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Migrate mjModel size fields from int to mjtSize.

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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.

PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
This commit is contained in:
Yuval Tassa
2026-01-23 09:40:42 -08:00
committed by Copybara-Service
parent 4a64017a5f
commit 30b903b6c0
24 changed files with 832 additions and 802 deletions
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unity/Runtime/Bindings/MjBindings.cs
+86 -86
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@@ -5286,92 +5286,92 @@ public unsafe struct mjStatistic_ {
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjModel_ {
public int nq;
public int nv;
public int nu;
public int na;
public int nbody;
public int nbvh;
public int nbvhstatic;
public int nbvhdynamic;
public int noct;
public int njnt;
public int ntree;
public int nM;
public int nB;
public int nC;
public int nD;
public int ngeom;
public int nsite;
public int ncam;
public int nlight;
public int nflex;
public int nflexnode;
public int nflexvert;
public int nflexedge;
public int nflexelem;
public int nflexelemdata;
public int nflexelemedge;
public int nflexshelldata;
public int nflexevpair;
public int nflextexcoord;
public int nJfe;
public int nJfv;
public int nmesh;
public int nmeshvert;
public int nmeshnormal;
public int nmeshtexcoord;
public int nmeshface;
public int nmeshgraph;
public int nmeshpoly;
public int nmeshpolyvert;
public int nmeshpolymap;
public int nskin;
public int nskinvert;
public int nskintexvert;
public int nskinface;
public int nskinbone;
public int nskinbonevert;
public int nhfield;
public int nhfielddata;
public int ntex;
public int ntexdata;
public int nmat;
public int npair;
public int nexclude;
public int neq;
public int ntendon;
public int nwrap;
public int nsensor;
public int nnumeric;
public int nnumericdata;
public int ntext;
public int ntextdata;
public int ntuple;
public int ntupledata;
public int nkey;
public int nmocap;
public int nplugin;
public int npluginattr;
public int nuser_body;
public int nuser_jnt;
public int nuser_geom;
public int nuser_site;
public int nuser_cam;
public int nuser_tendon;
public int nuser_actuator;
public int nuser_sensor;
public int nnames;
public int npaths;
public int nnames_map;
public int nJmom;
public int ngravcomp;
public int nemax;
public int njmax;
public int nconmax;
public int nuserdata;
public int nsensordata;
public int npluginstate;
public Int64 nq;
public Int64 nv;
public Int64 nu;
public Int64 na;
public Int64 nbody;
public Int64 nbvh;
public Int64 nbvhstatic;
public Int64 nbvhdynamic;
public Int64 noct;
public Int64 njnt;
public Int64 ntree;
public Int64 nM;
public Int64 nB;
public Int64 nC;
public Int64 nD;
public Int64 ngeom;
public Int64 nsite;
public Int64 ncam;
public Int64 nlight;
public Int64 nflex;
public Int64 nflexnode;
public Int64 nflexvert;
public Int64 nflexedge;
public Int64 nflexelem;
public Int64 nflexelemdata;
public Int64 nflexelemedge;
public Int64 nflexshelldata;
public Int64 nflexevpair;
public Int64 nflextexcoord;
public Int64 nJfe;
public Int64 nJfv;
public Int64 nmesh;
public Int64 nmeshvert;
public Int64 nmeshnormal;
public Int64 nmeshtexcoord;
public Int64 nmeshface;
public Int64 nmeshgraph;
public Int64 nmeshpoly;
public Int64 nmeshpolyvert;
public Int64 nmeshpolymap;
public Int64 nskin;
public Int64 nskinvert;
public Int64 nskintexvert;
public Int64 nskinface;
public Int64 nskinbone;
public Int64 nskinbonevert;
public Int64 nhfield;
public Int64 nhfielddata;
public Int64 ntex;
public Int64 ntexdata;
public Int64 nmat;
public Int64 npair;
public Int64 nexclude;
public Int64 neq;
public Int64 ntendon;
public Int64 nwrap;
public Int64 nsensor;
public Int64 nnumeric;
public Int64 nnumericdata;
public Int64 ntext;
public Int64 ntextdata;
public Int64 ntuple;
public Int64 ntupledata;
public Int64 nkey;
public Int64 nmocap;
public Int64 nplugin;
public Int64 npluginattr;
public Int64 nuser_body;
public Int64 nuser_jnt;
public Int64 nuser_geom;
public Int64 nuser_site;
public Int64 nuser_cam;
public Int64 nuser_tendon;
public Int64 nuser_actuator;
public Int64 nuser_sensor;
public Int64 nnames;
public Int64 npaths;
public Int64 nnames_map;
public Int64 nJmom;
public Int64 ngravcomp;
public Int64 nemax;
public Int64 njmax;
public Int64 nconmax;
public Int64 nuserdata;
public Int64 nsensordata;
public Int64 npluginstate;
public Int64 narena;
public Int64 nbuffer;
public mjOption_ opt;