Rename mjBuffer to mjByteVec.

PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14

doc/APIreference/APItypes.rst

@@ -1393,7 +1393,7 @@ Alternative orientation specifiers.
 
 .. _ArrayHandles:
 
-.. _mjBuffer:
+.. _mjByteVec:
 
 .. _mjString:
 
@@ -1419,7 +1419,6 @@ C handles for C++ strings and vector types. When using from C, use the provided
 
    #ifdef __cplusplus
      // C++: defined to be compatible with corresponding std types
-     using mjBuffer      = std::vector<std::byte>;
      using mjString      = std::string;
      using mjStringVec   = std::vector<std::string>;
      using mjIntVec      = std::vector<int>;
@@ -1427,9 +1426,9 @@ C handles for C++ strings and vector types. When using from C, use the provided
      using mjFloatVec    = std::vector<float>;
      using mjFloatVecVec = std::vector<std::vector<float>>;
      using mjDoubleVec   = std::vector<double>;
+     using mjByteVec     = std::vector<std::byte>;
    #else
      // C: opaque types
-     typedef void mjBuffer;
      typedef void mjString;
      typedef void mjStringVec;
      typedef void mjIntVec;
@@ -1437,6 +1436,7 @@ C handles for C++ strings and vector types. When using from C, use the provided
      typedef void mjFloatVec;
      typedef void mjFloatVecVec;
      typedef void mjDoubleVec;
+     typedef void mjByteVec;
    #endif
 
 

doc/includes/references.h

@@ -2028,7 +2028,7 @@ typedef struct mjsTexture_ {       // texture specification
   mjStringVec* cubefiles;          // different file for each side of the cube
 
   // method 4: from buffer read by user
-  mjBuffer* data;                  // texture data
+  mjByteVec* data;                  // texture data
 
   // flip options
   mjtByte hflip;                   // horizontal flip
@@ -3588,7 +3588,7 @@ mjsHField* mjs_asHField(mjsElement* element);
 mjsSkin* mjs_asSkin(mjsElement* element);
 mjsTexture* mjs_asTexture(mjsElement* element);
 mjsMaterial* mjs_asMaterial(mjsElement* element);
-void mjs_setBuffer(mjBuffer* dest, const void* array, int size);
+void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
 void mjs_setString(mjString* dest, const char* text);
 void mjs_setStringVec(mjStringVec* dest, const char* text);
 mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);

include/mujoco/mjspec.h

@@ -33,7 +33,6 @@ extern "C" {
 
 #ifdef __cplusplus
   // C++: defined to be compatible with corresponding std types
-  using mjBuffer      = std::vector<std::byte>;
   using mjString      = std::string;
   using mjStringVec   = std::vector<std::string>;
   using mjIntVec      = std::vector<int>;
@@ -41,9 +40,9 @@ extern "C" {
   using mjFloatVec    = std::vector<float>;
   using mjFloatVecVec = std::vector<std::vector<float>>;
   using mjDoubleVec   = std::vector<double>;
+  using mjByteVec     = std::vector<std::byte>;
 #else
   // C: opaque types
-  typedef void mjBuffer;
   typedef void mjString;
   typedef void mjStringVec;
   typedef void mjIntVec;
@@ -51,6 +50,7 @@ extern "C" {
   typedef void mjFloatVec;
   typedef void mjFloatVecVec;
   typedef void mjDoubleVec;
+  typedef void mjByteVec;
 #endif
 
 
@@ -515,7 +515,7 @@ typedef struct mjsTexture_ {       // texture specification
   mjStringVec* cubefiles;          // different file for each side of the cube
 
   // method 4: from buffer read by user
-  mjBuffer* data;                  // texture data
+  mjByteVec* data;                  // texture data
 
   // flip options
   mjtByte hflip;                   // horizontal flip

include/mujoco/mujoco.h

@@ -1630,7 +1630,7 @@ MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
 //---------------------------------- Attribute setters ---------------------------------------------
 
 // Copy buffer.
-MJAPI void mjs_setBuffer(mjBuffer* dest, const void* array, int size);
+MJAPI void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
 
 // Copy text to string.
 MJAPI void mjs_setString(mjString* dest, const char* text);

introspect/functions.py

@@ -10253,7 +10253,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
              FunctionParameterDecl(
                  name='dest',
                  type=PointerType(
-                     inner_type=ValueType(name='mjBuffer'),
+                     inner_type=ValueType(name='mjByteVec'),
                  ),
              ),
              FunctionParameterDecl(

introspect/structs.py

@@ -10014,7 +10014,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='data',
                  type=PointerType(
-                     inner_type=ValueType(name='mjBuffer'),
+                     inner_type=ValueType(name='mjByteVec'),
                  ),
                  doc='texture data',
              ),

python/mujoco/codegen/generate_spec_bindings.py

@@ -148,7 +148,7 @@ def _ptr_binding_code(
           self.{fullvarname}->push_back(py::cast<{vartype}>(val));
       }}
     }}, py::return_value_policy::reference_internal);"""
-  elif vartype == 'mjBuffer':  # C++ buffer -> Python list
+  elif vartype == 'mjByteVec':  # C++ buffer -> Python list
     return f"""\
   {classname}.def_property(
     "{varname}",

src/user/user_api.cc

@@ -885,7 +885,7 @@ mjsMaterial* mjs_asMaterial(mjsElement* element) {
 
 
 // copy buffer to destination buffer
-void mjs_setBuffer(mjBuffer* dest, const void* array, int size) {
+void mjs_setBuffer(mjByteVec* dest, const void* array, int size) {
   const std::byte* buffer = static_cast<const std::byte*>(array);
   dest->clear();
   dest->reserve(size);

src/user/user_api.h

@@ -303,7 +303,7 @@ MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
 //---------------------------------- Attribute setters ---------------------------------------------
 
 // Copy buffer.
-MJAPI void mjs_setBuffer(mjBuffer* dest, const void* array, int size);
+MJAPI void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
 
 // Copy text to string.
 MJAPI void mjs_setString(mjString* dest, const char* text);