Update C# bindings.
PiperOrigin-RevId: 458919739 Change-Id: I7737d2736491dae8fce46bc36aa5135007a7a588
This commit is contained in:
Tom Erez
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Copybara-Service
Copybara-Service
parent
b1e185bb9e
commit
3df3c95812
@@ -1,17 +1,18 @@
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// Copyright 2019 DeepMind Technologies Limited
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// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// ==============================================================================
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// THIS FILE IS AUTO-GENERATED
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using System;
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using System.Runtime.InteropServices;
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using System.Text;
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@@ -23,6 +24,14 @@ public static class MujocoLib {
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// ----------------------------------Constants----------------------------------
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public const bool THIRD_PARTY_MUJOCO_MJDATA_H_ = true;
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public const bool THIRD_PARTY_MUJOCO_MJEXPORT_H_ = true;
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public const bool MUJOCO_HELPER_DLL_LOCAL = true;
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public const bool MUJOCO_HELPER_DLL_IMPORT = true;
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public const bool MUJOCO_HELPER_DLL_EXPORT = true;
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public const bool MJAPI = true;
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public const bool MJLOCAL = true;
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public const bool THIRD_PARTY_MUJOCO_MJMODEL_H_ = true;
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public const double mjPI = 3.141592653589793;
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public const double mjMAXVAL = 10000000000.0;
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public const double mjMINMU = 1e-05;
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@@ -39,10 +48,13 @@ public const int mjNFLUID = 12;
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public const int mjNREF = 2;
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public const int mjNIMP = 5;
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public const int mjNSOLVER = 1000;
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public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
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public const int mjNAUX = 10;
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public const int mjMAXTEXTURE = 1000;
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public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
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public const bool mjUSEDOUBLE = true;
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public const double mjMINVAL = 1e-15;
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public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
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public const int mjMAXUISECT = 10;
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public const int mjMAXUIITEM = 80;
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public const int mjMAXUITEXT = 300;
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@@ -77,12 +89,15 @@ public const int mjKEY_F9 = 298;
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public const int mjKEY_F10 = 299;
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public const int mjKEY_F11 = 300;
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public const int mjKEY_F12 = 301;
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public const bool THIRD_PARTY_MUJOCO_MJVISUALIZE_H_ = true;
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public const int mjNGROUP = 6;
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public const int mjMAXLIGHT = 100;
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public const int mjMAXOVERLAY = 500;
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public const int mjMAXLINE = 100;
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public const int mjMAXLINEPNT = 1000;
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public const int mjMAXPLANEGRID = 200;
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public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
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public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
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public const int mjVERSION_HEADER = 220;
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@@ -134,7 +149,8 @@ public enum mjtEnableBit : int{
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mjENBL_ENERGY = 2,
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mjENBL_FWDINV = 4,
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mjENBL_SENSORNOISE = 8,
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mjNENABLE = 4,
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mjENBL_MULTICCD = 16,
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mjNENABLE = 5,
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}
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public enum mjtJoint : int{
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mjJNT_FREE = 0,
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@@ -175,6 +191,7 @@ public enum mjtTexture : int{
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public enum mjtIntegrator : int{
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mjINT_EULER = 0,
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mjINT_RK4 = 1,
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mjINT_IMPLICIT = 2,
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}
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public enum mjtCollision : int{
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mjCOL_ALL = 0,
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@@ -228,8 +245,8 @@ public enum mjtDyn : int{
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public enum mjtGain : int{
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mjGAIN_FIXED = 0,
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mjGAIN_AFFINE = 1,
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mjGAIN_MUSCLE = 1,
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mjGAIN_USER = 2,
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mjGAIN_MUSCLE = 2,
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mjGAIN_USER = 3,
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}
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public enum mjtBias : int{
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mjBIAS_NONE = 0,
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@@ -423,33 +440,35 @@ public enum mjtFrame : int{
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mjFRAME_SITE = 3,
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mjFRAME_CAMERA = 4,
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mjFRAME_LIGHT = 5,
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mjFRAME_WORLD = 6,
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mjNFRAME = 7,
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mjFRAME_CONTACT = 6,
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mjFRAME_WORLD = 7,
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mjNFRAME = 8,
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}
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public enum mjtVisFlag : int{
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mjVIS_CONVEXHULL = 0,
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mjVIS_TEXTURE = 1,
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mjVIS_JOINT = 2,
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mjVIS_ACTUATOR = 3,
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mjVIS_CAMERA = 4,
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mjVIS_LIGHT = 5,
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mjVIS_TENDON = 6,
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mjVIS_RANGEFINDER = 7,
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mjVIS_CONSTRAINT = 8,
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mjVIS_INERTIA = 9,
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mjVIS_SCLINERTIA = 10,
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mjVIS_PERTFORCE = 11,
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mjVIS_PERTOBJ = 12,
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mjVIS_CONTACTPOINT = 13,
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mjVIS_CONTACTFORCE = 14,
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mjVIS_CONTACTSPLIT = 15,
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mjVIS_TRANSPARENT = 16,
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mjVIS_AUTOCONNECT = 17,
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mjVIS_COM = 18,
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mjVIS_SELECT = 19,
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mjVIS_STATIC = 20,
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mjVIS_SKIN = 21,
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mjNVISFLAG = 22,
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mjVIS_CAMERA = 3,
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mjVIS_ACTUATOR = 4,
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mjVIS_ACTIVATION = 5,
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mjVIS_LIGHT = 6,
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mjVIS_TENDON = 7,
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mjVIS_RANGEFINDER = 8,
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mjVIS_CONSTRAINT = 9,
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mjVIS_INERTIA = 10,
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mjVIS_SCLINERTIA = 11,
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mjVIS_PERTFORCE = 12,
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mjVIS_PERTOBJ = 13,
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mjVIS_CONTACTPOINT = 14,
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mjVIS_CONTACTFORCE = 15,
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mjVIS_CONTACTSPLIT = 16,
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mjVIS_TRANSPARENT = 17,
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mjVIS_AUTOCONNECT = 18,
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mjVIS_COM = 19,
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mjVIS_SELECT = 20,
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mjVIS_STATIC = 21,
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mjVIS_SKIN = 22,
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mjNVISFLAG = 23,
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}
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public enum mjtRndFlag : int{
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mjRND_SHADOW = 0,
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@@ -1634,6 +1653,13 @@ public unsafe struct mjData_ {
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public double* efc_aref;
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public double* subtree_linvel;
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public double* subtree_angmom;
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public double* qH;
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public double* qHDiagInv;
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public int* D_rownnz;
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public int* D_rowadr;
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public int* D_colind;
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public double* qDeriv;
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public double* qLU;
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public double* actuator_force;
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public double* qfrc_actuator;
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public double* qfrc_smooth;
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@@ -1860,6 +1886,7 @@ public unsafe struct mjModel_ {
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public int nuser_sensor;
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public int nnames;
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public int nM;
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public int nD;
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public int nemax;
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public int njmax;
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public int nconmax;
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@@ -2078,11 +2105,13 @@ public unsafe struct mjModel_ {
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public int* actuator_group;
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public byte* actuator_ctrllimited;
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public byte* actuator_forcelimited;
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public byte* actuator_actlimited;
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public double* actuator_dynprm;
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public double* actuator_gainprm;
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public double* actuator_biasprm;
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public double* actuator_ctrlrange;
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public double* actuator_forcerange;
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public double* actuator_actrange;
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public double* actuator_gear;
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public double* actuator_cranklength;
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public double* actuator_acc0;
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@@ -2466,7 +2495,7 @@ public unsafe struct mjvOption_ {
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public fixed byte jointgroup[6];
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public fixed byte tendongroup[6];
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public fixed byte actuatorgroup[6];
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public fixed byte flags[22];
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public fixed byte flags[23];
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}
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[StructLayout(LayoutKind.Sequential)]
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@@ -2633,12 +2662,6 @@ public unsafe struct mjvFigure_ {
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// ----------------------------Function declarations----------------------------
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mj_activate([MarshalAs(UnmanagedType.LPStr)]string filename);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mj_deactivate();
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mj_defaultVFS(void* vfs);
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@@ -3198,6 +3221,12 @@ public static unsafe extern void mj_warning(mjData_* d, int warning, int info);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_writeLog([MarshalAs(UnmanagedType.LPStr)]string type, [MarshalAs(UnmanagedType.LPStr)]string msg);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mj_activate([MarshalAs(UnmanagedType.LPStr)]string filename);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mj_deactivate();
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_zero3(double* res);
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@@ -3458,5 +3487,8 @@ public static unsafe extern string mju_strncpy(StringBuilder dst, [MarshalAs(Unm
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_sigmoid(double x);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjd_transitionFD(mjModel_* m, mjData_* d, double eps, byte centered, double* A, double* B);
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}
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}
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