Introduce mjtBool for boolean types.

PiperOrigin-RevId: 920201340
Change-Id: I3b19c11a00357e06a1df08b8819832955c37f9ff

doc/APIreference/APItypes.rst

@@ -84,13 +84,29 @@ changed by the user.
 mjtByte
 ^^^^^^^
 
-Byte type used to represent boolean variables.
+Byte type used to represent small integers and binary data.
 
 .. code-block:: C
 
    typedef unsigned char mjtByte;
 
 
+.. _mjtBool:
+
+mjtBool
+^^^^^^^
+
+Boolean type used to represent true/false values.
+
+.. code-block:: C
+
+   #ifndef __cplusplus
+     typedef _Bool mjtBool;
+   #else
+     typedef bool mjtBool;
+   #endif
+
+
 .. _mjtSize:
 
 mjtSize

doc/programming/index.rst

@@ -230,8 +230,7 @@ to which the symbol belongs. First we list the prefixes corresponding to type de
    Core simulation data structure (C struct), for example :ref:`mjModel`. If all characters
    after the prefix are capital, for example :ref:`mjMIN`, this is a macro or a symbol (#define).
 ``mjt``
-   Primitive type, for example :ref:`mjtGeom`. Except for mjtByte and mjtNum, all other
-   definitions in this family are enums.
+   Primitive type, for example :ref:`mjtNum` and :ref:`mjtGeom`. Most types in this family are enums.
 ``mjf``
    Callback function type, for example :ref:`mjfGeneric`.
 ``mjv``