Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS. * Use XVEC macro to denote vector members where there is a mixture of vector and scalar members in a given struct type. * Split up MJVISUAL_FIELDS into separate macros for each substruct. * Modify engine_print.c and Python bindings struct.h/cc to use the new X macros. PiperOrigin-RevId: 869760513 Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
6d8b6028e2
commit
5274e5f720
+126
-127
@@ -18,143 +18,142 @@
|
||||
|
||||
//-------------------------------- mjOption --------------------------------------------------------
|
||||
|
||||
// scalar fields of mjOption
|
||||
#define MJOPTION_FLOATS \
|
||||
X( mjtNum, timestep ) \
|
||||
X( mjtNum, impratio ) \
|
||||
X( mjtNum, tolerance ) \
|
||||
X( mjtNum, ls_tolerance ) \
|
||||
X( mjtNum, noslip_tolerance ) \
|
||||
X( mjtNum, ccd_tolerance ) \
|
||||
X( mjtNum, sleep_tolerance ) \
|
||||
X( mjtNum, density ) \
|
||||
X( mjtNum, viscosity ) \
|
||||
X( mjtNum, o_margin )
|
||||
|
||||
|
||||
#define MJOPTION_INTS \
|
||||
X( int, integrator ) \
|
||||
X( int, cone ) \
|
||||
X( int, jacobian ) \
|
||||
X( int, solver ) \
|
||||
X( int, iterations ) \
|
||||
X( int, ls_iterations ) \
|
||||
X( int, noslip_iterations ) \
|
||||
X( int, ccd_iterations ) \
|
||||
X( int, disableflags ) \
|
||||
X( int, enableflags ) \
|
||||
X( int, disableactuator ) \
|
||||
X( int, sdf_initpoints ) \
|
||||
X( int, sdf_iterations )
|
||||
|
||||
|
||||
#define MJOPTION_SCALARS \
|
||||
MJOPTION_FLOATS \
|
||||
MJOPTION_INTS
|
||||
|
||||
|
||||
// vector fields of mjOption
|
||||
#define MJOPTION_VECTORS \
|
||||
X( gravity, 3 ) \
|
||||
X( wind, 3 ) \
|
||||
X( magnetic, 3 ) \
|
||||
X( o_solref, mjNREF ) \
|
||||
X( o_solimp, mjNIMP ) \
|
||||
X( o_friction, 5 )
|
||||
// fields of mjOption
|
||||
// XVEC means that a field is a vector (i.e. size > 1)
|
||||
#define MJOPTION_FIELDS \
|
||||
X ( mjtNum, timestep, 1 ) \
|
||||
X ( mjtNum, impratio, 1 ) \
|
||||
X ( mjtNum, tolerance, 1 ) \
|
||||
X ( mjtNum, ls_tolerance, 1 ) \
|
||||
X ( mjtNum, noslip_tolerance, 1 ) \
|
||||
X ( mjtNum, ccd_tolerance, 1 ) \
|
||||
X ( mjtNum, sleep_tolerance, 1 ) \
|
||||
XVEC( mjtNum, gravity, 3 ) \
|
||||
XVEC( mjtNum, wind, 3 ) \
|
||||
XVEC( mjtNum, magnetic, 3 ) \
|
||||
X ( mjtNum, density, 1 ) \
|
||||
X ( mjtNum, viscosity, 1 ) \
|
||||
X ( mjtNum, o_margin, 1 ) \
|
||||
XVEC( mjtNum, o_solref, mjNREF ) \
|
||||
XVEC( mjtNum, o_solimp, mjNIMP ) \
|
||||
XVEC( mjtNum, o_friction, 5 ) \
|
||||
X ( int, integrator, 1 ) \
|
||||
X ( int, cone, 1 ) \
|
||||
X ( int, jacobian, 1 ) \
|
||||
X ( int, solver, 1 ) \
|
||||
X ( int, iterations, 1 ) \
|
||||
X ( int, ls_iterations, 1 ) \
|
||||
X ( int, noslip_iterations, 1 ) \
|
||||
X ( int, ccd_iterations, 1 ) \
|
||||
X ( int, disableflags, 1 ) \
|
||||
X ( int, enableflags, 1 ) \
|
||||
X ( int, disableactuator, 1 ) \
|
||||
X ( int, sdf_initpoints, 1 ) \
|
||||
X ( int, sdf_iterations, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjStatistic -----------------------------------------------------
|
||||
|
||||
// fields of mjStatistic
|
||||
#define MJSTATISTIC_FIELDS \
|
||||
X( mjtNum, meaninertia, 1 ) \
|
||||
X( mjtNum, meanmass, 1 ) \
|
||||
X( mjtNum, meansize, 1 ) \
|
||||
X( mjtNum, extent, 1 ) \
|
||||
X( mjtNum, center, 3 )
|
||||
#define MJSTATISTIC_FIELDS \
|
||||
X ( meaninertia, 1 ) \
|
||||
X ( meanmass, 1 ) \
|
||||
X ( meansize, 1 ) \
|
||||
X ( extent, 1 ) \
|
||||
XVEC( center, 3 )
|
||||
|
||||
|
||||
//-------------------------------- mjVisual --------------------------------------------------------
|
||||
|
||||
// fields of mjVisual
|
||||
#define MJVISUAL_FIELDS \
|
||||
X( global, int, cameraid, 1 ) \
|
||||
X( global, int, orthographic, 1 ) \
|
||||
X( global, float, fovy, 1 ) \
|
||||
X( global, float, ipd, 1 ) \
|
||||
X( global, float, azimuth, 1 ) \
|
||||
X( global, float, elevation, 1 ) \
|
||||
X( global, float, linewidth, 1 ) \
|
||||
X( global, float, glow, 1 ) \
|
||||
X( global, float, realtime, 1 ) \
|
||||
X( global, int, offwidth, 1 ) \
|
||||
X( global, int, offheight, 1 ) \
|
||||
X( global, int, ellipsoidinertia, 1 ) \
|
||||
X( global, int, bvactive, 1 ) \
|
||||
X( quality, int, shadowsize, 1 ) \
|
||||
X( quality, int, offsamples, 1 ) \
|
||||
X( quality, int, numslices, 1 ) \
|
||||
X( quality, int, numstacks, 1 ) \
|
||||
X( quality, int, numquads, 1 ) \
|
||||
X( headlight, float, ambient, 3 ) \
|
||||
X( headlight, float, diffuse, 3 ) \
|
||||
X( headlight, float, specular, 3 ) \
|
||||
X( headlight, int, active, 1 ) \
|
||||
X( map, float, stiffness, 1 ) \
|
||||
X( map, float, stiffnessrot, 1 ) \
|
||||
X( map, float, force, 1 ) \
|
||||
X( map, float, torque, 1 ) \
|
||||
X( map, float, alpha, 1 ) \
|
||||
X( map, float, fogstart, 1 ) \
|
||||
X( map, float, fogend, 1 ) \
|
||||
X( map, float, znear, 1 ) \
|
||||
X( map, float, zfar, 1 ) \
|
||||
X( map, float, haze, 1 ) \
|
||||
X( map, float, shadowclip, 1 ) \
|
||||
X( map, float, shadowscale, 1 ) \
|
||||
X( map, float, actuatortendon, 1 ) \
|
||||
X( scale, float, forcewidth, 1 ) \
|
||||
X( scale, float, contactwidth, 1 ) \
|
||||
X( scale, float, contactheight, 1 ) \
|
||||
X( scale, float, connect, 1 ) \
|
||||
X( scale, float, com, 1 ) \
|
||||
X( scale, float, camera, 1 ) \
|
||||
X( scale, float, light, 1 ) \
|
||||
X( scale, float, selectpoint, 1 ) \
|
||||
X( scale, float, jointlength, 1 ) \
|
||||
X( scale, float, jointwidth, 1 ) \
|
||||
X( scale, float, actuatorlength, 1 ) \
|
||||
X( scale, float, actuatorwidth, 1 ) \
|
||||
X( scale, float, framelength, 1 ) \
|
||||
X( scale, float, framewidth, 1 ) \
|
||||
X( scale, float, constraint, 1 ) \
|
||||
X( scale, float, slidercrank, 1 ) \
|
||||
X( scale, float, frustum, 1 ) \
|
||||
X( rgba, float, fog, 4 ) \
|
||||
X( rgba, float, haze, 4 ) \
|
||||
X( rgba, float, force, 4 ) \
|
||||
X( rgba, float, inertia, 4 ) \
|
||||
X( rgba, float, joint, 4 ) \
|
||||
X( rgba, float, actuator, 4 ) \
|
||||
X( rgba, float, actuatornegative, 4 ) \
|
||||
X( rgba, float, actuatorpositive, 4 ) \
|
||||
X( rgba, float, com, 4 ) \
|
||||
X( rgba, float, camera, 4 ) \
|
||||
X( rgba, float, light, 4 ) \
|
||||
X( rgba, float, selectpoint, 4 ) \
|
||||
X( rgba, float, connect, 4 ) \
|
||||
X( rgba, float, contactpoint, 4 ) \
|
||||
X( rgba, float, contactforce, 4 ) \
|
||||
X( rgba, float, contactfriction, 4 ) \
|
||||
X( rgba, float, contacttorque, 4 ) \
|
||||
X( rgba, float, contactgap, 4 ) \
|
||||
X( rgba, float, rangefinder, 4 ) \
|
||||
X( rgba, float, constraint, 4 ) \
|
||||
X( rgba, float, slidercrank, 4 ) \
|
||||
X( rgba, float, crankbroken, 4 ) \
|
||||
X( rgba, float, frustum, 4 ) \
|
||||
X( rgba, float, bv, 4 ) \
|
||||
X( rgba, float, bvactive, 4 )
|
||||
#define MJVISUAL_GLOBAL_FIELDS \
|
||||
X( int, cameraid ) \
|
||||
X( int, orthographic ) \
|
||||
X( float, fovy ) \
|
||||
X( float, ipd ) \
|
||||
X( float, azimuth ) \
|
||||
X( float, elevation ) \
|
||||
X( float, linewidth ) \
|
||||
X( float, glow ) \
|
||||
X( float, realtime ) \
|
||||
X( int, offwidth ) \
|
||||
X( int, offheight ) \
|
||||
X( int, ellipsoidinertia ) \
|
||||
X( int, bvactive )
|
||||
|
||||
#define MJVISUAL_QUALITY_FIELDS \
|
||||
X( shadowsize ) \
|
||||
X( offsamples ) \
|
||||
X( numslices ) \
|
||||
X( numstacks ) \
|
||||
X( numquads )
|
||||
|
||||
#define MJVISUAL_HEADLIGHT_FIELDS \
|
||||
XVEC( float, ambient, 3 ) \
|
||||
XVEC( float, diffuse, 3 ) \
|
||||
XVEC( float, specular, 3 ) \
|
||||
X ( int, active, 1 )
|
||||
|
||||
#define MJVISUAL_MAP_FIELDS \
|
||||
X( stiffness ) \
|
||||
X( stiffnessrot ) \
|
||||
X( force ) \
|
||||
X( torque ) \
|
||||
X( alpha ) \
|
||||
X( fogstart ) \
|
||||
X( fogend ) \
|
||||
X( znear ) \
|
||||
X( zfar ) \
|
||||
X( haze ) \
|
||||
X( shadowclip ) \
|
||||
X( shadowscale ) \
|
||||
X( actuatortendon )
|
||||
|
||||
#define MJVISUAL_SCALE_FIELDS \
|
||||
X( forcewidth ) \
|
||||
X( contactwidth ) \
|
||||
X( contactheight ) \
|
||||
X( connect ) \
|
||||
X( com ) \
|
||||
X( camera ) \
|
||||
X( light ) \
|
||||
X( selectpoint ) \
|
||||
X( jointlength ) \
|
||||
X( jointwidth ) \
|
||||
X( actuatorlength ) \
|
||||
X( actuatorwidth ) \
|
||||
X( framelength ) \
|
||||
X( framewidth ) \
|
||||
X( constraint ) \
|
||||
X( slidercrank ) \
|
||||
X( frustum )
|
||||
|
||||
#define MJVISUAL_RGBA_FIELDS \
|
||||
X( fog ) \
|
||||
X( haze ) \
|
||||
X( force ) \
|
||||
X( inertia ) \
|
||||
X( joint ) \
|
||||
X( actuator ) \
|
||||
X( actuatornegative ) \
|
||||
X( actuatorpositive ) \
|
||||
X( com ) \
|
||||
X( camera ) \
|
||||
X( light ) \
|
||||
X( selectpoint ) \
|
||||
X( connect ) \
|
||||
X( contactpoint ) \
|
||||
X( contactforce ) \
|
||||
X( contactfriction ) \
|
||||
X( contacttorque ) \
|
||||
X( contactgap ) \
|
||||
X( rangefinder ) \
|
||||
X( constraint ) \
|
||||
X( slidercrank ) \
|
||||
X( crankbroken ) \
|
||||
X( frustum ) \
|
||||
X( bv ) \
|
||||
X( bvactive )
|
||||
|
||||
|
||||
//-------------------------------- mjModel ---------------------------------------------------------
|
||||
|
||||
Reference in New Issue
Block a user