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Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
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unity/Runtime/Bindings/MujocoBindings.cs
+104 -17
View File
@@ -23,10 +23,6 @@ public static class MujocoLib {
// ----------------------------------Constants----------------------------------
public const bool THIRD_PARTY_MUJOCO_MJDATA_H_ = true;
public const bool THIRD_PARTY_MUJOCO_MJMODEL_H_ = true;
public const bool mjUSEDOUBLE = true;
public const double mjMINVAL = 1e-15;
public const double mjPI = 3.141592653589793;
public const double mjMAXVAL = 10000000000.0;
public const double mjMINMU = 1e-05;
@@ -39,13 +35,14 @@ public const int mjNEQDATA = 7;
public const int mjNDYN = 10;
public const int mjNGAIN = 10;
public const int mjNBIAS = 10;
public const int mjNFLUID = 12;
public const int mjNREF = 2;
public const int mjNIMP = 5;
public const int mjNSOLVER = 1000;
public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
public const int mjNAUX = 10;
public const int mjMAXTEXTURE = 1000;
public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
public const bool mjUSEDOUBLE = true;
public const double mjMINVAL = 1e-15;
public const int mjMAXUISECT = 10;
public const int mjMAXUIITEM = 80;
public const int mjMAXUITEXT = 300;
@@ -80,21 +77,13 @@ public const int mjKEY_F9 = 298;
public const int mjKEY_F10 = 299;
public const int mjKEY_F11 = 300;
public const int mjKEY_F12 = 301;
public const bool THIRD_PARTY_MUJOCO_MJVISUALIZE_H_ = true;
public const int mjNGROUP = 6;
public const int mjMAXLIGHT = 100;
public const int mjMAXOVERLAY = 500;
public const int mjMAXLINE = 100;
public const int mjMAXLINEPNT = 1000;
public const int mjMAXPLANEGRID = 200;
public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
public const int mjVERSION_HEADER = 211;
public const bool THIRD_PARTY_MUJOCO_MUJOCO_EXPORT_H_ = true;
public const bool MUJOCO_HELPER_DLL_LOCAL = true;
public const bool MUJOCO_HELPER_DLL_IMPORT = true;
public const bool MUJOCO_HELPER_DLL_EXPORT = true;
public const bool MJAPI = true;
public const bool MJLOCAL = true;
public const int mjVERSION_HEADER = 212;
// ------------------------------------Enums------------------------------------
@@ -1950,6 +1939,7 @@ public unsafe struct mjModel_ {
public double* geom_friction;
public double* geom_margin;
public double* geom_gap;
public double* geom_fluid;
public double* geom_user;
public float* geom_rgba;
public int* site_type;
@@ -2103,6 +2093,8 @@ public unsafe struct mjModel_ {
public int* sensor_needstage;
public int* sensor_objtype;
public int* sensor_objid;
public int* sensor_reftype;
public int* sensor_refid;
public int* sensor_dim;
public int* sensor_adr;
public double* sensor_cutoff;
@@ -2497,6 +2489,98 @@ public unsafe struct mjvScene_ {
public mjvLight_ lights5;
public mjvLight_ lights6;
public mjvLight_ lights7;
public mjvLight_ lights8;
public mjvLight_ lights9;
public mjvLight_ lights10;
public mjvLight_ lights11;
public mjvLight_ lights12;
public mjvLight_ lights13;
public mjvLight_ lights14;
public mjvLight_ lights15;
public mjvLight_ lights16;
public mjvLight_ lights17;
public mjvLight_ lights18;
public mjvLight_ lights19;
public mjvLight_ lights20;
public mjvLight_ lights21;
public mjvLight_ lights22;
public mjvLight_ lights23;
public mjvLight_ lights24;
public mjvLight_ lights25;
public mjvLight_ lights26;
public mjvLight_ lights27;
public mjvLight_ lights28;
public mjvLight_ lights29;
public mjvLight_ lights30;
public mjvLight_ lights31;
public mjvLight_ lights32;
public mjvLight_ lights33;
public mjvLight_ lights34;
public mjvLight_ lights35;
public mjvLight_ lights36;
public mjvLight_ lights37;
public mjvLight_ lights38;
public mjvLight_ lights39;
public mjvLight_ lights40;
public mjvLight_ lights41;
public mjvLight_ lights42;
public mjvLight_ lights43;
public mjvLight_ lights44;
public mjvLight_ lights45;
public mjvLight_ lights46;
public mjvLight_ lights47;
public mjvLight_ lights48;
public mjvLight_ lights49;
public mjvLight_ lights50;
public mjvLight_ lights51;
public mjvLight_ lights52;
public mjvLight_ lights53;
public mjvLight_ lights54;
public mjvLight_ lights55;
public mjvLight_ lights56;
public mjvLight_ lights57;
public mjvLight_ lights58;
public mjvLight_ lights59;
public mjvLight_ lights60;
public mjvLight_ lights61;
public mjvLight_ lights62;
public mjvLight_ lights63;
public mjvLight_ lights64;
public mjvLight_ lights65;
public mjvLight_ lights66;
public mjvLight_ lights67;
public mjvLight_ lights68;
public mjvLight_ lights69;
public mjvLight_ lights70;
public mjvLight_ lights71;
public mjvLight_ lights72;
public mjvLight_ lights73;
public mjvLight_ lights74;
public mjvLight_ lights75;
public mjvLight_ lights76;
public mjvLight_ lights77;
public mjvLight_ lights78;
public mjvLight_ lights79;
public mjvLight_ lights80;
public mjvLight_ lights81;
public mjvLight_ lights82;
public mjvLight_ lights83;
public mjvLight_ lights84;
public mjvLight_ lights85;
public mjvLight_ lights86;
public mjvLight_ lights87;
public mjvLight_ lights88;
public mjvLight_ lights89;
public mjvLight_ lights90;
public mjvLight_ lights91;
public mjvLight_ lights92;
public mjvLight_ lights93;
public mjvLight_ lights94;
public mjvLight_ lights95;
public mjvLight_ lights96;
public mjvLight_ lights97;
public mjvLight_ lights98;
public mjvLight_ lights99;
public mjvGLCamera_ camera0;
public mjvGLCamera_ camera1;
public byte enabletransform;
@@ -2663,11 +2747,14 @@ public static unsafe extern void mj_setConst(mjModel_* m, mjData_* d);
public static unsafe extern int mj_setLengthRange(mjModel_* m, mjData_* d, int index, mjLROpt_* opt, StringBuilder error, int error_sz);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_printFormattedModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format_str);
public static unsafe extern void mj_printFormattedModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_printModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_printFormattedData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_printData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename);