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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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unity/Runtime/Bindings/MjBindings.cs
+34 -1
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@@ -42,6 +42,7 @@ public const double mjMAXIMP = 0.9999;
public const int mjMAXCONPAIR = 50;
public const int mjMAXTREEDEPTH = 50;
public const int mjMAXFLEXNODES = 27;
public const int mjMINAWAKE = 10;
public const int mjNEQDATA = 11;
public const int mjNDYN = 10;
public const int mjNGAIN = 10;
@@ -189,7 +190,8 @@ public enum mjtEnableBit : int{
mjENBL_FWDINV = 4,
mjENBL_INVDISCRETE = 8,
mjENBL_MULTICCD = 16,
mjNENABLE = 5,
mjENBL_SLEEP = 32,
mjNENABLE = 6,
}
public enum mjtJoint : int{
mjJNT_FREE = 0,
@@ -432,6 +434,14 @@ public enum mjtSameFrame : int{
mjSAMEFRAME_BODYROT = 3,
mjSAMEFRAME_INERTIAROT = 4,
}
public enum mjtSleepPolicy : int{
mjSLEEP_AUTO = 0,
mjSLEEP_AUTO_NEVER = 1,
mjSLEEP_AUTO_ALLOWED = 2,
mjSLEEP_NEVER = 3,
mjSLEEP_ALLOWED = 4,
mjSLEEP_INIT = 5,
}
public enum mjtLRMode : int{
mjLRMODE_NONE = 0,
mjLRMODE_MUSCLE = 1,
@@ -4903,6 +4913,10 @@ public unsafe struct mjData_ {
public int nA;
public int nisland;
public int nidof;
public int ntree_awake;
public int nbody_awake;
public int nparent_awake;
public int nv_awake;
public double time;
public fixed double energy[2];
public void* buffer;
@@ -4922,6 +4936,7 @@ public unsafe struct mjData_ {
public double* act_dot;
public double* userdata;
public double* sensordata;
public int* tree_asleep;
public int* plugin;
public UIntPtr* plugin_data;
public double* xpos;
@@ -4970,6 +4985,11 @@ public unsafe struct mjData_ {
public double* qLD;
public double* qLDiagInv;
public byte* bvh_active;
public int* tree_awake;
public int* body_awake;
public int* body_awake_ind;
public int* parent_awake_ind;
public int* dof_awake_ind;
public double* flexedge_velocity;
public double* ten_velocity;
public double* actuator_velocity;
@@ -5012,6 +5032,10 @@ public unsafe struct mjData_ {
public double* efc_D;
public double* efc_R;
public int* tendon_efcadr;
public int* tree_island;
public int* island_ntree;
public int* island_itreeadr;
public int* map_itree2tree;
public int* dof_island;
public int* island_nv;
public int* island_idofadr;
@@ -5094,6 +5118,7 @@ public unsafe struct mjOption_ {
public double ls_tolerance;
public double noslip_tolerance;
public double ccd_tolerance;
public double sleep_tolerance;
public fixed double gravity[3];
public fixed double wind[3];
public fixed double magnetic[3];
@@ -5399,6 +5424,12 @@ public unsafe struct mjModel_ {
public double* dof_damping;
public double* dof_invweight0;
public double* dof_M0;
public double* dof_length;
public int* tree_bodyadr;
public int* tree_bodynum;
public int* tree_dofadr;
public int* tree_dofnum;
public int* tree_sleep_policy;
public int* geom_type;
public int* geom_contype;
public int* geom_conaffinity;
@@ -5636,6 +5667,8 @@ public unsafe struct mjModel_ {
public int* tendon_num;
public int* tendon_matid;
public int* tendon_group;
public int* tendon_treenum;
public int* tendon_treeid;
public byte* tendon_limited;
public byte* tendon_actfrclimited;
public double* tendon_width;