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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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include/mujoco/mjdata.h
+6 -6
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@@ -146,10 +146,10 @@ 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
@@ -175,7 +175,7 @@ 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)
@@ -256,7 +256,7 @@ 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)