Improve field order and comments in mjdata.h

PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e

doc/includes/references.h

@@ -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
+  // computed by mj_collision/mj_collideTree
-  mjtNum*  bvh_aabb_dyn;     // global bounding box (center, size)               (nbvhdynamic x 6)
   mjtByte* bvh_active;       // was bounding volume checked for collision        (nbvh x 1)
 
   //-------------------- POSITION, VELOCITY dependent

include/mujoco/mjdata.h

@@ -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
+  // computed by mj_collision/mj_collideTree
-  mjtNum*  bvh_aabb_dyn;     // global bounding box (center, size)               (nbvhdynamic x 6)
   mjtByte* bvh_active;       // was bounding volume checked for collision        (nbvh x 1)
 
   //-------------------- POSITION, VELOCITY dependent

include/mujoco/mjxmacro.h

@@ -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

@@ -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

@@ -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;