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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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src/engine/engine_io.c
+14
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@@ -30,6 +30,7 @@
#include "engine/engine_macro.h"
#include "engine/engine_memory.h"
#include "engine/engine_plugin.h"
#include "engine/engine_sleep.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
@@ -1361,6 +1362,16 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
mju_copy(d->qpos, m->qpos0, m->nq);
}
static int kAwake = -(1+mjMINAWAKE); // tree_asleep value for fully awake tree
// set all trees to awake
for (int i=0; i < m->ntree; i++) {
d->tree_asleep[i] = kAwake;
}
// update sleep arrays and counters
mj_updateSleep(m, d);
// set mocap_pos/quat = body_pos/quat for mocap bodies
if (m->body_mocapid) {
for (int i=0; i < m->nbody; i++) {
@@ -1606,6 +1617,8 @@ const char* mj_validateReferences(const mjModel* m) {
X(dof_jntid, nv, njnt , 0 ) \
X(dof_parentid, nv, nv , 0 ) \
X(dof_Madr, nv, nM , 0 ) \
X(tree_bodyadr, ntree, nbody , m->tree_bodynum ) \
X(tree_dofadr, ntree, nv , m->tree_dofnum ) \
X(geom_bodyid, ngeom, nbody , 0 ) \
X(geom_matid, ngeom, nmat , 0 ) \
X(site_bodyid, nsite, nbody , 0 ) \
@@ -1653,6 +1666,7 @@ const char* mj_validateReferences(const mjModel* m) {
X(plugin_attradr, nplugin, npluginattr , 0 ) \
X(tendon_adr, ntendon, nwrap , m->tendon_num ) \
X(tendon_matid, ntendon, nmat , 0 ) \
X(tendon_treeid, ntendon*2, ntree , 0 ) \
X(numeric_adr, nnumeric, nnumericdata , m->numeric_size ) \
X(text_adr, ntext, ntextdata , m->text_size ) \
X(tuple_adr, ntuple, ntupledata , m->tuple_size ) \