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Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.

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* 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
2026-02-13 09:09:45 -08:00
committed by Copybara-Service
parent 6d8b6028e2
commit 5274e5f720
7 changed files with 521 additions and 359 deletions
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python/mujoco/structs.h
+16 -36
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@@ -217,11 +217,13 @@ class MjWrapper<raw::MjOption> : public WrapperBase<raw::MjOption> {
MjWrapper(raw::MjOption* ptr, pybind11::handle owner);
~MjWrapper() = default;
#define X(var, dim) \
#define X(type, var, dim)
#define XVEC(type, var, dim) \
py_array_or_tuple_t< \
std::remove_all_extents_t<decltype(raw::MjOption::var)>> \
var;
MJOPTION_VECTORS
MJOPTION_FIELDS
#undef XVEC
#undef X
};
@@ -241,13 +243,13 @@ class MjWrapper<raw::MjVisualHeadlight>
MjWrapper(raw::MjVisualHeadlight* ptr, pybind11::handle owner);
~MjWrapper() = default;
#define X(var) \
#define X(type, var, dim)
#define XVEC(type, var, dim) \
py_array_or_tuple_t< \
std::remove_all_extents_t<decltype(raw::MjVisualHeadlight::var)>> \
var
X(ambient);
X(diffuse);
X(specular);
var;
MJVISUAL_HEADLIGHT_FIELDS
#undef XVEC
#undef X
};
@@ -268,32 +270,8 @@ class MjWrapper<raw::MjVisualRgba> : public WrapperBase<raw::MjVisualRgba> {
#define X(var) \
py_array_or_tuple_t< \
std::remove_all_extents_t<decltype(raw::MjVisualRgba::var)>> \
var
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);
var;
MJVISUAL_RGBA_FIELDS
#undef X
};
@@ -330,11 +308,13 @@ class MjWrapper<raw::MjStatistic> : public WrapperBase<raw::MjStatistic> {
MjWrapper(raw::MjStatistic* ptr, pybind11::handle owner);
~MjWrapper() = default;
#define X(var) \
#define X(var, dim)
#define XVEC(var, dim) \
py_array_or_tuple_t< \
std::remove_all_extents_t<decltype(raw::MjStatistic::var)>> \
var
X(center);
var;
MJSTATISTIC_FIELDS
#undef XVEC
#undef X
};