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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/mujoco.h
+9 -9
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@@ -680,7 +680,7 @@ MJAPI const char* mj_versionString(void);
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
// Nullable: geomgroup, geomid, normal
MJAPI 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]);
// Intersect multiple rays emanating from a single point, compute normals if given.
@@ -688,7 +688,7 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], cons
// Geoms further than cutoff are ignored.
// Nullable: geomgroup, geomid, normal
MJAPI 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);
// Intersect ray with hfield; return nearest distance or -1 if no intersection.
@@ -711,8 +711,8 @@ MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum
// and also output nearest vertex id and surface normal.
// Nullable: vertid, normal
MJAPI 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]);
// Intersect ray with skin; return nearest distance or -1 if no intersection,
@@ -1304,14 +1304,14 @@ MJAPI void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.
MJAPI void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtByte flg_sym);
mjtBool flg_sym);
// Convert dense matrix to banded matrix.
MJAPI void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
// Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.
MJAPI 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);
// Address of diagonal element i in band-dense matrix representation.
MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
@@ -1461,7 +1461,7 @@ MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNu
// D: (nsensordata x 2*nv+na)
// C: (nsensordata x nu)
// Nullable: A, B, C, D
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
// Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)
@@ -1480,7 +1480,7 @@ MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg
// optionally computes mass matrix Jacobian DmDq
// flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse
// Nullable: DfDq, DfDv, DfDa, DsDq, DsDv, DsDa, DmDq
MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
MJAPI 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);
@@ -1860,7 +1860,7 @@ MJAPI void mjs_setString(mjString* dest, const char* text);
MJAPI void mjs_setStringVec(mjStringVec* dest, const char* text);
// Set entry in string vector.
MJAPI mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
MJAPI mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
// Append text entry to string vector.
MJAPI void mjs_appendString(mjStringVec* dest, const char* text);