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
+47
-47
@@ -22,7 +22,7 @@
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// default model attributes
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void mjm_defaultSpec(mjSpec& model) {
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void mjs_defaultSpec(mjSpec& model) {
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memset(&model, 0, sizeof(mjSpec));
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// default statistics
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@@ -76,8 +76,8 @@ void mjm_defaultSpec(mjSpec& model) {
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// default body attributes
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void mjm_defaultBody(mjmBody& body) {
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memset(&body, 0, sizeof(mjmBody));
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void mjs_defaultBody(mjsBody& body) {
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memset(&body, 0, sizeof(mjsBody));
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// body frame
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body.pos[0] = mjNAN;
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@@ -94,8 +94,8 @@ void mjm_defaultBody(mjmBody& body) {
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// default frame attributes
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void mjm_defaultFrame(mjmFrame& frame) {
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memset(&frame, 0, sizeof(mjmFrame));
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void mjs_defaultFrame(mjsFrame& frame) {
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memset(&frame, 0, sizeof(mjsFrame));
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mju_zero3(frame.pos);
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mjuu_setvec(frame.quat, 1, 0, 0, 0);
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frame.alt.axisangle[0] = frame.alt.xyaxes[0] = frame.alt.zaxis[0] = frame.alt.euler[0] = mjNAN;
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@@ -104,8 +104,8 @@ void mjm_defaultFrame(mjmFrame& frame) {
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// default joint attributes
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void mjm_defaultJoint(mjmJoint& joint) {
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memset(&joint, 0, sizeof(mjmJoint));
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void mjs_defaultJoint(mjsJoint& joint) {
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memset(&joint, 0, sizeof(mjsJoint));
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joint.type = mjJNT_HINGE;
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joint.axis[2] = 1;
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@@ -119,8 +119,8 @@ void mjm_defaultJoint(mjmJoint& joint) {
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// default geom attributes
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void mjm_defaultGeom(mjmGeom& geom) {
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memset(&geom, 0, sizeof(mjmGeom));
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void mjs_defaultGeom(mjsGeom& geom) {
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memset(&geom, 0, sizeof(mjsGeom));
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// type
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geom.type = mjGEOM_SPHERE;
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@@ -163,9 +163,9 @@ void mjm_defaultGeom(mjmGeom& geom) {
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// default site attributes
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void mjm_defaultSite(mjmSite& site) {
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void mjs_defaultSite(mjsSite& site) {
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// set everything to 0 / false / NULL
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memset(&site, 0, sizeof(mjmSite));
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memset(&site, 0, sizeof(mjsSite));
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// type
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site.type = mjGEOM_SPHERE;
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@@ -184,8 +184,8 @@ void mjm_defaultSite(mjmSite& site) {
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// default cam attributes
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void mjm_defaultCamera(mjmCamera& cam) {
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memset(&cam, 0, sizeof(mjmCamera));
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void mjs_defaultCamera(mjsCamera& cam) {
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memset(&cam, 0, sizeof(mjsCamera));
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// type
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cam.mode = mjCAMLIGHT_FIXED;
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@@ -203,8 +203,8 @@ void mjm_defaultCamera(mjmCamera& cam) {
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// default light attributes
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void mjm_defaultLight(mjmLight& light) {
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memset(&light, 0, sizeof(mjmLight));
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void mjs_defaultLight(mjsLight& light) {
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memset(&light, 0, sizeof(mjsLight));
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// mode
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light.mode = mjCAMLIGHT_FIXED;
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@@ -223,8 +223,8 @@ void mjm_defaultLight(mjmLight& light) {
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// default flex attributes
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void mjm_defaultFlex(mjmFlex& flex) {
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memset(&flex, 0, sizeof(mjmFlex));
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void mjs_defaultFlex(mjsFlex& flex) {
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memset(&flex, 0, sizeof(mjsFlex));
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// set contact defaults
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flex.contype = 1;
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@@ -247,8 +247,8 @@ void mjm_defaultFlex(mjmFlex& flex) {
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// default mesh attributes
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void mjm_defaultMesh(mjmMesh& mesh) {
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memset(&mesh, 0, sizeof(mjmMesh));
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void mjs_defaultMesh(mjsMesh& mesh) {
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memset(&mesh, 0, sizeof(mjsMesh));
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mjuu_setvec(mesh.refpos, 0, 0, 0);
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mjuu_setvec(mesh.refquat, 1, 0, 0, 0);
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mjuu_setvec(mesh.scale, 1, 1, 1);
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@@ -258,15 +258,15 @@ void mjm_defaultMesh(mjmMesh& mesh) {
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// default height field attributes
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void mjm_defaultHField(mjmHField& hfield) {
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memset(&hfield, 0, sizeof(mjmHField));
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void mjs_defaultHField(mjsHField& hfield) {
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memset(&hfield, 0, sizeof(mjsHField));
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}
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// default skin attributes
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void mjm_defaultSkin(mjmSkin& skin) {
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memset(&skin, 0, sizeof(mjmSkin));
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void mjs_defaultSkin(mjsSkin& skin) {
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memset(&skin, 0, sizeof(mjsSkin));
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skin.rgba[0] = skin.rgba[1] = skin.rgba[2] = 0.5f;
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skin.rgba[3] = 1.0f;
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skin.inflate = 0;
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@@ -276,8 +276,8 @@ void mjm_defaultSkin(mjmSkin& skin) {
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// default texture attributes
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void mjm_defaultTexture(mjmTexture& texture) {
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memset(&texture, 0, sizeof(mjmTexture));
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void mjs_defaultTexture(mjsTexture& texture) {
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memset(&texture, 0, sizeof(mjsTexture));
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texture.type = mjTEXTURE_CUBE;
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mjuu_setvec(texture.rgb1, 0.8, 0.8, 0.8);
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mjuu_setvec(texture.rgb2, 0.5, 0.5, 0.5);
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@@ -290,8 +290,8 @@ void mjm_defaultTexture(mjmTexture& texture) {
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// default material attributes
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void mjm_defaultMaterial(mjmMaterial& material) {
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memset(&material, 0, sizeof(mjmMaterial));
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void mjs_defaultMaterial(mjsMaterial& material) {
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memset(&material, 0, sizeof(mjsMaterial));
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material.texuniform = false;
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material.texrepeat[0] = material.texrepeat[1] = 1;
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material.emission = 0;
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@@ -304,8 +304,8 @@ void mjm_defaultMaterial(mjmMaterial& material) {
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// default pair attributes
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void mjm_defaultPair(mjmPair& pair) {
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memset(&pair, 0, sizeof(mjmPair));
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void mjs_defaultPair(mjsPair& pair) {
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memset(&pair, 0, sizeof(mjsPair));
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pair.condim = 3;
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mj_defaultSolRefImp(pair.solref, pair.solimp);
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pair.friction[0] = 1;
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@@ -318,8 +318,8 @@ void mjm_defaultPair(mjmPair& pair) {
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// default equality attributes
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void mjm_defaultEquality(mjmEquality& equality) {
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memset(&equality, 0, sizeof(mjmEquality));
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void mjs_defaultEquality(mjsEquality& equality) {
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memset(&equality, 0, sizeof(mjsEquality));
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equality.type = mjEQ_CONNECT;
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equality.active = 1;
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mj_defaultSolRefImp(equality.solref, equality.solimp);
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@@ -330,8 +330,8 @@ void mjm_defaultEquality(mjmEquality& equality) {
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// default tendon attributes
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void mjm_defaultTendon(mjmTendon& tendon) {
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memset(&tendon, 0, sizeof(mjmTendon));
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void mjs_defaultTendon(mjsTendon& tendon) {
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memset(&tendon, 0, sizeof(mjsTendon));
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tendon.limited = mjLIMITED_AUTO;
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tendon.springlength[0] = tendon.springlength[1] = -1;
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mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
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@@ -344,8 +344,8 @@ void mjm_defaultTendon(mjmTendon& tendon) {
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// default actuator attributes
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void mjm_defaultActuator(mjmActuator& actuator) {
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memset(&actuator, 0, sizeof(mjmActuator));
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void mjs_defaultActuator(mjsActuator& actuator) {
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memset(&actuator, 0, sizeof(mjsActuator));
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// gain, bias
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actuator.gaintype = mjGAIN_FIXED;
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@@ -370,8 +370,8 @@ void mjm_defaultActuator(mjmActuator& actuator) {
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// default sensor attributes
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void mjm_defaultSensor(mjmSensor& sensor) {
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memset(&sensor, 0, sizeof(mjmSensor));
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void mjs_defaultSensor(mjsSensor& sensor) {
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memset(&sensor, 0, sizeof(mjsSensor));
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sensor.type = mjSENS_TOUCH;
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sensor.datatype = mjDATATYPE_REAL;
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sensor.needstage = mjSTAGE_ACC;
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@@ -380,36 +380,36 @@ void mjm_defaultSensor(mjmSensor& sensor) {
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// Default numeric attributes.
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void mjm_defaultNumeric(mjmNumeric& numeric) {
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memset(&numeric, 0, sizeof(mjmNumeric));
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void mjs_defaultNumeric(mjsNumeric& numeric) {
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memset(&numeric, 0, sizeof(mjsNumeric));
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}
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// Default text attributes.
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void mjm_defaultText(mjmText& text) {
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memset(&text, 0, sizeof(mjmText));
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void mjs_defaultText(mjsText& text) {
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memset(&text, 0, sizeof(mjsText));
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}
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// Default tuple attributes.
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void mjm_defaultTuple(mjmTuple& tuple) {
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memset(&tuple, 0, sizeof(mjmTuple));
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void mjs_defaultTuple(mjsTuple& tuple) {
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memset(&tuple, 0, sizeof(mjsTuple));
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}
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// Default keyframe attributes.
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void mjm_defaultKey(mjmKey& key) {
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memset(&key, 0, sizeof(mjmKey));
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void mjs_defaultKey(mjsKey& key) {
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memset(&key, 0, sizeof(mjsKey));
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}
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// default plugin attributes
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void mjm_defaultPlugin(mjmPlugin& plugin) {
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memset(&plugin, 0, sizeof(mjmPlugin));
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void mjs_defaultPlugin(mjsPlugin& plugin) {
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memset(&plugin, 0, sizeof(mjsPlugin));
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plugin.plugin_slot = -1;
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}
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