rename mjspec api structs and functions mjm -> mjs
PiperOrigin-RevId: 618017976 Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
f0ad80f268
commit
4660a297d1
+162
-162
@@ -135,25 +135,25 @@ typedef struct _mjSpec { // model specification
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} mjSpec;
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typedef struct _mjmOrientation { // alternative orientation specifiers
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typedef struct _mjsOrientation { // alternative orientation specifiers
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double axisangle[4]; // rotation axis and angle
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double xyaxes[6]; // x and y axes
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double zaxis[3]; // z axis (use minimal rotation)
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double euler[3]; // euler angles
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} mjmOrientation;
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} mjsOrientation;
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typedef struct _mjmPlugin { // plugin specification
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typedef struct _mjsPlugin { // plugin specification
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mjElement instance; // internal, do not modify
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mjString name; // name
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mjString instance_name; // instance name
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int plugin_slot; // global registered slot number of the plugin
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mjtByte active; // is the plugin active
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mjString info; // message appended to compiler errors
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} mjmPlugin;
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} mjsPlugin;
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typedef struct _mjmBody { // body specification
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typedef struct _mjsBody { // body specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString childclass; // childclass name
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@@ -161,14 +161,14 @@ typedef struct _mjmBody { // body specification
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// body frame
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double pos[3]; // frame position
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double quat[4]; // frame orientation
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mjmOrientation alt; // frame alternative orientation
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mjsOrientation alt; // frame alternative orientation
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// inertial frame
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double mass; // mass
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double ipos[3]; // inertial frame position
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double iquat[4]; // inertial frame orientation
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double inertia[3]; // diagonal inertia (in i-frame)
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mjmOrientation ialt; // inertial frame alternative orientation
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mjsOrientation ialt; // inertial frame alternative orientation
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double fullinertia[6]; // non-axis-aligned inertia matrix
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// other
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@@ -176,23 +176,23 @@ typedef struct _mjmBody { // body specification
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double gravcomp; // gravity compensation
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mjDoubleVec userdata; // user data
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mjtByte explicitinertial; // whether to save the body with explicit inertial clause
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mjmPlugin plugin; // passive force plugin
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mjsPlugin plugin; // passive force plugin
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mjString info; // message appended to compiler errors
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} mjmBody;
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} mjsBody;
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typedef struct _mjmFrame { // frame specification
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typedef struct _mjsFrame { // frame specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString childclass; // childclass name
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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mjsOrientation alt; // alternative orientation
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mjString info; // message appended to compiler errors
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} mjmFrame;
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} mjsFrame;
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typedef struct _mjmJoint { // joint specification
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typedef struct _mjsJoint { // joint specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -229,10 +229,10 @@ typedef struct _mjmJoint { // joint specification
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double urdfeffort; // effort (urdf)
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mjDoubleVec userdata; // user data
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mjString info; // message appended to compiler errors
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} mjmJoint;
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} mjsJoint;
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typedef struct _mjmGeom { // geom specification
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typedef struct _mjsGeom { // geom specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // classname
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@@ -241,7 +241,7 @@ typedef struct _mjmGeom { // geom specification
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// frame, size
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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mjsOrientation alt; // alternative orientation
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double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
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double size[3]; // type-specific size
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@@ -276,12 +276,12 @@ typedef struct _mjmGeom { // geom specification
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mjString meshname; // mesh attached to geom
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double fitscale; // scale mesh uniformly
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mjDoubleVec userdata; // user data
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mjmPlugin plugin; // sdf plugin
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mjsPlugin plugin; // sdf plugin
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mjString info; // message appended to compiler errors
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} mjmGeom;
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} mjsGeom;
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typedef struct _mjmSite { // site specification
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typedef struct _mjsSite { // site specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -289,7 +289,7 @@ typedef struct _mjmSite { // site specification
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// frame, size
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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mjsOrientation alt; // alternative orientation
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double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
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double size[3]; // geom size
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@@ -302,10 +302,10 @@ typedef struct _mjmSite { // site specification
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// other
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mjDoubleVec userdata; // user data
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mjString info; // message appended to compiler errors
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} mjmSite;
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} mjsSite;
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typedef struct _mjmCamera { // camera specification
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typedef struct _mjsCamera { // camera specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -313,7 +313,7 @@ typedef struct _mjmCamera { // camera specification
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// extrinsics
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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mjsOrientation alt; // alternative orientation
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mjtCamLight mode; // tracking mode
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mjString targetbody; // target body for tracking/targeting
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@@ -331,10 +331,10 @@ typedef struct _mjmCamera { // camera specification
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// other
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mjDoubleVec userdata; // user data
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mjString info; // message appended to compiler errors
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} mjmCamera;
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} mjsCamera;
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typedef struct _mjmLight { // light specification
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typedef struct _mjsLight { // light specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -358,10 +358,10 @@ typedef struct _mjmLight { // light specification
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// other
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mjString info; // message appended to compiler errors
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} mjmLight;
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} mjsLight;
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typedef struct _mjmFlex {
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typedef struct _mjsFlex {
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -399,10 +399,10 @@ typedef struct _mjmFlex {
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// other
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mjString info; // message appended to compiler errors
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} mjmFlex;
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} mjsFlex;
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typedef struct _mjmMesh { // mesh specification
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typedef struct _mjsMesh { // mesh specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -418,12 +418,12 @@ typedef struct _mjmMesh { // mesh specification
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mjIntVec userface; // user vertex indices
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mjIntVec userfacenormal; // user normal indices
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mjIntVec userfacetexcoord; // user texcoord indices
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mjmPlugin plugin; // sdf plugin
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mjsPlugin plugin; // sdf plugin
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mjString info; // message appended to compiler errors
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} mjmMesh;
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} mjsMesh;
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typedef struct _mjmHField { // height field specification
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typedef struct _mjsHField { // height field specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString content_type; // content type of file
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@@ -433,11 +433,11 @@ typedef struct _mjmHField { // height field specification
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int ncol; // number of columns
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mjFloatVec userdata; // user-provided elevation data
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mjString info; // message appended to compiler errors
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} mjmHField;
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} mjsHField;
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typedef struct _mjmSkin { // skin specification
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typedef struct _mjsSkin { // skin specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -461,10 +461,10 @@ typedef struct _mjmSkin { // skin specification
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// other
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mjString info; // message appended to compiler errors
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} mjmSkin;
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} mjsSkin;
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typedef struct _mjmTexture { // texture specification
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typedef struct _mjsTexture { // texture specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -495,10 +495,10 @@ typedef struct _mjmTexture { // texture specification
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// other
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mjString info; // message appended to compiler errors
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} mjmTexture;
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} mjsTexture;
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typedef struct _mjmMaterial { // material specification
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typedef struct _mjsMaterial { // material specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -511,10 +511,10 @@ typedef struct _mjmMaterial { // material specification
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float reflectance; // reflectance
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float rgba[4]; // rgba
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mjString info; // message appended to compiler errors
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} mjmMaterial;
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} mjsMaterial;
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typedef struct _mjmPair {
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typedef struct _mjsPair {
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -530,19 +530,19 @@ typedef struct _mjmPair {
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double gap; // include in solver if dist<margin-gap
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double friction[5]; // full contact friction
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mjString info; // message appended to errors
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} mjmPair;
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} mjsPair;
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typedef struct _mjmExclude {
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typedef struct _mjsExclude {
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString bodyname1; // name of geom 1
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mjString bodyname2; // name of geom 2
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mjString info; // message appended to errors
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} mjmExclude;
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} mjsExclude;
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typedef struct _mjmEquality { // equality specification
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typedef struct _mjsEquality { // equality specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -554,10 +554,10 @@ typedef struct _mjmEquality { // equality specification
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mjtNum solref[mjNREF]; // solver reference
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mjtNum solimp[mjNIMP]; // solver impedance
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mjString info; // message appended to errors
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} mjmEquality;
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} mjsEquality;
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typedef struct _mjmTendon { // tendon specification
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typedef struct _mjsTendon { // tendon specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -586,16 +586,16 @@ typedef struct _mjmTendon { // tendon specification
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// other
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mjDoubleVec userdata; // user data
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mjString info; // message appended to errors
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} mjmTendon;
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} mjsTendon;
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typedef struct _mjmWrap { // wrapping object specification
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typedef struct _mjsWrap { // wrapping object specification
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mjElement element; // internal, do not modify
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mjString info; // message appended to errors
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} mjmWrap;
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} mjsWrap;
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typedef struct _mjmActuator { // actuator specification
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typedef struct _mjsActuator { // actuator specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -634,12 +634,12 @@ typedef struct _mjmActuator { // actuator specification
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// other
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int group; // group
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mjDoubleVec userdata; // user data
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mjmPlugin plugin; // actuator plugin
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mjsPlugin plugin; // actuator plugin
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mjString info; // message appended to compiler errors
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} mjmActuator;
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} mjsActuator;
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typedef struct _mjmSensor { // sensor specfication
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typedef struct _mjsSensor { // sensor specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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@@ -662,39 +662,39 @@ typedef struct _mjmSensor { // sensor specfication
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// other
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mjDoubleVec userdata; // user data
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mjmPlugin plugin; // sensor plugin
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mjsPlugin plugin; // sensor plugin
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mjString info; // message appended to compiler errors
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} mjmSensor;
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} mjsSensor;
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typedef struct _mjmNumeric { // custom numeric field specification
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typedef struct _mjsNumeric { // custom numeric field specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjDoubleVec data; // initialization data
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int size; // array size, can be bigger than data size
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mjString info; // message appended to compiler errors
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} mjmNumeric;
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} mjsNumeric;
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typedef struct _mjmText { // custom text specification
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typedef struct _mjsText { // custom text specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString data; // text string
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mjString info; // message appended to compiler errors
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} mjmText;
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} mjsText;
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typedef struct _mjmTuple { // tuple specification
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typedef struct _mjsTuple { // tuple specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjIntVec objtype; // object types
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mjStringVec objname; // object names
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mjDoubleVec objprm; // object parameters
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mjString info; // message appended to compiler errors
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} mjmTuple;
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} mjsTuple;
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typedef struct _mjmKey { // keyframe specification
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typedef struct _mjsKey { // keyframe specification
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mjElement element; // internal, do not modify
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mjString name; // name
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double time; // time
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@@ -705,293 +705,293 @@ typedef struct _mjmKey { // keyframe specification
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mjDoubleVec mquat; // mocap quat
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mjDoubleVec ctrl; // ctrl
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mjString info; // message appended to compiler errors
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} mjmKey;
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} mjsKey;
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typedef struct _mjmDefault { // default specification
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mjString name; // name
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mjElement element; // internal, do not modify
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mjmJoint* joint; // joint defaults
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mjmGeom* geom; // geom defaults
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mjmSite* site; // site defaults
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mjmCamera* camera; // camera defaults
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mjmLight* light; // light defaults
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mjmFlex* flex; // flex defaults
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mjmMesh* mesh; // mesh defaults
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mjmMaterial* material; // material defaults
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mjmPair* pair; // pair defaults
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mjmEquality* equality; // equality defaults
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mjmTendon* tendon; // tendon defaults
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mjmActuator* actuator; // actuator defaults
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mjsJoint* joint; // joint defaults
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mjsGeom* geom; // geom defaults
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mjsSite* site; // site defaults
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mjsCamera* camera; // camera defaults
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mjsLight* light; // light defaults
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mjsFlex* flex; // flex defaults
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mjsMesh* mesh; // mesh defaults
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mjsMaterial* material; // material defaults
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mjsPair* pair; // pair defaults
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mjsEquality* equality; // equality defaults
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mjsTendon* tendon; // tendon defaults
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mjsActuator* actuator; // actuator defaults
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} mjmDefault;
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//---------------------------------- API functions -------------------------------------------------
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// Create model.
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MJAPI mjSpec* mjm_createSpec();
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MJAPI mjSpec* mjs_createSpec();
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// Copy model.
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MJAPI mjSpec* mjm_copySpec(const mjSpec* s);
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MJAPI mjSpec* mjs_copySpec(const mjSpec* s);
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// Copy back model.
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MJAPI void mjm_copyBack(mjSpec* s, const mjModel* m);
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MJAPI void mjs_copyBack(mjSpec* s, const mjModel* m);
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// Compile model.
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MJAPI mjModel* mjm_compile(mjSpec* s, const mjVFS* vfs);
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MJAPI mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs);
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// Attach child body to a frame of the parent, return 0 if success
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MJAPI int mjm_attachBody(mjmFrame* parent, const mjmBody* child,
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MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
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const char* prefix, const char* suffix);
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// Get error message from model.
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MJAPI const char* mjm_getError(mjSpec* s);
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MJAPI const char* mjs_getError(mjSpec* s);
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// Return 1 if model has warnings.
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MJAPI int mjm_isWarning(mjSpec* s);
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MJAPI int mjs_isWarning(mjSpec* s);
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// Delete model.
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MJAPI void mjm_deleteSpec(mjSpec* s);
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MJAPI void mjs_deleteSpec(mjSpec* s);
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// Add child body to body, return child spec.
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MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
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MJAPI mjsBody* mjs_addBody(mjsBody* body, mjmDefault* def);
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// Add site to body, return site spec.
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MJAPI mjmSite* mjm_addSite(mjmBody* body, mjmDefault* def);
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MJAPI mjsSite* mjs_addSite(mjsBody* body, mjmDefault* def);
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// Add joint to body.
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MJAPI mjmJoint* mjm_addJoint(mjmBody* body, mjmDefault* def);
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MJAPI mjsJoint* mjs_addJoint(mjsBody* body, mjmDefault* def);
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// Add freejoint to body.
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MJAPI mjmJoint* mjm_addFreeJoint(mjmBody* body);
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MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
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// Add geom to body.
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MJAPI mjmGeom* mjm_addGeom(mjmBody* body, mjmDefault* def);
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MJAPI mjsGeom* mjs_addGeom(mjsBody* body, mjmDefault* def);
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// Add camera to body.
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MJAPI mjmCamera* mjm_addCamera(mjmBody* body, mjmDefault* def);
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MJAPI mjsCamera* mjs_addCamera(mjsBody* body, mjmDefault* def);
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// Add light to body.
|
||||
MJAPI mjmLight* mjm_addLight(mjmBody* body, mjmDefault* def);
|
||||
MJAPI mjsLight* mjs_addLight(mjsBody* body, mjmDefault* def);
|
||||
|
||||
// Add frame to body.
|
||||
MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
|
||||
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
|
||||
|
||||
// Add flex to model.
|
||||
MJAPI mjmFlex* mjm_addFlex(mjSpec* s);
|
||||
MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
|
||||
|
||||
// Add mesh to model.
|
||||
MJAPI mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* def);
|
||||
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjmDefault* def);
|
||||
|
||||
// Add height field to model.
|
||||
MJAPI mjmHField* mjm_addHField(mjSpec* s);
|
||||
MJAPI mjsHField* mjs_addHField(mjSpec* s);
|
||||
|
||||
// Add skin to model.
|
||||
MJAPI mjmSkin* mjm_addSkin(mjSpec* s);
|
||||
MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
|
||||
|
||||
// Add texture to model.
|
||||
MJAPI mjmTexture* mjm_addTexture(mjSpec* s);
|
||||
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
|
||||
|
||||
// Add material to model.
|
||||
MJAPI mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* def);
|
||||
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjmDefault* def);
|
||||
|
||||
// Add pair to model.
|
||||
MJAPI mjmPair* mjm_addPair(mjSpec* s, mjmDefault* def);
|
||||
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjmDefault* def);
|
||||
|
||||
// Add excluded body pair to model.
|
||||
MJAPI mjmExclude* mjm_addExclude(mjSpec* s);
|
||||
MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
|
||||
|
||||
// Add equality to model.
|
||||
MJAPI mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* def);
|
||||
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjmDefault* def);
|
||||
|
||||
// Add tendon to model.
|
||||
MJAPI mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* def);
|
||||
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjmDefault* def);
|
||||
|
||||
// Wrap site using tendon.
|
||||
MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name);
|
||||
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
|
||||
|
||||
// Wrap geom using tendon.
|
||||
MJAPI mjmWrap* mjm_wrapGeom(mjmTendon* tendon, const char* name, const char* sidesite);
|
||||
MJAPI mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
|
||||
|
||||
// Wrap joint using tendon.
|
||||
MJAPI mjmWrap* mjm_wrapJoint(mjmTendon* tendon, const char* name, double coef);
|
||||
MJAPI mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
|
||||
|
||||
// Wrap pulley using tendon.
|
||||
MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor);
|
||||
MJAPI mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
|
||||
|
||||
// Add actuator to model.
|
||||
MJAPI mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* def);
|
||||
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjmDefault* def);
|
||||
|
||||
// Add sensor to model.
|
||||
MJAPI mjmSensor* mjm_addSensor(mjSpec* s);
|
||||
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
|
||||
|
||||
// Add numeric to model.
|
||||
MJAPI mjmNumeric* mjm_addNumeric(mjSpec* s);
|
||||
MJAPI mjsNumeric* mjs_addNumeric(mjSpec* s);
|
||||
|
||||
// Add text to model.
|
||||
MJAPI mjmText* mjm_addText(mjSpec* s);
|
||||
MJAPI mjsText* mjs_addText(mjSpec* s);
|
||||
|
||||
// Add tuple to model.
|
||||
MJAPI mjmTuple* mjm_addTuple(mjSpec* s);
|
||||
MJAPI mjsTuple* mjs_addTuple(mjSpec* s);
|
||||
|
||||
// Add keyframe to model.
|
||||
MJAPI mjmKey* mjm_addKey(mjSpec* s);
|
||||
MJAPI mjsKey* mjs_addKey(mjSpec* s);
|
||||
|
||||
// Add plugin to model.
|
||||
MJAPI mjmPlugin* mjm_addPlugin(mjSpec* s);
|
||||
MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
|
||||
|
||||
// Add default to model.
|
||||
MJAPI mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
|
||||
MJAPI mjmDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
|
||||
|
||||
// Get model spec from body.
|
||||
MJAPI mjSpec* mjm_getSpec(mjmBody* body);
|
||||
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
|
||||
|
||||
// Get default corresponding to an mjElement.
|
||||
MJAPI mjmDefault* mjm_getDefault(mjElement element);
|
||||
MJAPI mjmDefault* mjs_getDefault(mjElement element);
|
||||
|
||||
// Find default in model by class name.
|
||||
MJAPI mjmDefault* mjm_findDefault(mjSpec* s, const char* classname);
|
||||
MJAPI mjmDefault* mjs_findDefault(mjSpec* s, const char* classname);
|
||||
|
||||
// Get global default from model.
|
||||
MJAPI mjmDefault* mjm_getSpecDefault(mjSpec* s);
|
||||
MJAPI mjmDefault* mjs_getSpecDefault(mjSpec* s);
|
||||
|
||||
// Find body in model by name.
|
||||
MJAPI mjmBody* mjm_findBody(mjSpec* s, const char* name);
|
||||
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
|
||||
|
||||
// Find child body by name.
|
||||
MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
|
||||
MJAPI mjsBody* mjs_findChild(mjsBody* body, const char* name);
|
||||
|
||||
// Find mesh by name.
|
||||
MJAPI mjmMesh* mjm_findMesh(mjSpec* s, const char* name);
|
||||
MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
|
||||
|
||||
// Find frame by name.
|
||||
MJAPI mjmFrame* mjm_findFrame(mjSpec* s, const char* name);
|
||||
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
|
||||
|
||||
// Get element id.
|
||||
MJAPI int mjm_getId(mjElement element);
|
||||
MJAPI int mjs_getId(mjElement element);
|
||||
|
||||
// Copy text to string.
|
||||
MJAPI void mjm_setString(mjString dest, const char* text);
|
||||
MJAPI void mjs_setString(mjString dest, const char* text);
|
||||
|
||||
// Split text to entries and copy to string vector.
|
||||
MJAPI void mjm_setStringVec(mjStringVec dest, const char* text);
|
||||
MJAPI void mjs_setStringVec(mjStringVec dest, const char* text);
|
||||
|
||||
// Set entry in string vector.
|
||||
MJAPI mjtByte mjm_setInStringVec(mjStringVec dest, int i, const char* text);
|
||||
MJAPI mjtByte mjs_setInStringVec(mjStringVec dest, int i, const char* text);
|
||||
|
||||
// Append text entry to string vector.
|
||||
MJAPI void mjm_appendString(mjStringVec dest, const char* text);
|
||||
MJAPI void mjs_appendString(mjStringVec dest, const char* text);
|
||||
|
||||
// Copy int array to vector.
|
||||
MJAPI void mjm_setInt(mjIntVec dest, const int* array, int size);
|
||||
MJAPI void mjs_setInt(mjIntVec dest, const int* array, int size);
|
||||
|
||||
// Append int array to vector of arrays.
|
||||
MJAPI void mjm_appendIntVec(mjIntVecVec dest, const int* array, int size);
|
||||
MJAPI void mjs_appendIntVec(mjIntVecVec dest, const int* array, int size);
|
||||
|
||||
// Copy float array to vector.
|
||||
MJAPI void mjm_setFloat(mjFloatVec dest, const float* array, int size);
|
||||
MJAPI void mjs_setFloat(mjFloatVec dest, const float* array, int size);
|
||||
|
||||
// Append float array to vector of arrays.
|
||||
MJAPI void mjm_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
|
||||
MJAPI void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
|
||||
|
||||
// Copy double array to vector.
|
||||
MJAPI void mjm_setDouble(mjDoubleVec dest, const double* array, int size);
|
||||
MJAPI void mjs_setDouble(mjDoubleVec dest, const double* array, int size);
|
||||
|
||||
// Get string contents.
|
||||
MJAPI const char* mjm_getString(mjString source);
|
||||
MJAPI const char* mjs_getString(mjString source);
|
||||
|
||||
// Get double array contents and optionally its size.
|
||||
MJAPI const double* mjm_getDouble(mjDoubleVec source, int* size);
|
||||
MJAPI const double* mjs_getDouble(mjDoubleVec source, int* size);
|
||||
|
||||
// Set plugin attributes.
|
||||
MJAPI void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes);
|
||||
MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
|
||||
|
||||
// Set active plugins.
|
||||
MJAPI void mjm_setActivePlugins(mjSpec* s, void* activeplugins);
|
||||
MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
|
||||
|
||||
// Set default.
|
||||
MJAPI void mjm_setDefault(mjElement element, mjmDefault* def);
|
||||
MJAPI void mjs_setDefault(mjElement element, mjmDefault* def);
|
||||
|
||||
// Set frame.
|
||||
MJAPI void mjm_setFrame(mjElement dest, mjmFrame* frame);
|
||||
MJAPI void mjs_setFrame(mjElement dest, mjsFrame* frame);
|
||||
|
||||
// Compute quat and inertia from body->fullinertia.
|
||||
MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inertia[3]);
|
||||
MJAPI const char* mjs_setFullInertia(mjsBody* body, double quat[4], double inertia[3]);
|
||||
|
||||
|
||||
//---------------------------------- Initialization functions --------------------------------------
|
||||
|
||||
// Default model attributes.
|
||||
MJAPI void mjm_defaultSpec(mjSpec& model);
|
||||
MJAPI void mjs_defaultSpec(mjSpec& model);
|
||||
|
||||
// Default body attributes.
|
||||
MJAPI void mjm_defaultBody(mjmBody& body);
|
||||
MJAPI void mjs_defaultBody(mjsBody& body);
|
||||
|
||||
// Default frame attributes.
|
||||
MJAPI void mjm_defaultFrame(mjmFrame& frame);
|
||||
MJAPI void mjs_defaultFrame(mjsFrame& frame);
|
||||
|
||||
// Default joint attributes.
|
||||
MJAPI void mjm_defaultJoint(mjmJoint& joint);
|
||||
MJAPI void mjs_defaultJoint(mjsJoint& joint);
|
||||
|
||||
// Default geom attributes.
|
||||
MJAPI void mjm_defaultGeom(mjmGeom& geom);
|
||||
MJAPI void mjs_defaultGeom(mjsGeom& geom);
|
||||
|
||||
// Default site attributes.
|
||||
MJAPI void mjm_defaultSite(mjmSite& site);
|
||||
MJAPI void mjs_defaultSite(mjsSite& site);
|
||||
|
||||
// Default camera attributes.
|
||||
MJAPI void mjm_defaultCamera(mjmCamera& camera);
|
||||
MJAPI void mjs_defaultCamera(mjsCamera& camera);
|
||||
|
||||
// Default light attributes.
|
||||
MJAPI void mjm_defaultLight(mjmLight& light);
|
||||
MJAPI void mjs_defaultLight(mjsLight& light);
|
||||
|
||||
// Default flex attributes.
|
||||
MJAPI void mjm_defaultFlex(mjmFlex& flex);
|
||||
MJAPI void mjs_defaultFlex(mjsFlex& flex);
|
||||
|
||||
// Default mesh attributes.
|
||||
MJAPI void mjm_defaultMesh(mjmMesh& mesh);
|
||||
MJAPI void mjs_defaultMesh(mjsMesh& mesh);
|
||||
|
||||
// Default height field attributes.
|
||||
MJAPI void mjm_defaultHField(mjmHField& hfield);
|
||||
MJAPI void mjs_defaultHField(mjsHField& hfield);
|
||||
|
||||
// Default skin attributes.
|
||||
MJAPI void mjm_defaultSkin(mjmSkin& skin);
|
||||
MJAPI void mjs_defaultSkin(mjsSkin& skin);
|
||||
|
||||
// Default texture attributes.
|
||||
MJAPI void mjm_defaultTexture(mjmTexture& texture);
|
||||
MJAPI void mjs_defaultTexture(mjsTexture& texture);
|
||||
|
||||
// Default material attributes.
|
||||
MJAPI void mjm_defaultMaterial(mjmMaterial& material);
|
||||
MJAPI void mjs_defaultMaterial(mjsMaterial& material);
|
||||
|
||||
// Default pair attributes.
|
||||
MJAPI void mjm_defaultPair(mjmPair& pair);
|
||||
MJAPI void mjs_defaultPair(mjsPair& pair);
|
||||
|
||||
// Default equality attributes.
|
||||
MJAPI void mjm_defaultEquality(mjmEquality& equality);
|
||||
MJAPI void mjs_defaultEquality(mjsEquality& equality);
|
||||
|
||||
// Default tendon attributes.
|
||||
MJAPI void mjm_defaultTendon(mjmTendon& tendon);
|
||||
MJAPI void mjs_defaultTendon(mjsTendon& tendon);
|
||||
|
||||
// Default actuator attributes.
|
||||
MJAPI void mjm_defaultActuator(mjmActuator& actuator);
|
||||
MJAPI void mjs_defaultActuator(mjsActuator& actuator);
|
||||
|
||||
// Default sensor attributes.
|
||||
MJAPI void mjm_defaultSensor(mjmSensor& sensor);
|
||||
MJAPI void mjs_defaultSensor(mjsSensor& sensor);
|
||||
|
||||
// Default numeric attributes.
|
||||
MJAPI void mjm_defaultNumeric(mjmNumeric& numeric);
|
||||
MJAPI void mjs_defaultNumeric(mjsNumeric& numeric);
|
||||
|
||||
// Default text attributes.
|
||||
MJAPI void mjm_defaultText(mjmText& text);
|
||||
MJAPI void mjs_defaultText(mjsText& text);
|
||||
|
||||
// Default tuple attributes.
|
||||
MJAPI void mjm_defaultTuple(mjmTuple& tuple);
|
||||
MJAPI void mjs_defaultTuple(mjsTuple& tuple);
|
||||
|
||||
// Default keyframe attributes.
|
||||
MJAPI void mjm_defaultKey(mjmKey& key);
|
||||
MJAPI void mjs_defaultKey(mjsKey& key);
|
||||
|
||||
// Default plugin attributes.
|
||||
MJAPI void mjm_defaultPlugin(mjmPlugin& plugin);
|
||||
MJAPI void mjs_defaultPlugin(mjsPlugin& plugin);
|
||||
|
||||
//------------------------- Cache functions ------------------------------------
|
||||
|
||||
|
||||
Reference in New Issue
Block a user