Add sleep related data structures
PiperOrigin-RevId: 829055431 Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
3080e3424f
commit
252a0d73df
+108
-60
@@ -16,40 +16,40 @@
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// Error: C reference not found
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// NOLINTBEGIN
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typedef enum mjtState_ { // state elements
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mjSTATE_TIME = 1<<0, // time
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mjSTATE_QPOS = 1<<1, // position
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mjSTATE_QVEL = 1<<2, // velocity
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mjSTATE_ACT = 1<<3, // actuator activation
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mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
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mjSTATE_CTRL = 1<<5, // control
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mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
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mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
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mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
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mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
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mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
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mjSTATE_USERDATA = 1<<11, // user data
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mjSTATE_PLUGIN = 1<<12, // plugin state
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typedef enum mjtState_ { // state elements
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mjSTATE_TIME = 1<<0, // time
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mjSTATE_QPOS = 1<<1, // position
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mjSTATE_QVEL = 1<<2, // velocity
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mjSTATE_ACT = 1<<3, // actuator activation
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mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
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mjSTATE_CTRL = 1<<5, // control
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mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
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mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
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mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
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mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
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mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
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mjSTATE_USERDATA = 1<<11, // user data
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mjSTATE_PLUGIN = 1<<12, // plugin state
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mjNSTATE = 13, // number of state elements
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mjNSTATE = 13, // number of state elements
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// convenience values for commonly used state specifications
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mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
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mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
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mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
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mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
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mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
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mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
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mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
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mjSTATE_USERDATA,
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mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
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mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
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} mjtState;
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typedef enum mjtConstraint_ { // type of constraint
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mjCNSTR_EQUALITY = 0, // equality constraint
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mjCNSTR_FRICTION_DOF, // dof friction
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mjCNSTR_FRICTION_TENDON, // tendon friction
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mjCNSTR_LIMIT_JOINT, // joint limit
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mjCNSTR_LIMIT_TENDON, // tendon limit
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mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
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mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
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mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
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typedef enum mjtConstraint_ { // type of constraint
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mjCNSTR_EQUALITY = 0, // equality constraint
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mjCNSTR_FRICTION_DOF, // dof friction
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mjCNSTR_FRICTION_TENDON, // tendon friction
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mjCNSTR_LIMIT_JOINT, // joint limit
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mjCNSTR_LIMIT_TENDON, // tendon limit
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mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
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mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
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mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
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} mjtConstraint;
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typedef enum mjtConstraintState_ { // constraint state
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mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
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@@ -58,44 +58,49 @@ typedef enum mjtConstraintState_ { // constraint state
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mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
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mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
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} mjtConstraintState;
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typedef enum mjtWarning_ { // warning types
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mjWARN_INERTIA = 0, // (near) singular inertia matrix
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mjWARN_CONTACTFULL, // too many contacts in contact list
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mjWARN_CNSTRFULL, // too many constraints
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mjWARN_VGEOMFULL, // too many visual geoms
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mjWARN_BADQPOS, // bad number in qpos
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mjWARN_BADQVEL, // bad number in qvel
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mjWARN_BADQACC, // bad number in qacc
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mjWARN_BADCTRL, // bad number in ctrl
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typedef enum mjtWarning_ { // warning types
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mjWARN_INERTIA = 0, // (near) singular inertia matrix
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mjWARN_CONTACTFULL, // too many contacts in contact list
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mjWARN_CNSTRFULL, // too many constraints
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mjWARN_VGEOMFULL, // too many visual geoms
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mjWARN_BADQPOS, // bad number in qpos
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mjWARN_BADQVEL, // bad number in qvel
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mjWARN_BADQACC, // bad number in qacc
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mjWARN_BADCTRL, // bad number in ctrl
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mjNWARNING // number of warnings
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mjNWARNING // number of warnings
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} mjtWarning;
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typedef enum mjtTimer_ { // internal timers
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typedef enum mjtTimer_ { // internal timers
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// main api
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mjTIMER_STEP = 0, // step
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mjTIMER_FORWARD, // forward
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mjTIMER_INVERSE, // inverse
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mjTIMER_STEP = 0, // step
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mjTIMER_FORWARD, // forward
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mjTIMER_INVERSE, // inverse
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// breakdown of step/forward
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mjTIMER_POSITION, // fwdPosition
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mjTIMER_VELOCITY, // fwdVelocity
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mjTIMER_ACTUATION, // fwdActuation
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mjTIMER_CONSTRAINT, // fwdConstraint
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mjTIMER_ADVANCE, // mj_Euler, mj_implicit
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mjTIMER_POSITION, // fwdPosition
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mjTIMER_VELOCITY, // fwdVelocity
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mjTIMER_ACTUATION, // fwdActuation
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mjTIMER_CONSTRAINT, // fwdConstraint
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mjTIMER_ADVANCE, // mj_Euler, mj_implicit
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// breakdown of fwdPosition
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mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
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mjTIMER_POS_INERTIA, // inertia computations
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mjTIMER_POS_COLLISION, // collision detection
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mjTIMER_POS_MAKE, // make constraints
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mjTIMER_POS_PROJECT, // project constraints
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mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
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mjTIMER_POS_INERTIA, // inertia computations
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mjTIMER_POS_COLLISION, // collision detection
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mjTIMER_POS_MAKE, // make constraints
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mjTIMER_POS_PROJECT, // project constraints
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// breakdown of mj_collision
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mjTIMER_COL_BROAD, // broadphase
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mjTIMER_COL_NARROW, // narrowphase
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mjTIMER_COL_BROAD, // broadphase
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mjTIMER_COL_NARROW, // narrowphase
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mjNTIMER // number of timers
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mjNTIMER // number of timers
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} mjtTimer;
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typedef enum mjtSleepState_ { // sleep state of an object
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mjS_STATIC = -1, // object is static
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mjS_ASLEEP = 0, // object is asleep
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mjS_AWAKE = 1 // object is awake
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} mjtSleepState;
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struct mjContact_ { // result of collision detection functions
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// contact parameters set by near-phase collision function
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mjtNum dist; // distance between nearest points; neg: penetration
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@@ -189,6 +194,10 @@ struct mjData_ {
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int nA; // number of non-zeros in constraint inverse inertia matrix
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int nisland; // number of detected constraint islands
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int nidof; // number of dofs in all islands
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int ntree_awake; // number of awake trees
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int nbody_awake; // number of awake dynamic and static bodies
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int nparent_awake; // number of bodies with awake parents
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int nv_awake; // number of awake dofs
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// global properties
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mjtNum time; // simulation time
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@@ -229,6 +238,9 @@ struct mjData_ {
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// sensors
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mjtNum* sensordata; // sensor data array (nsensordata x 1)
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// sleep state
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int* tree_asleep; // <0: awake; >=0: index cycle of sleeping trees (ntree x 1)
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// plugins
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int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
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uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
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@@ -297,6 +309,13 @@ struct mjData_ {
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// computed by mj_collision/mj_collideTree
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mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
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// computed by mj_updateSleep
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int* tree_awake; // is tree awake; 0: asleep; 1: awake (ntree x 1)
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int* body_awake; // body sleep state (mjtSleepState) (nbody x 1)
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int* body_awake_ind; // indices of awake and static bodies (nbody x 1)
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int* parent_awake_ind; // indices of bodies with awake or static parents (nbody x 1)
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int* dof_awake_ind; // indices of awake dofs (nv x 1)
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//-------------------- POSITION, VELOCITY dependent
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// computed by mj_fwdVelocity
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@@ -376,6 +395,12 @@ struct mjData_ {
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mjtNum* efc_R; // inverse constraint mass (nefc x 1)
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int* tendon_efcadr; // first efc address involving tendon; -1: none (ntendon x 1)
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// computed by mj_island (island tree structure)
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int* tree_island; // island id of this tree; -1: none (ntree x 1)
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int* island_ntree; // number of trees in this island (nisland x 1)
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int* island_itreeadr; // island start address in itree vector (nisland x 1)
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int* map_itree2tree; // map from itree to tree (ntree x 1)
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// computed by mj_island (island dof structure)
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int* dof_island; // island id of this dof; -1: none (nv x 1)
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int* island_nv; // number of dofs in this island (nisland x 1)
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@@ -476,8 +501,9 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
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mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
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// experimental features:
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mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
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mjENBL_SLEEP = 1<<5, // sleeping
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mjNENABLE = 5 // number of enable flags
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mjNENABLE = 6 // number of enable flags
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} mjtEnableBit;
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typedef enum mjtJoint_ { // type of degree of freedom
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mjJNT_FREE = 0, // global position and orientation (quat) (7)
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@@ -520,7 +546,7 @@ typedef enum mjtCamLight_ { // tracking mode for camera and light
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mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
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} mjtCamLight;
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typedef enum mjtLightType_ { // type of light
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mjLIGHT_SPOT = 0, // spot
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mjLIGHT_SPOT = 0, // spot
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mjLIGHT_DIRECTIONAL, // directional
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mjLIGHT_POINT, // point
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mjLIGHT_IMAGE, // image-based
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@@ -754,21 +780,29 @@ typedef enum mjtSameFrame_ { // frame alignment of bodies with their childr
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mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
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mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
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} mjtSameFrame;
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typedef enum mjtSleepPolicy_ { // per-tree sleep policy
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mjSLEEP_AUTO = 0, // compiler chooses sleep policy
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mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
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mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
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mjSLEEP_NEVER, // user sleep policy: never
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mjSLEEP_ALLOWED, // user sleep policy: allowed
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mjSLEEP_INIT, // user sleep policy: initialized asleep
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} mjtSleepPolicy;
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typedef enum mjtLRMode_ { // mode for actuator length range computation
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mjLRMODE_NONE = 0, // do not process any actuators
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mjLRMODE_NONE = 0, // do not process any actuators
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mjLRMODE_MUSCLE, // process muscle actuators
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mjLRMODE_MUSCLEUSER, // process muscle and user actuators
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mjLRMODE_ALL // process all actuators
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} mjtLRMode;
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typedef enum mjtFlexSelf_ { // mode for flex selfcollide
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mjFLEXSELF_NONE = 0, // no self-collisions
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mjFLEXSELF_NONE = 0, // no self-collisions
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mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
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mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
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mjFLEXSELF_SAP, // use SAP in midphase
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mjFLEXSELF_AUTO // choose between BVH and SAP automatically
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} mjtFlexSelf;
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typedef enum mjtSDFType_ { // signed distance function (SDF) type
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mjSDFTYPE_SINGLE = 0, // single SDF
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mjSDFTYPE_SINGLE = 0, // single SDF
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mjSDFTYPE_INTERSECTION, // max(A, B)
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mjSDFTYPE_MIDSURFACE, // A - B
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mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
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@@ -808,6 +842,9 @@ struct mjOption_ { // physics options
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mjtNum noslip_tolerance; // noslip solver tolerance
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mjtNum ccd_tolerance; // convex collision solver tolerance
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// sleep settings
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mjtNum sleep_tolerance; // sleep velocity tolerance
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// physical constants
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mjtNum gravity[3]; // gravitational acceleration
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mjtNum wind[3]; // wind (for lift, drag and viscosity)
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@@ -1129,6 +1166,14 @@ struct mjModel_ {
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mjtNum* dof_damping; // damping coefficient (nv x 1)
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mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
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mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
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mjtNum* dof_length; // linear: 1; angular: approx. length scale (nv x 1)
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// trees
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int* tree_bodyadr; // start addr of bodies (ntree x 1)
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int* tree_bodynum; // number of bodies in tree (ntree x 1)
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int* tree_dofadr; // start addr of dofs (ntree x 1)
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int* tree_dofnum; // number of dofs in tree (ntree x 1)
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int* tree_sleep_policy; // sleep policy (mjtSleepPolicy) (ntree x 1)
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// geoms
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int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
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@@ -1396,6 +1441,8 @@ struct mjModel_ {
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int* tendon_num; // number of objects in tendon's path (ntendon x 1)
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int* tendon_matid; // material id for rendering (ntendon x 1)
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int* tendon_group; // group for visibility (ntendon x 1)
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int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
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int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
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mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
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mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
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mjtNum* tendon_width; // width for rendering (ntendon x 1)
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@@ -1928,6 +1975,7 @@ typedef struct mjsBody_ { // body specification
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// other
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mjtByte mocap; // is this a mocap body
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double gravcomp; // gravity compensation
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mjtSleepPolicy sleep; // sleep policy
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mjDoubleVec* userdata; // user data
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mjtByte explicitinertial; // whether to save the body with explicit inertial clause
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mjsPlugin plugin; // passive force plugin
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