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Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

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PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
This commit is contained in:
Yuval Tassa
2026-05-21 06:42:56 -07:00
committed by Copybara-Service
parent ad96acfb16
commit 2810edd27a
77 changed files with 1117 additions and 1110 deletions
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include/mujoco/mjdata.h
+1 -98
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@@ -18,107 +18,10 @@
#include <stddef.h>
#include <stdint.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjtype.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
//---------------------------------- primitive types (mjt) -----------------------------------------
typedef enum mjtState_ { // state elements
mjSTATE_TIME = 1<<0, // time
mjSTATE_QPOS = 1<<1, // position
mjSTATE_QVEL = 1<<2, // velocity
mjSTATE_ACT = 1<<3, // actuator activation
mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
mjSTATE_CTRL = 1<<6, // control
mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
mjSTATE_USERDATA = 1<<12, // user data
mjSTATE_PLUGIN = 1<<13, // plugin state
mjNSTATE = 14, // number of state elements
// convenience values for commonly used state specifications
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
mjSTATE_USERDATA,
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;
typedef enum mjtConstraint_ { // type of constraint
mjCNSTR_EQUALITY = 0, // equality constraint
mjCNSTR_FRICTION_DOF, // dof friction
mjCNSTR_FRICTION_TENDON, // tendon friction
mjCNSTR_LIMIT_JOINT, // joint limit
mjCNSTR_LIMIT_TENDON, // tendon limit
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtWarning_ { // warning types
mjWARN_INERTIA = 0, // (near) singular inertia matrix
mjWARN_CONTACTFULL, // too many contacts in contact list
mjWARN_CNSTRFULL, // too many constraints
mjWARN_BADQPOS, // bad number in qpos
mjWARN_BADQVEL, // bad number in qvel
mjWARN_BADQACC, // bad number in qacc
mjWARN_BADCTRL, // bad number in ctrl
mjNWARNING // number of warnings
} mjtWarning;
typedef enum mjtTimer_ { // internal timers
// main api
mjTIMER_STEP = 0, // step
mjTIMER_FORWARD, // forward
mjTIMER_INVERSE, // inverse
// breakdown of step/forward
mjTIMER_POSITION, // fwdPosition
mjTIMER_VELOCITY, // fwdVelocity
mjTIMER_ACTUATION, // fwdActuation
mjTIMER_CONSTRAINT, // fwdConstraint
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
// breakdown of fwdPosition
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
mjTIMER_POS_INERTIA, // inertia computations
mjTIMER_POS_COLLISION, // collision detection
mjTIMER_POS_MAKE, // make constraints
mjTIMER_POS_PROJECT, // project constraints
// breakdown of mj_collision
mjTIMER_COL_BROAD, // broadphase
mjTIMER_COL_NARROW, // narrowphase
mjNTIMER // number of timers
} mjtTimer;
typedef enum mjtSleepState_ { // sleep state of an object
mjS_STATIC = -1, // object is static
mjS_ASLEEP = 0, // object is asleep
mjS_AWAKE = 1 // object is awake
} mjtSleepState;
//------------------------------------- Contact ----------------------------------------------------