From 2a471d1e11b1763ca2341fb9a9f9433a3db22adb Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 24 Mar 2023 07:37:44 -0700 Subject: [PATCH] Standardize docstrings in mjmodel.h PiperOrigin-RevId: 519139821 Change-Id: I5a28c7415870012de1e219d2d00ea4ea9a495ec7 --- doc/includes/references.h | 14 +++++++------- include/mujoco/mjmodel.h | 14 +++++++------- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/doc/includes/references.h b/doc/includes/references.h index 3bf172a4..3ac0cb44 100644 --- a/doc/includes/references.h +++ b/doc/includes/references.h @@ -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