chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Migrate mjtByte to mjtBool for boolean-valued fields.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjmodel.h
+18 -18
View File
@@ -411,9 +411,9 @@ 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)
@@ -512,11 +512,11 @@ 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)
@@ -540,7 +540,7 @@ 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)
@@ -596,10 +596,10 @@ 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)
@@ -690,7 +690,7 @@ 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)
@@ -720,7 +720,7 @@ 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)
@@ -736,8 +736,8 @@ 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)
@@ -778,13 +778,13 @@ 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)