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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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wasm/codegen/generated/bindings.cc
+15 -15
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@@ -6575,28 +6575,28 @@ struct MjData {
void set_nv_awake(int value) {
ptr_->nv_awake = value;
}
mjtByte flg_energypos() const {
mjtBool flg_energypos() const {
return ptr_->flg_energypos;
}
void set_flg_energypos(mjtByte value) {
void set_flg_energypos(mjtBool value) {
ptr_->flg_energypos = value;
}
mjtByte flg_energyvel() const {
mjtBool flg_energyvel() const {
return ptr_->flg_energyvel;
}
void set_flg_energyvel(mjtByte value) {
void set_flg_energyvel(mjtBool value) {
ptr_->flg_energyvel = value;
}
mjtByte flg_subtreevel() const {
mjtBool flg_subtreevel() const {
return ptr_->flg_subtreevel;
}
void set_flg_subtreevel(mjtByte value) {
void set_flg_subtreevel(mjtBool value) {
ptr_->flg_subtreevel = value;
}
mjtByte flg_rnepost() const {
mjtBool flg_rnepost() const {
return ptr_->flg_rnepost;
}
void set_flg_rnepost(mjtByte value) {
void set_flg_rnepost(mjtBool value) {
ptr_->flg_rnepost = value;
}
mjtNum time() const {
@@ -8977,7 +8977,7 @@ void mj_mulM2_wrapper(const MjModel& m, const MjData& d, const val& res, const N
mj_mulM2(m.get(), d.get(), res_.data(), vec_.data());
}
void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid, const val& dist, const val& normal, int nray, mjtNum cutoff) {
void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtBool flg_static, int bodyexclude, const val& geomid, const val& dist, const val& normal, int nray, mjtNum cutoff) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
@@ -9052,7 +9052,7 @@ void mj_projectConstraint_wrapper(const MjModel& m, MjData& d) {
mj_projectConstraint(m.get(), d.get());
}
mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid, const val& normal) {
mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtBool flg_static, int bodyexclude, const val& geomid, const val& normal) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
@@ -9061,7 +9061,7 @@ mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt,
return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data(), normal_.data());
}
mjtNum mj_rayFlex_wrapper(const MjModel& m, const MjData& d, int flex_layer, mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid, const NumberArray& pnt, const NumberArray& vec, const val& vertid, const val& normal) {
mjtNum mj_rayFlex_wrapper(const MjModel& m, const MjData& d, int flex_layer, mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face, mjtBool flg_skin, int flexid, const NumberArray& pnt, const NumberArray& vec, const val& vertid, const val& normal) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_VALUE(int, vertid);
@@ -9199,7 +9199,7 @@ std::string mj_versionString_wrapper() {
return std::string(mj_versionString());
}
void mjd_inverseFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtByte flg_actuation, const val& DfDq, const val& DfDv, const val& DfDa, const val& DsDq, const val& DsDv, const val& DsDa, const val& DmDq) {
void mjd_inverseFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtBool flg_actuation, const val& DfDq, const val& DfDv, const val& DfDa, const val& DsDq, const val& DsDv, const val& DsDa, const val& DmDq) {
UNPACK_NULLABLE_VALUE(mjtNum, DfDq);
UNPACK_NULLABLE_VALUE(mjtNum, DfDv);
UNPACK_NULLABLE_VALUE(mjtNum, DfDa);
@@ -9237,7 +9237,7 @@ void mjd_subQuat_wrapper(const NumberArray& qa, const NumberArray& qb, const val
mjd_subQuat(qa_.data(), qb_.data(), Da_.data(), Db_.data());
}
void mjd_transitionFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtByte flg_centered, const val& A, const val& B, const val& C, const val& D) {
void mjd_transitionFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtBool flg_centered, const val& A, const val& B, const val& C, const val& D) {
UNPACK_NULLABLE_VALUE(mjtNum, A);
UNPACK_NULLABLE_VALUE(mjtNum, B);
UNPACK_NULLABLE_VALUE(mjtNum, C);
@@ -10161,7 +10161,7 @@ void mju_axisAngle2Quat_wrapper(const val& res, const NumberArray& axis, mjtNum
mju_axisAngle2Quat(res_.data(), axis_.data(), angle);
}
void mju_band2Dense_wrapper(const val& res, const NumberArray& mat, int ntotal, int nband, int ndense, mjtByte flg_sym) {
void mju_band2Dense_wrapper(const val& res, const NumberArray& mat, int ntotal, int nband, int ndense, mjtBool flg_sym) {
UNPACK_VALUE(mjtNum, res);
UNPACK_ARRAY(mjtNum, mat);
CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
@@ -10169,7 +10169,7 @@ void mju_band2Dense_wrapper(const val& res, const NumberArray& mat, int ntotal,
mju_band2Dense(res_.data(), mat_.data(), ntotal, nband, ndense, flg_sym);
}
void mju_bandMulMatVec_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec, int ntotal, int nband, int ndense, int nvec, mjtByte flg_sym) {
void mju_bandMulMatVec_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec, int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym) {
UNPACK_VALUE(mjtNum, res);
UNPACK_ARRAY(mjtNum, mat);
UNPACK_ARRAY(mjtNum, vec);