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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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src/engine/engine_print.c
+112 -36
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@@ -24,6 +24,7 @@
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjtnum.h>
#include <mujoco/mjxmacro.h>
#include "engine/engine_core_constraint.h"
#include "engine/engine_core_util.h"
@@ -600,33 +601,111 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
#undef X
fprintf(fp, "\n");
// scalar options
// options
fprintf(fp, "OPTION\n");
#define X( type, name ) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, float_format, m->opt.name); \
#define X(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
const char* format = \
_Generic(m->opt.name, mjtNum: float_format, int: INT_FORMAT); \
fprintf(fp, format, m->opt.name); \
} \
fprintf(fp, "\n");
#define XVEC(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
const char* format = \
_Generic(m->opt.name[0], mjtNum: float_format, int: INT_FORMAT); \
for (int i = 0; i < sz; i++) { \
fprintf(fp, format, m->opt.name[i]); \
} \
} \
fprintf(fp, "\n");
MJOPTION_FLOATS
MJOPTION_FIELDS
#undef XVEC
#undef X
#define X( type, name ) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, INT_FORMAT "\n", m->opt.name);
MJOPTION_INTS
#undef X
// vector options
#define X( name, sz ) \
fprintf(fp, NAME_FORMAT, " " #name); \
for (int i=0; i < sz; i++) { \
fprintf(fp, float_format, m->opt.name[i]); \
fprintf(fp, " "); \
} \
fprintf(fp, "\n");
MJOPTION_VECTORS
// visual
fprintf(fp, "VISUAL\n");
fprintf(fp, " GLOBAL\n");
#define X(type, name) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
const char* format = \
_Generic(m->vis.global.name, float: float_format, int: INT_FORMAT); \
fprintf(fp, format, m->vis.global.name); \
} \
fprintf(fp, "\n");
MJVISUAL_GLOBAL_FIELDS
#undef X
fprintf(fp, " QUALITY\n");
#define X(name) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, INT_FORMAT, m->vis.quality.name); \
fprintf(fp, "\n");
MJVISUAL_QUALITY_FIELDS
#undef X
fprintf(fp, " HEADLIGHT\n");
#define X(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
const char* format = \
_Generic(m->vis.headlight.name, float: float_format, int: INT_FORMAT); \
fprintf(fp, format, m->vis.headlight.name); \
} \
fprintf(fp, "\n");
#define XVEC(type, name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
const char* format = _Generic( \
m->vis.headlight.name[0], \
float: float_format, \
int: INT_FORMAT); \
for (int i = 0; i < sz; i++) { \
fprintf(fp, format, m->vis.headlight.name[i]); \
} \
} \
fprintf(fp, "\n");
MJVISUAL_HEADLIGHT_FIELDS
#undef XVEC
#undef X
fprintf(fp, " MAP\n");
#define X(name) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, float_format, m->vis.map.name); \
fprintf(fp, "\n");
MJVISUAL_MAP_FIELDS
#undef X
fprintf(fp, " SCALE\n");
#define X(name) \
fprintf(fp, NAME_FORMAT, " " #name); \
fprintf(fp, float_format, m->vis.scale.name); \
fprintf(fp, "\n");
MJVISUAL_SCALE_FIELDS
#undef X
fprintf(fp, " RGBA\n");
#define X(name) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
for (int i = 0; i < 4; i++) { \
fprintf(fp, float_format, m->vis.rgba.name[i]); \
} \
} \
fprintf(fp, "\n");
MJVISUAL_RGBA_FIELDS
#undef X
fprintf(fp, "\n");
@@ -637,23 +716,20 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// statistics
fprintf(fp, "STATISTIC\n");
fprintf(fp, NAME_FORMAT, " meaninertia");
fprintf(fp, float_format, m->stat.meaninertia);
#define X(name, sz) \
fprintf(fp, NAME_FORMAT, " " #name); \
{ \
for (int i = 0; i < sz; i++) { \
fprintf(fp, float_format, ((mjtNum*)(&m->stat.name))[i]); \
} \
} \
fprintf(fp, "\n");
fprintf(fp, NAME_FORMAT, " meanmass");
fprintf(fp, float_format, m->stat.meanmass);
#define XVEC X
MJSTATISTIC_FIELDS
#undef XVEC
#undef X
fprintf(fp, "\n");
fprintf(fp, NAME_FORMAT, " meansize");
fprintf(fp, float_format, m->stat.meansize);
fprintf(fp, "\n");
fprintf(fp, NAME_FORMAT, " extent");
fprintf(fp, float_format, m->stat.extent);
fprintf(fp, "\n");
fprintf(fp, NAME_FORMAT, " center");
fprintf(fp, float_format, m->stat.center[0]);
fprintf(fp, float_format, m->stat.center[1]);
fprintf(fp, float_format, m->stat.center[2]);
fprintf(fp, "\n\n");
// qpos0
fprintf(fp, NAME_FORMAT, "qpos0");