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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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doc/changelog.rst
+2
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@@ -21,6 +21,8 @@ General
:ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree,
textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed timing
breakdown when run without an output file.
- Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in
:ref:`mjModel`, :ref:`mjData`, and public C API function signatures.
.. admonition:: Breaking API changes
:class: attention
doc/includes/references.h
+33 -33
View File
@@ -123,10 +123,10 @@ struct mjData_ {
int nv_awake; // number of awake dofs
// flags marking lazily evaluated stages
mjtByte flg_energypos; // has mj_energyPos been called
mjtByte flg_energyvel; // has mj_energyVel been called
mjtByte flg_subtreevel; // has mj_subtreeVel been called
mjtByte flg_rnepost; // has mj_rnePostConstraint been called
mjtBool flg_energypos; // has mj_energyPos been called
mjtBool flg_energyvel; // has mj_energyVel been called
mjtBool flg_subtreevel; // has mj_subtreeVel been called
mjtBool flg_rnepost; // has mj_rnePostConstraint been called
// global properties
mjtNum time; // simulation time
@@ -152,7 +152,7 @@ struct mjData_ {
mjtNum* ctrl; // control (nu x 1)
mjtNum* qfrc_applied; // applied generalized force (nv x 1)
mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
mjtByte* eq_active; // enable/disable constraints (neq x 1)
mjtBool* eq_active; // enable/disable constraints (neq x 1)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
@@ -233,7 +233,7 @@ struct mjData_ {
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collision/mj_collideTree
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
mjtBool* bvh_active; // was bounding volume checked for collision (nbvh x 1)
// computed by mj_updateSleep
int* tree_awake; // is tree awake; 0: asleep; 1: awake (ntree x 1)
@@ -741,9 +741,9 @@ struct mjModel_ {
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_actuatorid; // actuator contributing damping / armature (njnt x 1)
int* jnt_group; // group for visibility (njnt x 1)
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
mjtByte* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
mjtBool* jnt_limited; // does joint have limits (njnt x 1)
mjtBool* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
mjtBool* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
mjtNum* jnt_pos; // local anchor position (njnt x 3)
@@ -842,11 +842,11 @@ struct mjModel_ {
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
int* light_type; // spot, directional, etc. (mjtLightType) (nlight x 1)
int* light_texid; // texture id for image lights (nlight x 1)
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
mjtBool* light_castshadow; // does light cast shadows (nlight x 1)
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
float* light_intensity; // intensity, in candela (nlight x 1)
float* light_range; // range of effectiveness (nlight x 1)
mjtByte* light_active; // is light on (nlight x 1)
mjtBool* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
@@ -870,7 +870,7 @@ struct mjModel_ {
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
mjtNum* flex_margin; // geometric inflation for contact (nflex x 1)
mjtNum* flex_gap; // additional contact detection buffer (nflex x 1)
mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
mjtBool* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
int* flex_passive; // passive collisions enabled (nflex x 1)
@@ -926,10 +926,10 @@ struct mjModel_ {
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
int* flex_edgeequality; // 0:none, 1:edges, 2:vertices, 3:strain (nflex x 1)
mjtByte* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtByte* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtByte* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtByte* flex_flatskin; // render flex skin with flat shading (nflex x 1)
mjtBool* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtBool* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtBool* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtBool* flex_flatskin; // render flex skin with flat shading (nflex x 1)
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
@@ -1020,7 +1020,7 @@ struct mjModel_ {
// materials
int* mat_texid; // indices of textures; -1: none (nmat x mjNTEXROLE)
mjtByte* mat_texuniform; // make texture cube uniform (nmat x 1)
mjtBool* mat_texuniform; // make texture cube uniform (nmat x 1)
float* mat_texrepeat; // texture repetition for 2d mapping (nmat x 2)
float* mat_emission; // emission (x rgb) (nmat x 1)
float* mat_specular; // specular (x white) (nmat x 1)
@@ -1050,7 +1050,7 @@ struct mjModel_ {
int* eq_obj1id; // id of object 1 (neq x 1)
int* eq_obj2id; // id of object 2 (neq x 1)
int* eq_objtype; // type of both objects (mjtObj) (neq x 1)
mjtByte* eq_active0; // initial enable/disable constraint state (neq x 1)
mjtBool* eq_active0; // initial enable/disable constraint state (neq x 1)
mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
mjtNum* eq_data; // numeric data for constraint (neq x mjNEQDATA)
@@ -1066,8 +1066,8 @@ struct mjModel_ {
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtBool* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtBool* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
@@ -1108,13 +1108,13 @@ struct mjModel_ {
int* actuator_history; // history buffer: [nsample, interp] (nu x 2)
int* actuator_historyadr; // address in history buffer; -1: none (nu x 1)
mjtNum* actuator_delay; // delay time in seconds; 0: no delay (nu x 1)
mjtByte* actuator_ctrllimited; // is control limited (nu x 1)
mjtByte* actuator_forcelimited;// is force limited (nu x 1)
mjtByte* actuator_actlimited; // is activation limited (nu x 1)
mjtBool* actuator_ctrllimited; // is control limited (nu x 1)
mjtBool* actuator_forcelimited;// is force limited (nu x 1)
mjtBool* actuator_actlimited; // is activation limited (nu x 1)
mjtNum* actuator_dynprm; // dynamics parameters (nu x mjNDYN)
mjtNum* actuator_gainprm; // gain parameters (nu x mjNGAIN)
mjtNum* actuator_biasprm; // bias parameters (nu x mjNBIAS)
mjtByte* actuator_actearly; // step activation before force (nu x 1)
mjtBool* actuator_actearly; // step activation before force (nu x 1)
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
mjtNum* actuator_forcerange; // range of forces (nu x 2)
mjtNum* actuator_actrange; // range of activations (nu x 2)
@@ -3373,10 +3373,10 @@ void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallba
int mj_version(void);
const char* mj_versionString(void);
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
int geomid[1], mjtNum normal[3]);
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
@@ -3386,8 +3386,8 @@ mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face,
mjtByte flg_skin, int flexid, const mjtNum pnt[3],
mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
mjtBool flg_skin, int flexid, const mjtNum pnt[3],
const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
@@ -3582,10 +3582,10 @@ mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense);
void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtByte flg_sym);
mjtBool flg_sym);
void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense, int nvec, mjtByte flg_sym);
int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym);
int mju_bandDiag(int i, int ntotal, int nband, int ndense);
int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
@@ -3625,9 +3625,9 @@ const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
const mjtNum x[3]);
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq);
@@ -3741,7 +3741,7 @@ int mjs_setName(mjsElement* element, const char* name);
void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
void mjs_setString(mjString* dest, const char* text);
void mjs_setStringVec(mjStringVec* dest, const char* text);
mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
void mjs_appendString(mjStringVec* dest, const char* text);
void mjs_setInt(mjIntVec* dest, const int* array, int size);
void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);