efc; // maximum number of scalar constraints
include/mujoco/mjmodel.h
+2 -2
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@@ -731,8 +731,8 @@ struct mjModel_ {
int nsensordata; // number of mjtNums in sensor data vector int nsensordata; // number of mjtNums in sensor data vector
int npluginstate; // number of mjtNums in plugin state vector int npluginstate; // number of mjtNums in plugin state vector
size_t narena; // number of bytes in the mjData arena (inclusive of stack) mjtSize narena; // number of bytes in the mjData arena (inclusive of stack)
size_t nbuffer; // number of bytes in buffer mjtSize nbuffer; // number of bytes in buffer
// ------------------------------- options and statistics // ------------------------------- options and statistics
include/mujoco/mjspec.h
+2 -2
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@@ -170,7 +170,7 @@ typedef struct mjSpec_ { // model specification
mjStatistic stat; // statistics override (if defined) mjStatistic stat; // statistics override (if defined)
// sizes // sizes
size_t memory; // number of bytes in arena+stack memory mjtSize memory; // number of bytes in arena+stack memory
int nemax; // max number of equality constraints int nemax; // max number of equality constraints
int nuserdata; // number of mjtNums in userdata int nuserdata; // number of mjtNums in userdata
int nuser_body; // number of mjtNums in body_user int nuser_body; // number of mjtNums in body_user
@@ -184,7 +184,7 @@ typedef struct mjSpec_ { // model specification
int nkey; // number of keyframes int nkey; // number of keyframes
int njmax; // (deprecated) max number of constraints int njmax; // (deprecated) max number of constraints
int nconmax; // (deprecated) max number of detected contacts int nconmax; // (deprecated) max number of detected contacts
size_t nstack; // (deprecated) number of mjtNums in mjData stack mjtSize nstack; // (deprecated) number of mjtNums in mjData stack
// global data // global data
mjString* comment; // comment at top of XML mjString* comment; // comment at top of XML
include/mujoco/mjtnum.h
+8
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@@ -15,6 +15,8 @@
#ifndef MUJOCO_INCLUDE_MJTNUM_H_ #ifndef MUJOCO_INCLUDE_MJTNUM_H_
#define MUJOCO_INCLUDE_MJTNUM_H_ #define MUJOCO_INCLUDE_MJTNUM_H_
#include <stdint.h>
//---------------------------------- floating-point definition ------------------------------------- //---------------------------------- floating-point definition -------------------------------------
// floating point data type and minval // floating point data type and minval
@@ -34,4 +36,10 @@ typedef unsigned char mjtByte; // used for true/false
//-------------------------------------- size definition -------------------------------------------
typedef uint64_t mjtSize; // used for buffer sizes
#endif // MUJOCO_INCLUDE_MJTNUM_H_ #endif // MUJOCO_INCLUDE_MJTNUM_H_
python/mujoco/introspect/structs.py
+9 -9
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@@ -1255,12 +1255,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
StructFieldDecl( StructFieldDecl(
name='narena', name='narena',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='number of bytes in the mjData arena (inclusive of stack)', doc='number of bytes in the mjData arena (inclusive of stack)',
), ),
StructFieldDecl( StructFieldDecl(
name='nbuffer', name='nbuffer',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='number of bytes in buffer', doc='number of bytes in buffer',
), ),
StructFieldDecl( StructFieldDecl(
@@ -4866,12 +4866,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
fields=( fields=(
StructFieldDecl( StructFieldDecl(
name='narena', name='narena',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='size of the arena in bytes (inclusive of the stack)', doc='size of the arena in bytes (inclusive of the stack)',
), ),
StructFieldDecl( StructFieldDecl(
name='nbuffer', name='nbuffer',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='size of main buffer in bytes', doc='size of main buffer in bytes',
), ),
StructFieldDecl( StructFieldDecl(
@@ -4896,20 +4896,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
StructFieldDecl( StructFieldDecl(
name='maxuse_stack', name='maxuse_stack',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='maximum stack allocation in bytes', doc='maximum stack allocation in bytes',
), ),
StructFieldDecl( StructFieldDecl(
name='maxuse_threadstack', name='maxuse_threadstack',
type=ArrayType( type=ArrayType(
inner_type=ValueType(name='size_t'), inner_type=ValueType(name='mjtSize'),
extents=(128,), extents=(128,),
), ),
doc='maximum stack allocation per thread in bytes', doc='maximum stack allocation per thread in bytes',
), ),
StructFieldDecl( StructFieldDecl(
name='maxuse_arena', name='maxuse_arena',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='maximum arena allocation in bytes', doc='maximum arena allocation in bytes',
), ),
StructFieldDecl( StructFieldDecl(
@@ -8043,7 +8043,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
StructFieldDecl( StructFieldDecl(
name='memory', name='memory',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='number of bytes in arena+stack memory', doc='number of bytes in arena+stack memory',
), ),
StructFieldDecl( StructFieldDecl(
@@ -8113,7 +8113,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
StructFieldDecl( StructFieldDecl(
name='nstack', name='nstack',
type=ValueType(name='size_t'), type=ValueType(name='mjtSize'),
doc='(deprecated) number of mjtNums in mjData stack', doc='(deprecated) number of mjtNums in mjData stack',
), ),
StructFieldDecl( StructFieldDecl(
src/engine/engine_io.c
+35 -24
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@@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and // See the License for the specific language governing permissions and
// limitations under the License. // limitations under the License.
#include "engine/engine_io.h" #include "engine/engine_io.h"
#include <inttypes.h> // NOLINT required for PRIu64
#include <limits.h> #include <limits.h>
#include <stddef.h> #include <stddef.h>
#include <stdint.h> #include <stdint.h>
@@ -22,8 +22,8 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjmacro.h> #include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep #include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
@@ -320,11 +320,11 @@ static int getnint(void) {
// count size_t members in mjModel // count buffer members in mjModel (mjtSize)
static int getnsize(void) { static int getnbuffer(void) {
int cnt = 0; int cnt = 0;
#define X(name) cnt += _Generic(MJMODEL_MEMBER(name), size_t: 1, default: 0); #define X(name) cnt += _Generic(MJMODEL_MEMBER(name), mjtSize: 1, default: 0);
MJMODEL_INTS MJMODEL_INTS
#undef X #undef X
@@ -414,7 +414,10 @@ static void mj_setPtrModel(mjModel* m) {
// check size // check size
ptrdiff_t sz = ptr - (char*)m->buffer; ptrdiff_t sz = ptr - (char*)m->buffer;
if (m->nbuffer != sz) { if (m->nbuffer != sz) {
mjERROR("mjModel buffer size mismatch, expected size: %zd, actual size: %zu", m->nbuffer, sz); mjERROR(
"mjModel buffer size mismatch, "
"expected size: %" PRIu64 ", actual size: %td",
m->nbuffer, sz);
} }
} }
@@ -425,7 +428,7 @@ static void mj_setPtrModel(mjModel* m) {
// performs the following operations: // performs the following operations:
// *nbuffer += SKIP(*offset) + type_size*nr*nc; // *nbuffer += SKIP(*offset) + type_size*nr*nc;
// *offset += SKIP(*offset) + type_size*nr*nc; // *offset += SKIP(*offset) + type_size*nr*nc;
static int safeAddToBufferSize(intptr_t* offset, size_t* nbuffer, static int safeAddToBufferSize(intptr_t* offset, mjtSize* nbuffer,
size_t type_size, int nr, int nc) { size_t type_size, int nr, int nc) {
if (type_size < 0 || nr < 0 || nc < 0) { if (type_size < 0 || nr < 0 || nc < 0) {
return 0; return 0;
@@ -724,7 +727,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
int ptrbuf = 0; int ptrbuf = 0;
// standard header // standard header
int header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnsize(), getnptr()}; int header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnbuffer(), getnptr()};
// open file for writing if no buffer // open file for writing if no buffer
if (!buffer) { if (!buffer) {
@@ -752,7 +755,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
#undef X #undef X
} }
} else { } else {
bufwrite(header, sizeof(int)*sizeof(header) / sizeof(int), buffer_sz, buffer, &ptrbuf); bufwrite(header, sizeof(header), buffer_sz, buffer, &ptrbuf);
#define X(name) bufwrite(&m->name, sizeof(m->name), buffer_sz, buffer, &ptrbuf); #define X(name) bufwrite(&m->name, sizeof(m->name), buffer_sz, buffer, &ptrbuf);
MJMODEL_INTS MJMODEL_INTS
#undef X #undef X
@@ -776,10 +779,6 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
// load binary MJB model // load binary MJB model
mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) { mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
int header[NHEADER] = {0};
int expected_header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnsize(), getnptr()};
int ints[256];
size_t sizes[8];
int ptrbuf = 0; int ptrbuf = 0;
mjModel *m = 0; mjModel *m = 0;
@@ -788,9 +787,11 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
return NULL; return NULL;
} }
int header[NHEADER] = {0};
bufread(header, NHEADER*sizeof(int), buffer_sz, buffer, &ptrbuf); bufread(header, NHEADER*sizeof(int), buffer_sz, buffer, &ptrbuf);
// check header // check header
int expected_header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnbuffer(), getnptr()};
for (int i=0; i < NHEADER; i++) { for (int i=0; i < NHEADER; i++) {
if (header[i] != expected_header[i]) { if (header[i] != expected_header[i]) {
switch (i) { switch (i) {
@@ -817,15 +818,16 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
} }
} }
// read mjModel structure: info only if (ptrbuf + sizeof(int)*getnint() + sizeof(mjtSize)*getnbuffer() > buffer_sz) {
if (ptrbuf + sizeof(int)*getnint() + sizeof(size_t)*getnsize() > buffer_sz) {
mju_warning("Truncated model file - ran out of data while reading sizes"); mju_warning("Truncated model file - ran out of data while reading sizes");
return NULL; return NULL;
} }
bufread(ints, sizeof(int)*getnint(), buffer_sz, buffer, &ptrbuf);
bufread(sizes, sizeof(size_t)*getnsize(), buffer_sz, buffer, &ptrbuf);
// allocate new mjModel, check sizes // read mjModel construction fields
int ints[256];
bufread(ints, sizeof(int)*getnint(), buffer_sz, buffer, &ptrbuf);
// allocate new mjModel
mj_makeModel(&m, mj_makeModel(&m,
ints[0], ints[1], ints[2], ints[3], ints[4], ints[5], ints[6], ints[0], ints[1], ints[2], ints[3], ints[4], ints[5], ints[6],
ints[7], ints[8], ints[9], ints[10], ints[11], ints[12], ints[13], ints[7], ints[8], ints[9], ints[10], ints[11], ints[12], ints[13],
@@ -837,8 +839,14 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55], ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62], ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69]); ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_warning("Corrupted model, wrong size parameters"); // read mjModel mjtSize fields
mjtSize sizes[8];
bufread(sizes, sizeof(mjtSize)*getnbuffer(), buffer_sz, buffer, &ptrbuf);
// check mjtSize fields
if (!m || m->nbuffer != sizes[getnbuffer()-1]) {
mju_warning("Corrupted model, wrong nbuffer field");
mj_deleteModel(m); mj_deleteModel(m);
return NULL; return NULL;
} }
@@ -848,7 +856,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
int int_idx = 0; int int_idx = 0;
int size_idx = 0; int size_idx = 0;
#define X(name) \ #define X(name) \
m->name = _Generic(m->name, size_t: sizes[size_idx++], default: ints[int_idx++]); m->name = _Generic(m->name, mjtSize: sizes[size_idx++], default: ints[int_idx++]);
MJMODEL_INTS MJMODEL_INTS
#undef X #undef X
} }
@@ -908,7 +916,7 @@ void mj_deleteModel(mjModel* m) {
int mj_sizeModel(const mjModel* m) { int mj_sizeModel(const mjModel* m) {
int size = ( int size = (
sizeof(int)*(NHEADER+getnint()) sizeof(int)*(NHEADER+getnint())
+ sizeof(size_t)*getnsize() + sizeof(mjtSize)*getnbuffer()
+ sizeof(mjOption) + sizeof(mjOption)
+ sizeof(mjVisual) + sizeof(mjVisual)
+ sizeof(mjStatistic)); + sizeof(mjStatistic));
@@ -1285,7 +1293,10 @@ static void mj_setPtrData(const mjModel* m, mjData* d) {
// check size // check size
ptrdiff_t sz = ptr - (char*)d->buffer; ptrdiff_t sz = ptr - (char*)d->buffer;
if (d->nbuffer != sz) { if (d->nbuffer != sz) {
mjERROR("mjData buffer size mismatch, expected size: %zd, actual size: %zu", d->nbuffer, sz); mjERROR(
"mjData buffer size mismatch, "
"expected size: %" PRIu64 ", actual size: %td",
d->nbuffer, sz);
} }
// zero-initialize arena pointers // zero-initialize arena pointers
@@ -1928,7 +1939,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
// clear memory utilization stats // clear memory utilization stats
d->maxuse_stack = 0; d->maxuse_stack = 0;
mju_zeroSizeT(d->maxuse_threadstack, mjMAXTHREAD); mju_zeroSize(d->maxuse_threadstack, mjMAXTHREAD);
d->maxuse_arena = 0; d->maxuse_arena = 0;
d->maxuse_con = 0; d->maxuse_con = 0;
d->maxuse_efc = 0; d->maxuse_efc = 0;
src/engine/engine_util_misc.c
+5
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@@ -1367,7 +1367,12 @@ void mju_zeroInt(int* res, int n) {
memset(res, 0, n*sizeof(int)); memset(res, 0, n*sizeof(int));
} }
// set mjtSize vector to 0
void mju_zeroSize(mjtSize* res, size_t n) {
memset(res, 0, n*sizeof(mjtSize));
}
// set size_t vector to 0
void mju_zeroSizeT(size_t* res, size_t n) { void mju_zeroSizeT(size_t* res, size_t n) {
memset(res, 0, n*sizeof(size_t)); memset(res, 0, n*sizeof(size_t));
} }
src/engine/engine_util_misc.h
+3
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@@ -139,6 +139,9 @@ MJAPI int mju_isZero(mjtNum* vec, int n);
// set integer vector to 0 // set integer vector to 0
MJAPI void mju_zeroInt(int* res, int n); MJAPI void mju_zeroInt(int* res, int n);
// set mjtSize vector to 0
MJAPI void mju_zeroSize(mjtSize* res, size_t n);
// set size_t vector to 0 // set size_t vector to 0
MJAPI void mju_zeroSizeT(size_t* res, size_t n); MJAPI void mju_zeroSizeT(size_t* res, size_t n);
unity/Runtime/Bindings/MjBindings.cs
+134 -134
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@@ -728,142 +728,142 @@ public unsafe struct mjSolverStat_ {
[StructLayout(LayoutKind.Sequential)] [StructLayout(LayoutKind.Sequential)]
public unsafe struct mjData_ { public unsafe struct mjData_ {
public UIntPtr narena; public UInt64 narena;
public UIntPtr nbuffer; public UInt64 nbuffer;
public int nplugin; public int nplugin;
public UIntPtr pstack; public UIntPtr pstack;
public UIntPtr pbase; public UIntPtr pbase;
public UIntPtr parena; public UIntPtr parena;
public UIntPtr maxuse_stack; public UInt64 maxuse_stack;
public UIntPtr maxuse_threadstack0; public UInt64 maxuse_threadstack0;
public UIntPtr maxuse_threadstack1; public UInt64 maxuse_threadstack1;
public UIntPtr maxuse_threadstack2; public UInt64 maxuse_threadstack2;
public UIntPtr maxuse_threadstack3; public UInt64 maxuse_threadstack3;
public UIntPtr maxuse_threadstack4; public UInt64 maxuse_threadstack4;
public UIntPtr maxuse_threadstack5; public UInt64 maxuse_threadstack5;
public UIntPtr maxuse_threadstack6; public UInt64 maxuse_threadstack6;
public UIntPtr maxuse_threadstack7; public UInt64 maxuse_threadstack7;
public UIntPtr maxuse_threadstack8; public UInt64 maxuse_threadstack8;
public UIntPtr maxuse_threadstack9; public UInt64 maxuse_threadstack9;
public UIntPtr maxuse_threadstack10; public UInt64 maxuse_threadstack10;
public UIntPtr maxuse_threadstack11; public UInt64 maxuse_threadstack11;
public UIntPtr maxuse_threadstack12; public UInt64 maxuse_threadstack12;
public UIntPtr maxuse_threadstack13; public UInt64 maxuse_threadstack13;
public UIntPtr maxuse_threadstack14; public UInt64 maxuse_threadstack14;
public UIntPtr maxuse_threadstack15; public UInt64 maxuse_threadstack15;
public UIntPtr maxuse_threadstack16; public UInt64 maxuse_threadstack16;
public UIntPtr maxuse_threadstack17; public UInt64 maxuse_threadstack17;
public UIntPtr maxuse_threadstack18; public UInt64 maxuse_threadstack18;
public UIntPtr maxuse_threadstack19; public UInt64 maxuse_threadstack19;
public UIntPtr maxuse_threadstack20; public UInt64 maxuse_threadstack20;
public UIntPtr maxuse_threadstack21; public UInt64 maxuse_threadstack21;
public UIntPtr maxuse_threadstack22; public UInt64 maxuse_threadstack22;
public UIntPtr maxuse_threadstack23; public UInt64 maxuse_threadstack23;
public UIntPtr maxuse_threadstack24; public UInt64 maxuse_threadstack24;
public UIntPtr maxuse_threadstack25; public UInt64 maxuse_threadstack25;
public UIntPtr maxuse_threadstack26; public UInt64 maxuse_threadstack26;
public UIntPtr maxuse_threadstack27; public UInt64 maxuse_threadstack27;
public UIntPtr maxuse_threadstack28; public UInt64 maxuse_threadstack28;
public UIntPtr maxuse_threadstack29; public UInt64 maxuse_threadstack29;
public UIntPtr maxuse_threadstack30; public UInt64 maxuse_threadstack30;
public UIntPtr maxuse_threadstack31; public UInt64 maxuse_threadstack31;
public UIntPtr maxuse_threadstack32; public UInt64 maxuse_threadstack32;
public UIntPtr maxuse_threadstack33; public UInt64 maxuse_threadstack33;
public UIntPtr maxuse_threadstack34; public UInt64 maxuse_threadstack34;
public UIntPtr maxuse_threadstack35; public UInt64 maxuse_threadstack35;
public UIntPtr maxuse_threadstack36; public UInt64 maxuse_threadstack36;
public UIntPtr maxuse_threadstack37; public UInt64 maxuse_threadstack37;
public UIntPtr maxuse_threadstack38; public UInt64 maxuse_threadstack38;
public UIntPtr maxuse_threadstack39; public UInt64 maxuse_threadstack39;
public UIntPtr maxuse_threadstack40; public UInt64 maxuse_threadstack40;
public UIntPtr maxuse_threadstack41; public UInt64 maxuse_threadstack41;
public UIntPtr maxuse_threadstack42; public UInt64 maxuse_threadstack42;
public UIntPtr maxuse_threadstack43; public UInt64 maxuse_threadstack43;
public UIntPtr maxuse_threadstack44; public UInt64 maxuse_threadstack44;
public UIntPtr maxuse_threadstack45; public UInt64 maxuse_threadstack45;
public UIntPtr maxuse_threadstack46; public UInt64 maxuse_threadstack46;
public UIntPtr maxuse_threadstack47; public UInt64 maxuse_threadstack47;
public UIntPtr maxuse_threadstack48; public UInt64 maxuse_threadstack48;
public UIntPtr maxuse_threadstack49; public UInt64 maxuse_threadstack49;
public UIntPtr maxuse_threadstack50; public UInt64 maxuse_threadstack50;
public UIntPtr maxuse_threadstack51; public UInt64 maxuse_threadstack51;
public UIntPtr maxuse_threadstack52; public UInt64 maxuse_threadstack52;
public UIntPtr maxuse_threadstack53; public UInt64 maxuse_threadstack53;
public UIntPtr maxuse_threadstack54; public UInt64 maxuse_threadstack54;
public UIntPtr maxuse_threadstack55; public UInt64 maxuse_threadstack55;
public UIntPtr maxuse_threadstack56; public UInt64 maxuse_threadstack56;
public UIntPtr maxuse_threadstack57; public UInt64 maxuse_threadstack57;
public UIntPtr maxuse_threadstack58; public UInt64 maxuse_threadstack58;
public UIntPtr maxuse_threadstack59; public UInt64 maxuse_threadstack59;
public UIntPtr maxuse_threadstack60; public UInt64 maxuse_threadstack60;
public UIntPtr maxuse_threadstack61; public UInt64 maxuse_threadstack61;
public UIntPtr maxuse_threadstack62; public UInt64 maxuse_threadstack62;
public UIntPtr maxuse_threadstack63; public UInt64 maxuse_threadstack63;
public UIntPtr maxuse_threadstack64; public UInt64 maxuse_threadstack64;
public UIntPtr maxuse_threadstack65; public UInt64 maxuse_threadstack65;
public UIntPtr maxuse_threadstack66; public UInt64 maxuse_threadstack66;
public UIntPtr maxuse_threadstack67; public UInt64 maxuse_threadstack67;
public UIntPtr maxuse_threadstack68; public UInt64 maxuse_threadstack68;
public UIntPtr maxuse_threadstack69; public UInt64 maxuse_threadstack69;
public UIntPtr maxuse_threadstack70; public UInt64 maxuse_threadstack70;
public UIntPtr maxuse_threadstack71; public UInt64 maxuse_threadstack71;
public UIntPtr maxuse_threadstack72; public UInt64 maxuse_threadstack72;
public UIntPtr maxuse_threadstack73; public UInt64 maxuse_threadstack73;
public UIntPtr maxuse_threadstack74; public UInt64 maxuse_threadstack74;
public UIntPtr maxuse_threadstack75; public UInt64 maxuse_threadstack75;
public UIntPtr maxuse_threadstack76; public UInt64 maxuse_threadstack76;
public UIntPtr maxuse_threadstack77; public UInt64 maxuse_threadstack77;
public UIntPtr maxuse_threadstack78; public UInt64 maxuse_threadstack78;
public UIntPtr maxuse_threadstack79; public UInt64 maxuse_threadstack79;
public UIntPtr maxuse_threadstack80; public UInt64 maxuse_threadstack80;
public UIntPtr maxuse_threadstack81; public UInt64 maxuse_threadstack81;
public UIntPtr maxuse_threadstack82; public UInt64 maxuse_threadstack82;
public UIntPtr maxuse_threadstack83; public UInt64 maxuse_threadstack83;
public UIntPtr maxuse_threadstack84; public UInt64 maxuse_threadstack84;
public UIntPtr maxuse_threadstack85; public UInt64 maxuse_threadstack85;
public UIntPtr maxuse_threadstack86; public UInt64 maxuse_threadstack86;
public UIntPtr maxuse_threadstack87; public UInt64 maxuse_threadstack87;
public UIntPtr maxuse_threadstack88; public UInt64 maxuse_threadstack88;
public UIntPtr maxuse_threadstack89; public UInt64 maxuse_threadstack89;
public UIntPtr maxuse_threadstack90; public UInt64 maxuse_threadstack90;
public UIntPtr maxuse_threadstack91; public UInt64 maxuse_threadstack91;
public UIntPtr maxuse_threadstack92; public UInt64 maxuse_threadstack92;
public UIntPtr maxuse_threadstack93; public UInt64 maxuse_threadstack93;
public UIntPtr maxuse_threadstack94; public UInt64 maxuse_threadstack94;
public UIntPtr maxuse_threadstack95; public UInt64 maxuse_threadstack95;
public UIntPtr maxuse_threadstack96; public UInt64 maxuse_threadstack96;
public UIntPtr maxuse_threadstack97; public UInt64 maxuse_threadstack97;
public UIntPtr maxuse_threadstack98; public UInt64 maxuse_threadstack98;
public UIntPtr maxuse_threadstack99; public UInt64 maxuse_threadstack99;
public UIntPtr maxuse_threadstack100; public UInt64 maxuse_threadstack100;
public UIntPtr maxuse_threadstack101; public UInt64 maxuse_threadstack101;
public UIntPtr maxuse_threadstack102; public UInt64 maxuse_threadstack102;
public UIntPtr maxuse_threadstack103; public UInt64 maxuse_threadstack103;
public UIntPtr maxuse_threadstack104; public UInt64 maxuse_threadstack104;
public UIntPtr maxuse_threadstack105; public UInt64 maxuse_threadstack105;
public UIntPtr maxuse_threadstack106; public UInt64 maxuse_threadstack106;
public UIntPtr maxuse_threadstack107; public UInt64 maxuse_threadstack107;
public UIntPtr maxuse_threadstack108; public UInt64 maxuse_threadstack108;
public UIntPtr maxuse_threadstack109; public UInt64 maxuse_threadstack109;
public UIntPtr maxuse_threadstack110; public UInt64 maxuse_threadstack110;
public UIntPtr maxuse_threadstack111; public UInt64 maxuse_threadstack111;
public UIntPtr maxuse_threadstack112; public UInt64 maxuse_threadstack112;
public UIntPtr maxuse_threadstack113; public UInt64 maxuse_threadstack113;
public UIntPtr maxuse_threadstack114; public UInt64 maxuse_threadstack114;
public UIntPtr maxuse_threadstack115; public UInt64 maxuse_threadstack115;
public UIntPtr maxuse_threadstack116; public UInt64 maxuse_threadstack116;
public UIntPtr maxuse_threadstack117; public UInt64 maxuse_threadstack117;
public UIntPtr maxuse_threadstack118; public UInt64 maxuse_threadstack118;
public UIntPtr maxuse_threadstack119; public UInt64 maxuse_threadstack119;
public UIntPtr maxuse_threadstack120; public UInt64 maxuse_threadstack120;
public UIntPtr maxuse_threadstack121; public UInt64 maxuse_threadstack121;
public UIntPtr maxuse_threadstack122; public UInt64 maxuse_threadstack122;
public UIntPtr maxuse_threadstack123; public UInt64 maxuse_threadstack123;
public UIntPtr maxuse_threadstack124; public UInt64 maxuse_threadstack124;
public UIntPtr maxuse_threadstack125; public UInt64 maxuse_threadstack125;
public UIntPtr maxuse_threadstack126; public UInt64 maxuse_threadstack126;
public UIntPtr maxuse_threadstack127; public UInt64 maxuse_threadstack127;
public UIntPtr maxuse_arena; public UInt64 maxuse_arena;
public int maxuse_con; public int maxuse_con;
public int maxuse_efc; public int maxuse_efc;
public mjSolverStat_ solver0; public mjSolverStat_ solver0;
@@ -5341,8 +5341,8 @@ public unsafe struct mjModel_ {
public int nuserdata; public int nuserdata;
public int nsensordata; public int nsensordata;
public int npluginstate; public int npluginstate;
public UIntPtr narena; public UInt64 narena;
public UIntPtr nbuffer; public UInt64 nbuffer;
public mjOption_ opt; public mjOption_ opt;
public mjVisual_ vis; public mjVisual_ vis;
public mjStatistic_ stat; public mjStatistic_ stat;