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Add sleep related data structures

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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
2025-11-06 12:09:59 -08:00
committed by Copybara-Service
parent 3080e3424f
commit 252a0d73df
37 changed files with 1907 additions and 186 deletions
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include/mujoco/mjxmacro.h
+27 -1
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@@ -26,6 +26,7 @@
X( mjtNum, ls_tolerance ) \
X( mjtNum, noslip_tolerance ) \
X( mjtNum, ccd_tolerance ) \
X( mjtNum, sleep_tolerance ) \
X( mjtNum, density ) \
X( mjtNum, viscosity ) \
X( mjtNum, o_margin )
@@ -243,7 +244,15 @@
X ( mjtNum, dof_armature, nv, 1 ) \
X ( mjtNum, dof_damping, nv, 1 ) \
X ( mjtNum, dof_invweight0, nv, 1 ) \
X ( mjtNum, dof_M0, nv, 1 )
X ( mjtNum, dof_M0, nv, 1 ) \
X ( mjtNum, dof_length, nv, 1 )
#define MJMODEL_POINTERS_TREE \
X ( int, tree_bodyadr, ntree, 1 ) \
X ( int, tree_bodynum, ntree, 1 ) \
X ( int, tree_dofadr, ntree, 1 ) \
X ( int, tree_dofnum, ntree, 1 ) \
X ( int, tree_sleep_policy, ntree, 1 )
#define MJMODEL_POINTERS_GEOM \
X ( int, geom_type, ngeom, 1 ) \
@@ -509,6 +518,8 @@
X ( int, tendon_num, ntendon, 1 ) \
X ( int, tendon_matid, ntendon, 1 ) \
X ( int, tendon_group, ntendon, 1 ) \
X ( int, tendon_treenum, ntendon, 1 ) \
X ( int, tendon_treeid, ntendon, 2 ) \
X ( mjtByte, tendon_limited, ntendon, 1 ) \
X ( mjtByte, tendon_actfrclimited, ntendon, 1 ) \
X ( mjtNum, tendon_width, ntendon, 1 ) \
@@ -586,6 +597,7 @@
X ( mjtNum, oct_coeff, noct, 8 ) \
MJMODEL_POINTERS_JOINT \
MJMODEL_POINTERS_DOF \
MJMODEL_POINTERS_TREE \
MJMODEL_POINTERS_GEOM \
MJMODEL_POINTERS_SITE \
MJMODEL_POINTERS_CAMERA \
@@ -694,6 +706,7 @@
X ( mjtNum, act_dot, na, 1 ) \
X ( mjtNum, userdata, nuserdata, 1 ) \
X ( mjtNum, sensordata, nsensordata, 1 ) \
X ( int, tree_asleep, ntree, 1 ) \
X ( int, plugin, nplugin, 1 ) \
X ( uintptr_t, plugin_data, nplugin, 1 ) \
X ( mjtNum, xpos, nbody, 3 ) \
@@ -742,6 +755,11 @@
XNV ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtByte, bvh_active, nbvh, 1 ) \
X ( int, tree_awake, ntree, 1 ) \
X ( int, body_awake, nbody, 1 ) \
X ( int, body_awake_ind, nbody, 1 ) \
X ( int, parent_awake_ind, nbody, 1 ) \
X ( int, dof_awake_ind, nv, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \
X ( mjtNum, actuator_velocity, nu, 1 ) \
@@ -810,6 +828,10 @@
// array fields of mjData that are used for constraint islands
#define MJDATA_ARENA_POINTERS_ISLAND \
X ( int, tree_island, MJ_M(ntree), 1 ) \
X ( int, island_ntree, MJ_D(nisland), 1 ) \
X ( int, island_itreeadr, MJ_D(nisland), 1 ) \
X ( int, map_itree2tree, MJ_M(ntree), 1 ) \
X ( int, dof_island, MJ_M(nv), 1 ) \
X ( int, island_nv, MJ_D(nisland), 1 ) \
X ( int, island_idofadr, MJ_D(nisland), 1 ) \
@@ -876,6 +898,10 @@
X( int, nA ) \
X( int, nisland ) \
X( int, nidof ) \
X( int, ntree_awake ) \
X( int, nbody_awake ) \
X( int, nparent_awake ) \
X( int, nv_awake ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )