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Introduce new logging API, fixes #858

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PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
This commit is contained in:
Yuval Tassa
2026-06-11 14:36:17 -07:00
committed by Copybara-Service
parent a2abaf7aef
commit 58f6d52491
45 changed files with 2586 additions and 422 deletions
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unity/Runtime/Bindings/MjBindings.cs
+48
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@@ -516,6 +516,19 @@ public enum mjtSleepState : int{
mjS_ASLEEP = 0,
mjS_AWAKE = 1,
}
public enum mjtLogLevel : int{
mjLOG_DEBUG = 0,
mjLOG_INFO = 1,
mjLOG_WARNING = 2,
mjLOG_ERROR = 3,
}
public enum mjtLogTopic : int{
mjTOPIC_NONE = 0,
mjTOPIC_TIME_STP = 1,
mjTOPIC_TIME_CMP = 2,
mjTOPIC_SLEEP = 3,
mjNTOPIC = 3,
}
public enum mjtGeomInertia : int{
mjINERTIA_VOLUME = 0,
mjINERTIA_SHELL = 1,
@@ -803,6 +816,26 @@ public enum mjtSection : int{
// -------------------------------struct declarations---------------------------
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjLogMessage_ {
public int level;
public int topic;
public fixed char subject[1024];
public char* body;
public char* func;
public char* file;
public int line;
public byte timestamp;
}
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjLogConfig_ {
public byte logto_console;
public byte logto_file;
public fixed char logfile[1024];
public int topics;
}
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjLROpt_ {
public int mode;
@@ -7267,6 +7300,21 @@ public static unsafe extern void mju_warning([MarshalAs(UnmanagedType.LPStr)]str
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_clearHandlers();
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern IntPtr mju_setLogHandler(IntPtr handler);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern mjLogConfig_ mju_getLogConfig();
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_setLogConfig(mjLogConfig_ config);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_info(int topic, [MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_message(mjLogMessage_* msg);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void* mju_malloc(UIntPtr size);