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Standardize docstrings in mjmodel.h

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PiperOrigin-RevId: 519139821
Change-Id: I5a28c7415870012de1e219d2d00ea4ea9a495ec7
This commit is contained in:
Yuval Tassa
2023-03-24 07:37:44 -07:00
committed by Copybara-Service
parent 3620376d81
commit 2a471d1e11
2 changed files with 14 additions and 14 deletions
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doc/includes/references.h
+7 -7
View File
@@ -851,14 +851,14 @@ struct mjModel_ {
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
mjtNum* body_user; // user data (nbody x nuser_body)
int* body_plugin; // plugin instance id (-1 if not in use) (nbody x 1)
int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
int* body_bvhadr; // address of bvh root (nbody x 1)
int* body_bvhnum; // number of bounding volumes (nbody x 1)
// bounding volume hierarchy
int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
int* bvh_child; // left and right children in tree (nbvh x 2)
int* bvh_geomid; // geom id of the node (non-leaf: -1) (nbvh x 1)
int* bvh_geomid; // geom id of the node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // bounding box of node (center, size) (nbvh x 6)
// joints
@@ -897,8 +897,8 @@ struct mjModel_ {
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
int* geom_bodyid; // id of geom's body (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield (-1: none) (ngeom x 1)
int* geom_matid; // material id for rendering (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield; -1: none (ngeom x 1)
int* geom_matid; // material id for rendering; -1: none (ngeom x 1)
int* geom_group; // group for visibility (ngeom x 1)
int* geom_priority; // geom contact priority (ngeom x 1)
mjtByte* geom_sameframe; // same as body frame (1) or iframe (2) (ngeom x 1)
@@ -920,7 +920,7 @@ struct mjModel_ {
// sites
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
int* site_bodyid; // id of site's body (nsite x 1)
int* site_matid; // material id for rendering (nsite x 1)
int* site_matid; // material id for rendering; -1: none (nsite x 1)
int* site_group; // group for visibility (nsite x 1)
mjtByte* site_sameframe; // same as body frame (1) or iframe (2) (nsite x 1)
mjtNum* site_size; // geom size for rendering (nsite x 3)
@@ -1030,7 +1030,7 @@ struct mjModel_ {
int* pair_dim; // contact dimensionality (npair x 1)
int* pair_geom1; // id of geom1 (npair x 1)
int* pair_geom2; // id of geom2 (npair x 1)
int* pair_signature; // (body1+1)<<16 + body2+1 (npair x 1)
int* pair_signature; // (body1+1) << 16 + body2+1 (npair x 1)
mjtNum* pair_solref; // constraint solver reference: contact (npair x mjNREF)
mjtNum* pair_solimp; // constraint solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
@@ -1038,7 +1038,7 @@ struct mjModel_ {
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
int* exclude_signature; // (body1+1)<<16 + body2+1 (nexclude x 1)
int* exclude_signature; // (body1+1) << 16 + body2+1 (nexclude x 1)
// equality constraints
int* eq_type; // constraint type (mjtEq) (neq x 1)
include/mujoco/mjmodel.h
+7 -7
View File
@@ -637,14 +637,14 @@ struct mjModel_ {
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
mjtNum* body_user; // user data (nbody x nuser_body)
int* body_plugin; // plugin instance id (-1 if not in use) (nbody x 1)
int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
int* body_bvhadr; // address of bvh root (nbody x 1)
int* body_bvhnum; // number of bounding volumes (nbody x 1)
// bounding volume hierarchy
int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
int* bvh_child; // left and right children in tree (nbvh x 2)
int* bvh_geomid; // geom id of the node (non-leaf: -1) (nbvh x 1)
int* bvh_geomid; // geom id of the node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // bounding box of node (center, size) (nbvh x 6)
// joints
@@ -683,8 +683,8 @@ struct mjModel_ {
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
int* geom_bodyid; // id of geom's body (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield (-1: none) (ngeom x 1)
int* geom_matid; // material id for rendering (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield; -1: none (ngeom x 1)
int* geom_matid; // material id for rendering; -1: none (ngeom x 1)
int* geom_group; // group for visibility (ngeom x 1)
int* geom_priority; // geom contact priority (ngeom x 1)
mjtByte* geom_sameframe; // same as body frame (1) or iframe (2) (ngeom x 1)
@@ -706,7 +706,7 @@ struct mjModel_ {
// sites
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
int* site_bodyid; // id of site's body (nsite x 1)
int* site_matid; // material id for rendering (nsite x 1)
int* site_matid; // material id for rendering; -1: none (nsite x 1)
int* site_group; // group for visibility (nsite x 1)
mjtByte* site_sameframe; // same as body frame (1) or iframe (2) (nsite x 1)
mjtNum* site_size; // geom size for rendering (nsite x 3)
@@ -816,7 +816,7 @@ struct mjModel_ {
int* pair_dim; // contact dimensionality (npair x 1)
int* pair_geom1; // id of geom1 (npair x 1)
int* pair_geom2; // id of geom2 (npair x 1)
int* pair_signature; // (body1+1)<<16 + body2+1 (npair x 1)
int* pair_signature; // (body1+1) << 16 + body2+1 (npair x 1)
mjtNum* pair_solref; // constraint solver reference: contact (npair x mjNREF)
mjtNum* pair_solimp; // constraint solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
@@ -824,7 +824,7 @@ struct mjModel_ {
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
int* exclude_signature; // (body1+1)<<16 + body2+1 (nexclude x 1)
int* exclude_signature; // (body1+1) << 16 + body2+1 (nexclude x 1)
// equality constraints
int* eq_type; // constraint type (mjtEq) (neq x 1)