Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
+48
-39
@@ -15,7 +15,7 @@
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#ifndef MUJOCO_MUJOCO_H_
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#define MUJOCO_MUJOCO_H_
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#include "mujoco_export.h"
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#include <mjexport.h>
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// this is a C-API
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@@ -24,7 +24,7 @@ extern "C" {
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#endif
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// header version; should match the library version as returned by mj_version()
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#define mjVERSION_HEADER 211
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#define mjVERSION_HEADER 212
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// needed to define size_t, fabs and log10
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#include "stdlib.h"
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@@ -32,11 +32,12 @@ extern "C" {
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// type definitions
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#include "mjmodel.h"
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#include "mjdata.h"
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#include "mjvisualize.h"
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#include "mjrender.h"
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#include "mjui.h"
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#include <mjdata.h>
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#include <mjmodel.h>
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#include <mjrender.h>
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#include <mjtnum.h>
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#include <mjui.h>
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#include <mjvisualize.h>
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// macros
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@@ -186,9 +187,11 @@ MJAPI void mj_deleteModel(mjModel* m);
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MJAPI int mj_sizeModel(const mjModel* m);
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// Allocate mjData correponding to given model.
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// If the model buffer is unallocated the initial configuration will not be set.
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MJAPI mjData* mj_makeData(const mjModel* m);
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// Copy mjData.
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// m is only required to contain the size fields from MJMODEL_INTS.
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MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
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// Reset data to defaults.
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@@ -220,13 +223,18 @@ MJAPI int mj_setLengthRange(mjModel* m, mjData* d, int index,
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//---------------------------------- Printing ------------------------------------------------------
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// Print mjModel to text file, specifying format.
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// float_format_str must be a valid printf-style format string for a single float value.
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// float_format must be a valid printf-style format string for a single float value.
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MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename,
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const char* float_format_str);
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const char* float_format);
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// Print model to text file.
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MJAPI void mj_printModel(const mjModel* m, const char* filename);
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// Print mjData to text file, specifying format.
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// float_format must be a valid printf-style format string for a single float value
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MJAPI void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
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const char* float_format);
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// Print data to text file.
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MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename);
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@@ -358,7 +366,7 @@ MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
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// Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians.
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// If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.
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MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
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mjtNum* cost, int flg_coneHessian);
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mjtNum cost[1], int flg_coneHessian);
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//---------------------------------- Support -------------------------------------------------------
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@@ -429,19 +437,19 @@ MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
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// Apply cartesian force and torque (outside xfrc_applied mechanism).
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MJAPI void mj_applyFT(const mjModel* m, mjData* d,
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const mjtNum* force, const mjtNum* torque,
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const mjtNum* point, int body, mjtNum* qfrc_target);
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const mjtNum force[3], const mjtNum torque[3],
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const mjtNum point[3], int body, mjtNum* qfrc_target);
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// Compute object 6D velocity in object-centered frame, world/local orientation.
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MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum* res, int flg_local);
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int objtype, int objid, mjtNum res[6], int flg_local);
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// Compute object 6D acceleration in object-centered frame, world/local orientation.
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MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum* res, int flg_local);
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int objtype, int objid, mjtNum res[6], int flg_local);
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// Extract 6D force:torque given contact id, in the contact frame.
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MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum* result);
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MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
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// Compute velocity by finite-differencing two positions.
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MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
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@@ -454,8 +462,8 @@ MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, m
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MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
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// Map from body local to global Cartesian coordinates.
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MJAPI void mj_local2Global(mjData* d, mjtNum* xpos, mjtNum* xmat,
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const mjtNum* pos, const mjtNum* quat,
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MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
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const mjtNum pos[3], const mjtNum quat[4],
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int body, mjtByte sameframe);
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// Sum all body masses.
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@@ -474,27 +482,28 @@ MJAPI const char* mj_versionString();
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//---------------------------------- Ray collisions ------------------------------------------------
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// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
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// Return geomid and distance (x) to nearest surface, or -1 if no intersection.
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// Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
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// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
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MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum* vec,
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MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
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const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
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int* geomid);
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int geomid[1]);
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// Interect ray with hfield, return nearest distance or -1 if no intersection.
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MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
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const mjtNum* pnt, const mjtNum* vec);
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const mjtNum pnt[3], const mjtNum vec[3]);
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// Interect ray with mesh, return nearest distance or -1 if no intersection.
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MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
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const mjtNum* pnt, const mjtNum* vec);
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const mjtNum pnt[3], const mjtNum vec[3]);
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// Interect ray with pure geom, return nearest distance or -1 if no intersection.
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MJAPI mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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const mjtNum* pnt, const mjtNum* vec, int geomtype);
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MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
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const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
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// Interect ray with skin, return nearest vertex id.
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// Interect ray with skin, return nearest distance or -1 if no intersection,
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// and also output nearest vertex id.
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MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
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const mjtNum* pnt, const mjtNum* vec, int* vertid);
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const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
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//---------------------------------- Interaction ---------------------------------------------------
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@@ -506,26 +515,26 @@ MJAPI void mjv_defaultCamera(mjvCamera* cam);
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MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
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// Transform pose from room to model space.
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MJAPI void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
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const mjtNum* roomquat, const mjvScene* scn);
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MJAPI void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
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const mjtNum roomquat[4], const mjvScene* scn);
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// Transform pose from model to room space.
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MJAPI void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
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const mjtNum* modelquat, const mjvScene* scn);
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MJAPI void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
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const mjtNum modelquat[4], const mjvScene* scn);
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// Get camera info in model space; average left and right OpenGL cameras.
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MJAPI void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up,
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MJAPI void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
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const mjvScene* scn);
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// Get camera info in room space; average left and right OpenGL cameras.
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MJAPI void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up,
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MJAPI void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
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const mjvScene* scn);
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// Get frustum height at unit distance from camera; average left and right OpenGL cameras.
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MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
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// Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
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MJAPI void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward);
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MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
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// Move camera with mouse; action is mjtMouse.
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MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
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@@ -537,7 +546,7 @@ MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum
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// Move model with mouse; action is mjtMouse.
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MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
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const mjtNum* roomup, mjvScene* scn);
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const mjtNum roomup[3], mjvScene* scn);
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// Copy perturb pos,quat from selected body; set scale for perturbation.
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MJAPI void mjv_initPerturb(const mjModel* m, const mjData* d,
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@@ -557,7 +566,7 @@ MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera*
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// Select geom or skin with mouse, return bodyid; -1: none selected.
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MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
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mjtNum aspectratio, mjtNum relx, mjtNum rely,
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const mjvScene* scn, mjtNum* selpnt, int* geomid, int* skinid);
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const mjvScene* scn, mjtNum selpnt[3], int geomid[1], int skinid[1]);
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//---------------------------------- Visualization -------------------------------------------------
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@@ -569,8 +578,8 @@ MJAPI void mjv_defaultOption(mjvOption* opt);
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MJAPI void mjv_defaultFigure(mjvFigure* fig);
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// Initialize given geom fields when not NULL, set the rest to their default values.
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MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
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const mjtNum* pos, const mjtNum* mat, const float* rgba);
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MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
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const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
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// Set (type, size, pos, mat) for connector-type geom between given points.
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// Assume that mjv_initGeom was already called to set all other properties.
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@@ -994,7 +1003,7 @@ MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[
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//--------------------------------- Decompositions -------------------------------------------------
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// Cholesky decomposition: mat = L*L'; return rank.
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// Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
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MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
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// Solve mat * res = vec, where mat is Cholesky-factorized
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@@ -1004,7 +1013,7 @@ MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
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MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
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// Eigenvalue decomposition of symmetric 3x3 matrix.
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MJAPI int mju_eig3(mjtNum* eigval, mjtNum* eigvec, mjtNum* quat, const mjtNum* mat);
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MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
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//---------------------- Miscellaneous --------------------------------------------------
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