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Improve field order and comments in mjdata.h

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PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e
This commit is contained in:
Yuval Tassa
2025-08-08 08:51:43 -07:00
committed by Copybara-Service
parent 50fa598d93
commit 249b0cd87d
5 changed files with 14 additions and 14 deletions
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doc/includes/references.h
+2 -2
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@@ -248,6 +248,7 @@ struct mjData_ {
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
mjtNum* flexedge_J; // flex edge Jacobian (nflexedge x nv)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
@@ -276,8 +277,7 @@ struct mjData_ {
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_collision/mj_collideTree
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
//-------------------- POSITION, VELOCITY dependent
include/mujoco/mjdata.h
+2 -2
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@@ -276,6 +276,7 @@ struct mjData_ {
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
mjtNum* flexedge_J; // flex edge Jacobian (nflexedge x nv)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
@@ -304,8 +305,7 @@ struct mjData_ {
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_collision/mj_collideTree
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
//-------------------- POSITION, VELOCITY dependent
include/mujoco/mjxmacro.h
+1 -1
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@@ -651,6 +651,7 @@
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( int, ten_wrapadr, ntendon, 1 ) \
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
@@ -670,7 +671,6 @@
XNV ( mjtNum, M, nC, 1 ) \
XNV ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( mjtByte, bvh_active, nbvh, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \
python/mujoco/introspect/structs.py
+8 -8
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@@ -5378,6 +5378,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='flex edge lengths',
array_extent=('nflexedge',),
),
StructFieldDecl(
name='bvh_aabb_dyn',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global bounding box (center, size)',
array_extent=('nbvhdynamic', 6),
),
StructFieldDecl(
name='ten_wrapadr',
type=PointerType(
@@ -5530,14 +5538,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='1/diag(D)',
array_extent=('nv',),
),
StructFieldDecl(
name='bvh_aabb_dyn',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global bounding box (center, size)',
array_extent=('nbvhdynamic', 6),
),
StructFieldDecl(
name='bvh_active',
type=PointerType(
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -4947,6 +4947,7 @@ public unsafe struct mjData_ {
public int* flexedge_J_colind;
public double* flexedge_J;
public double* flexedge_length;
public double* bvh_aabb_dyn;
public int* ten_wrapadr;
public int* ten_wrapnum;
public int* ten_J_rownnz;
@@ -4966,7 +4967,6 @@ public unsafe struct mjData_ {
public double* M;
public double* qLD;
public double* qLDiagInv;
public double* bvh_aabb_dyn;
public byte* bvh_active;
public double* flexedge_velocity;
public double* ten_velocity;