Make model editing API public, fixes #364
Still missing: - Detailed documentation. - Python bindings. PiperOrigin-RevId: 641445626 Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
4c3d9461ae
commit
7a06bcfdaf
+735
-2
@@ -1598,6 +1598,637 @@ struct mjrContext_ { // custom OpenGL context
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int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
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};
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typedef struct mjrContext_ mjrContext;
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typedef enum mjtGeomInertia_ { // type of inertia inference
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mjINERTIA_VOLUME, // mass distributed in the volume
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mjINERTIA_SHELL, // mass distributed on the surface
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} mjtGeomInertia;
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typedef enum mjtBuiltin_ { // type of built-in procedural texture
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mjBUILTIN_NONE = 0, // no built-in texture
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mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
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mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
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mjBUILTIN_FLAT // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
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} mjtBuiltin;
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typedef enum mjtMark_ { // mark type for procedural textures
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mjMARK_NONE = 0, // no mark
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mjMARK_EDGE, // edges
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mjMARK_CROSS, // cross
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mjMARK_RANDOM // random dots
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} mjtMark;
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typedef enum mjtLimited_ { // type of limit specification
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mjLIMITED_FALSE = 0, // not limited
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mjLIMITED_TRUE, // limited
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mjLIMITED_AUTO, // limited inferred from presence of range
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} mjtLimited;
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typedef enum mjtInertiaFromGeom_ { // whether to infer body inertias from child geoms
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mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
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mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
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mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
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} mjtInertiaFromGeom;
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typedef enum mjtOrientation_ { // type of orientation specifier
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mjORIENTATION_QUAT = 0, // quaternion
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mjORIENTATION_AXISANGLE, // axis and angle
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mjORIENTATION_XYAXES, // x and y axes
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mjORIENTATION_ZAXIS, // z axis (minimal rotation)
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mjORIENTATION_EULER, // Euler angles
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} mjtOrientation;
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typedef struct mjsElement_ { // element type, do not modify
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mjtObj elemtype; // element type
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} mjsElement;
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typedef struct mjSpec_ { // model specification
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mjsElement* element; // element type
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mjString* modelname; // model name
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// compiler settings
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mjtByte autolimits; // infer "limited" attribute based on range
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double boundmass; // enforce minimum body mass
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double boundinertia; // enforce minimum body diagonal inertia
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double settotalmass; // rescale masses and inertias; <=0: ignore
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mjtByte balanceinertia; // automatically impose A + B >= C rule
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mjtByte strippath; // automatically strip paths from mesh files
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mjtByte fitaabb; // meshfit to aabb instead of inertia box
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mjtByte degree; // angles in radians or degrees
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char euler[3]; // sequence for euler rotations
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mjString* meshdir; // mesh and hfield directory
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mjString* texturedir; // texture directory
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mjtByte discardvisual; // discard visual geoms in parser
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mjtByte convexhull; // compute mesh convex hulls
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mjtByte usethread; // use multiple threads to speed up compiler
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mjtByte fusestatic; // fuse static bodies with parent
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int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
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int inertiagrouprange[2]; // range of geom groups used to compute inertia
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mjtByte exactmeshinertia; // if false, use old formula
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mjLROpt LRopt; // options for lengthrange computation
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// engine data
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mjOption option; // physics options
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mjVisual visual; // visual options
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mjStatistic stat; // statistics override (if defined)
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// sizes
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size_t memory; // number of bytes in arena+stack memory
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int nemax; // max number of equality constraints
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int nuserdata; // number of mjtNums in userdata
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int nuser_body; // number of mjtNums in body_user
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int nuser_jnt; // number of mjtNums in jnt_user
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int nuser_geom; // number of mjtNums in geom_user
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int nuser_site; // number of mjtNums in site_user
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int nuser_cam; // number of mjtNums in cam_user
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int nuser_tendon; // number of mjtNums in tendon_user
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int nuser_actuator; // number of mjtNums in actuator_user
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int nuser_sensor; // number of mjtNums in sensor_user
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int nkey; // number of keyframes
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int njmax; // (deprecated) max number of constraints
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int nconmax; // (deprecated) max number of detected contacts
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size_t nstack; // (deprecated) number of mjtNums in mjData stack
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// global data
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mjString* comment; // comment at top of XML
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mjString* modelfiledir; // path to model file
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// other
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mjtByte hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
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} mjSpec;
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typedef struct mjsOrientation_ { // alternative orientation specifiers
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mjtOrientation type; // active orientation specifier
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double axisangle[4]; // axis and angle
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double xyaxes[6]; // x and y axes
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double zaxis[3]; // z axis (minimal rotation)
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double euler[3]; // Euler angles
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} mjsOrientation;
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typedef struct mjsPlugin_ { // plugin specification
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mjsElement* instance; // element type
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mjString* name; // name
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mjString* instance_name; // instance name
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int plugin_slot; // global registered slot number of the plugin
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mjtByte active; // is the plugin active
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mjString* info; // message appended to compiler errors
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} mjsPlugin;
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typedef struct mjsBody_ { // body specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* childclass; // childclass name
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// body frame
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double pos[3]; // frame position
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double quat[4]; // frame orientation
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mjsOrientation alt; // frame alternative orientation
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// inertial frame
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double mass; // mass
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double ipos[3]; // inertial frame position
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double iquat[4]; // inertial frame orientation
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double inertia[3]; // diagonal inertia (in i-frame)
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mjsOrientation ialt; // inertial frame alternative orientation
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double fullinertia[6]; // non-axis-aligned inertia matrix
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// other
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mjtByte mocap; // is this a mocap body
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double gravcomp; // gravity compensation
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mjDoubleVec* userdata; // user data
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mjtByte explicitinertial; // whether to save the body with explicit inertial clause
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mjsPlugin plugin; // passive force plugin
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mjString* info; // message appended to compiler errors
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} mjsBody;
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typedef struct mjsFrame_ { // frame specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* childclass; // childclass name
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double pos[3]; // position
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double quat[4]; // orientation
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mjsOrientation alt; // alternative orientation
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mjString* info; // message appended to compiler errors
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} mjsFrame;
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typedef struct mjsJoint_ { // joint specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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mjtJoint type; // joint type
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// kinematics
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double pos[3]; // anchor position
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double axis[3]; // joint axis
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double ref; // value at reference configuration: qpos0
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// stiffness
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double stiffness; // stiffness coefficient
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double springref; // spring reference value: qpos_spring
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double springdamper[2]; // timeconst, dampratio
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// limits
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int limited; // does joint have limits (mjtLimited)
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double range[2]; // joint limits
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double margin; // margin value for joint limit detection
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mjtNum solref_limit[mjNREF]; // solver reference: joint limits
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mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
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int actfrclimited; // are actuator forces on joint limited (mjtLimited)
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double actfrcrange[2]; // actuator force limits
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// dof properties
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double armature; // armature inertia (mass for slider)
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double damping; // damping coefficient
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double frictionloss; // friction loss
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mjtNum solref_friction[mjNREF]; // solver reference: dof friction
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mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
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// other
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int group; // group
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mjtByte actgravcomp; // is gravcomp force applied via actuators
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mjDoubleVec* userdata; // user data
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mjString* info; // message appended to compiler errors
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} mjsJoint;
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typedef struct mjsGeom_ { // geom specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // classname
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mjtGeom type; // geom type
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// frame, size
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double pos[3]; // position
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double quat[4]; // orientation
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mjsOrientation alt; // alternative orientation
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double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
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double size[3]; // type-specific size
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// contact related
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int contype; // contact type
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int conaffinity; // contact affinity
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int condim; // contact dimensionality
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int priority; // contact priority
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double friction[3]; // one-sided friction coefficients: slide, roll, spin
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double solmix; // solver mixing for contact pairs
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mjtNum solref[mjNREF]; // solver reference
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mjtNum solimp[mjNIMP]; // solver impedance
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double margin; // margin for contact detection
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double gap; // include in solver if dist < margin-gap
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// inertia inference
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double mass; // used to compute density
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double density; // used to compute mass and inertia from volume or surface
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mjtGeomInertia typeinertia; // selects between surface and volume inertia
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// fluid forces
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mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
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mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
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// visual
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mjString* material; // name of material
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float rgba[4]; // rgba when material is omitted
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int group; // group
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// other
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mjString* hfieldname; // heightfield attached to geom
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mjString* meshname; // mesh attached to geom
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double fitscale; // scale mesh uniformly
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mjDoubleVec* userdata; // user data
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mjsPlugin plugin; // sdf plugin
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mjString* info; // message appended to compiler errors
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} mjsGeom;
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typedef struct mjsSite_ { // site specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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// frame, size
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double pos[3]; // position
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double quat[4]; // orientation
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mjsOrientation alt; // alternative orientation
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double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
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double size[3]; // geom size
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// visual
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mjtGeom type; // geom type
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mjString* material; // name of material
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int group; // group
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float rgba[4]; // rgba when material is omitted
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// other
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mjDoubleVec* userdata; // user data
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mjString* info; // message appended to compiler errors
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} mjsSite;
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typedef struct mjsCamera_ { // camera specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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// extrinsics
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double pos[3]; // position
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double quat[4]; // orientation
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mjsOrientation alt; // alternative orientation
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mjtCamLight mode; // tracking mode
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mjString* targetbody; // target body for tracking/targeting
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// intrinsics
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double fovy; // y-field of view
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double ipd; // inter-pupilary distance
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float intrinsic[4]; // camera intrinsics (length)
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float sensor_size[2]; // sensor size (length)
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float resolution[2]; // resolution (pixel)
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float focal_length[2]; // focal length (length)
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float focal_pixel[2]; // focal length (pixel)
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float principal_length[2]; // principal point (length)
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float principal_pixel[2]; // principal point (pixel)
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// other
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mjDoubleVec* userdata; // user data
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mjString* info; // message appended to compiler errors
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} mjsCamera;
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typedef struct mjsLight_ { // light specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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// frame
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double pos[3]; // position
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double dir[3]; // direction
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mjtCamLight mode; // tracking mode
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mjString* targetbody; // target body for targeting
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// intrinsics
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mjtByte active; // is light active
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mjtByte directional; // is light directional or spot
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mjtByte castshadow; // does light cast shadows
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double bulbradius; // bulb radius, for soft shadows
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float attenuation[3]; // OpenGL attenuation (quadratic model)
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float cutoff; // OpenGL cutoff
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float exponent; // OpenGL exponent
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float ambient[3]; // ambient color
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float diffuse[3]; // diffuse color
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float specular[3]; // specular color
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// other
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mjString* info; // message appended to compiler errorsx
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} mjsLight;
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typedef struct mjsFlex_ { // flex specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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// contact properties
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int contype; // contact type
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int conaffinity; // contact affinity
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int condim; // contact dimensionality
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int priority; // contact priority
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double friction[3]; // one-sided friction coefficients: slide, roll, spin
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double solmix; // solver mixing for contact pairs
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mjtNum solref[mjNREF]; // solver reference
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mjtNum solimp[mjNIMP]; // solver impedance
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double margin; // margin for contact detection
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double gap; // include in solver if dist<margin-gap
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// other properties
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int dim; // element dimensionality
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double radius; // radius around primitive element
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mjtByte internal; // enable internal collisions
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mjtByte flatskin; // render flex skin with flat shading
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int selfcollide; // mode for flex self colllision
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int activelayers; // number of active element layers in 3D
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int group; // group for visualizatioh
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double edgestiffness; // edge stiffness
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double edgedamping; // edge damping
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float rgba[4]; // rgba when material is omitted
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mjString* material; // name of material used for rendering
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// mesh properties
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mjStringVec* vertbody; // vertex body names
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mjDoubleVec* vert; // vertex positions
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mjIntVec* elem; // element vertex ids
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mjFloatVec* texcoord; // vertex texture coordinates
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// other
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mjString* info; // message appended to compiler errors
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} mjsFlex;
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typedef struct mjsMesh_ { // mesh specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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mjString* content_type; // content type of file
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mjString* file; // mesh file
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double refpos[3]; // reference position
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double refquat[4]; // reference orientation
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double scale[3]; // rescale mesh
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mjtByte smoothnormal; // do not exclude large-angle faces from normals
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int maxhullvert; // maximum vertex count for the convex hull
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mjFloatVec* uservert; // user vertex data
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mjFloatVec* usernormal; // user normal data
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mjFloatVec* usertexcoord; // user texcoord data
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mjIntVec* userface; // user vertex indices
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mjIntVec* userfacenormal; // user normal indices
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mjIntVec* userfacetexcoord; // user texcoord indices
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mjsPlugin plugin; // sdf plugin
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mjString* info; // message appended to compiler errors
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} mjsMesh;
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typedef struct mjsHField_ { // height field specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* content_type; // content type of file
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mjString* file; // file: (nrow, ncol, [elevation data])
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double size[4]; // hfield size (ignore referencing geom size)
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int nrow; // number of rows
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int ncol; // number of columns
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mjFloatVec* userdata; // user-provided elevation data
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mjString* info; // message appended to compiler errors
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} mjsHField;
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typedef struct mjsSkin_ { // skin specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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mjString* file; // skin file
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mjString* material; // name of material used for rendering
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float rgba[4]; // rgba when material is omitted
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float inflate; // inflate in normal direction
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int group; // group for visualization
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// mesh
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mjFloatVec* vert; // vertex positions
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mjFloatVec* texcoord; // texture coordinates
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mjIntVec* face; // faces
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// skin
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mjStringVec* bodyname; // body names
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mjFloatVec* bindpos; // bind pos
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mjFloatVec* bindquat; // bind quat
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mjIntVecVec* vertid; // vertex ids
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mjFloatVecVec* vertweight; // vertex weights
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// other
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mjString* info; // message appended to compiler errors
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} mjsSkin;
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typedef struct mjsTexture_ { // texture specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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mjtTexture type; // texture type
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// method 1: builtin
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int builtin; // builtin type (mjtBuiltin)
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int mark; // mark type (mjtMark)
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double rgb1[3]; // first color for builtin
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double rgb2[3]; // second color for builtin
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double markrgb[3]; // mark color
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double random; // probability of random dots
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int height; // height in pixels (square for cube and skybox)
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int width; // width in pixels
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// method 2: single file
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mjString* content_type; // content type of file
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mjString* file; // png file to load; use for all sides of cube
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int gridsize[2]; // size of grid for composite file; (1,1)-repeat
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char gridlayout[13]; // row-major: L,R,F,B,U,D for faces; . for unused
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// method 3: separate files
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mjStringVec* cubefiles; // different file for each side of the cube
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// flip options
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mjtByte hflip; // horizontal flip
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mjtByte vflip; // vertical flip
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// other
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mjString* info; // message appended to compiler errors
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} mjsTexture;
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typedef struct mjsMaterial_ { // material specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* classname; // class name
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mjString* texture; // name of texture (empty: none)
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mjtByte texuniform; // make texture cube uniform
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float texrepeat[2]; // texture repetition for 2D mapping
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float emission; // emission
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float specular; // specular
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float shininess; // shininess
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float reflectance; // reflectance
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float metallic; // metallic
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float roughness; // roughness
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float rgba[4]; // rgba
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsMaterial;
|
||||
typedef struct mjsPair_ { // pair specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* classname; // class name
|
||||
mjString* geomname1; // name of geom 1
|
||||
mjString* geomname2; // name of geom 2
|
||||
|
||||
// optional parameters: computed from geoms if not set by user
|
||||
int condim; // contact dimensionality
|
||||
mjtNum solref[mjNREF]; // solver reference, normal direction
|
||||
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
|
||||
mjtNum solimp[mjNIMP]; // solver impedance
|
||||
double margin; // margin for contact detection
|
||||
double gap; // include in solver if dist<margin-gap
|
||||
double friction[5]; // full contact friction
|
||||
mjString* info; // message appended to errors
|
||||
} mjsPair;
|
||||
typedef struct mjsExclude_ { // exclude specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* bodyname1; // name of geom 1
|
||||
mjString* bodyname2; // name of geom 2
|
||||
mjString* info; // message appended to errors
|
||||
} mjsExclude;
|
||||
typedef struct mjsEquality_ { // equality specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* classname; // class name
|
||||
mjtEq type; // constraint type
|
||||
double data[mjNEQDATA]; // type-dependent data
|
||||
mjtByte active; // is equality initially active
|
||||
mjString* name1; // name of object 1
|
||||
mjString* name2; // name of object 2
|
||||
mjtNum solref[mjNREF]; // solver reference
|
||||
mjtNum solimp[mjNIMP]; // solver impedance
|
||||
mjString* info; // message appended to errors
|
||||
} mjsEquality;
|
||||
typedef struct mjsTendon_ { // tendon specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* classname; // class name
|
||||
|
||||
// stiffness, damping, friction
|
||||
double stiffness; // stiffness coefficient
|
||||
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
|
||||
double damping; // damping coefficient
|
||||
double frictionloss; // friction loss
|
||||
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
|
||||
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
|
||||
|
||||
// length range
|
||||
int limited; // does tendon have limits (mjtLimited)
|
||||
double range[2]; // length limits
|
||||
double margin; // margin value for tendon limit detection
|
||||
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
|
||||
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
|
||||
|
||||
// visual
|
||||
mjString* material; // name of material for rendering
|
||||
double width; // width for rendering
|
||||
float rgba[4]; // rgba when material is omitted
|
||||
int group; // group
|
||||
|
||||
// other
|
||||
mjDoubleVec* userdata; // user data
|
||||
mjString* info; // message appended to errors
|
||||
} mjsTendon;
|
||||
typedef struct mjsWrap_ { // wrapping object specification
|
||||
mjsElement* element; // element type
|
||||
mjString* info; // message appended to errors
|
||||
} mjsWrap;
|
||||
typedef struct mjsActuator_ { // actuator specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* classname; // class name
|
||||
|
||||
// gain, bias
|
||||
mjtGain gaintype; // gain type
|
||||
double gainprm[mjNGAIN]; // gain parameters
|
||||
mjtBias biastype; // bias type
|
||||
double biasprm[mjNGAIN]; // bias parameters
|
||||
|
||||
// activation state
|
||||
mjtDyn dyntype; // dynamics type
|
||||
double dynprm[mjNDYN]; // dynamics parameters
|
||||
int actdim; // number of activation variables
|
||||
int plugin_actdim; // actuator state size for plugins
|
||||
mjtByte actearly; // apply next activations to qfrc
|
||||
|
||||
// transmission
|
||||
mjtTrn trntype; // transmission type
|
||||
double gear[6]; // length and transmitted force scaling
|
||||
mjString* target; // name of transmission target
|
||||
mjString* refsite; // reference site, for site transmission
|
||||
mjString* slidersite; // site defining cylinder, for slider-crank
|
||||
double cranklength; // crank length, for slider-crank
|
||||
double lengthrange[2]; // transmission length range
|
||||
double inheritrange; // automatic range setting for position and intvelocity
|
||||
|
||||
// input/output clamping
|
||||
int ctrllimited; // are control limits defined (mjtLimited)
|
||||
double ctrlrange[2]; // control range
|
||||
int forcelimited; // are force limits defined (mjtLimited)
|
||||
double forcerange[2]; // force range
|
||||
int actlimited; // are activation limits defined (mjtLimited)
|
||||
double actrange[2]; // activation range
|
||||
|
||||
// other
|
||||
int group; // group
|
||||
mjDoubleVec* userdata; // user data
|
||||
mjsPlugin plugin; // actuator plugin
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsActuator;
|
||||
typedef struct mjsSensor_ { // sensor specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* classname; // class name
|
||||
|
||||
// sensor definition
|
||||
mjtSensor type; // type of sensor
|
||||
mjtObj objtype; // type of sensorized object
|
||||
mjString* objname; // name of sensorized object
|
||||
mjtObj reftype; // type of referenced object
|
||||
mjString* refname; // name of referenced object
|
||||
|
||||
// user-defined sensors
|
||||
mjtDataType datatype; // data type for sensor measurement
|
||||
mjtStage needstage; // compute stage needed to simulate sensor
|
||||
int dim; // number of scalar outputs
|
||||
|
||||
// output post-processing
|
||||
double cutoff; // cutoff for real and positive datatypes
|
||||
double noise; // noise stdev
|
||||
|
||||
// other
|
||||
mjDoubleVec* userdata; // user data
|
||||
mjsPlugin plugin; // sensor plugin
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsSensor;
|
||||
typedef struct mjsNumeric_ { // custom numeric field specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjDoubleVec* data; // initialization data
|
||||
int size; // array size, can be bigger than data size
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsNumeric;
|
||||
typedef struct mjsText_ { // custom text specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjString* data; // text string
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsText;
|
||||
typedef struct mjsTuple_ { // tuple specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
mjIntVec* objtype; // object types
|
||||
mjStringVec* objname; // object names
|
||||
mjDoubleVec* objprm; // object parameters
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsTuple;
|
||||
typedef struct mjsKey_ { // keyframe specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // name
|
||||
double time; // time
|
||||
mjDoubleVec* qpos; // qpos
|
||||
mjDoubleVec* qvel; // qvel
|
||||
mjDoubleVec* act; // act
|
||||
mjDoubleVec* mpos; // mocap pos
|
||||
mjDoubleVec* mquat; // mocap quat
|
||||
mjDoubleVec* ctrl; // ctrl
|
||||
mjString* info; // message appended to compiler errors
|
||||
} mjsKey;
|
||||
typedef struct mjsDefault_ { // default specification
|
||||
mjsElement* element; // element type
|
||||
mjString* name; // class name
|
||||
mjsJoint* joint; // joint defaults
|
||||
mjsGeom* geom; // geom defaults
|
||||
mjsSite* site; // site defaults
|
||||
mjsCamera* camera; // camera defaults
|
||||
mjsLight* light; // light defaults
|
||||
mjsFlex* flex; // flex defaults
|
||||
mjsMesh* mesh; // mesh defaults
|
||||
mjsMaterial* material; // material defaults
|
||||
mjsPair* pair; // pair defaults
|
||||
mjsEquality* equality; // equality defaults
|
||||
mjsTendon* tendon; // tendon defaults
|
||||
mjsActuator* actuator; // actuator defaults
|
||||
} mjsDefault;
|
||||
typedef enum mjtTaskStatus_ { // status values for mjTask
|
||||
mjTASK_NEW = 0, // newly created
|
||||
mjTASK_QUEUED, // enqueued in a thread pool
|
||||
@@ -2431,10 +3062,15 @@ int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
|
||||
void mj_deleteVFS(mjVFS* vfs);
|
||||
int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
|
||||
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
|
||||
mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
|
||||
mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
|
||||
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
|
||||
void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
|
||||
int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
|
||||
void mj_freeLastXML(void);
|
||||
int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
|
||||
int flg_html, int flg_pad);
|
||||
void mj_copyBack(mjSpec* s, const mjModel* m);
|
||||
int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
|
||||
int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
|
||||
void mj_step(const mjModel* m, mjData* d);
|
||||
void mj_step1(const mjModel* m, mjData* d);
|
||||
void mj_step2(const mjModel* m, mjData* d);
|
||||
@@ -2466,6 +3102,9 @@ void mj_resetCallbacks(void);
|
||||
void mj_setConst(mjModel* m, mjData* d);
|
||||
int mj_setLengthRange(mjModel* m, mjData* d, int index,
|
||||
const mjLROpt* opt, char* error, int error_sz);
|
||||
mjSpec* mj_makeSpec(void);
|
||||
mjSpec* mj_copySpec(const mjSpec* s);
|
||||
void mj_deleteSpec(mjSpec* s);
|
||||
void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
|
||||
void mj_printModel(const mjModel* m, const char* filename);
|
||||
void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
|
||||
@@ -2474,6 +3113,8 @@ void mj_printData(const mjModel* m, mjData* d, const char* filename);
|
||||
void mju_printMat(const mjtNum* mat, int nr, int nc);
|
||||
void mju_printMatSparse(const mjtNum* mat, int nr,
|
||||
const int* rownnz, const int* rowadr, const int* colind);
|
||||
int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
|
||||
int flg_html, int flg_pad);
|
||||
void mj_fwdPosition(const mjModel* m, mjData* d);
|
||||
void mj_fwdVelocity(const mjModel* m, mjData* d);
|
||||
void mj_fwdActuation(const mjModel* m, mjData* d);
|
||||
@@ -2695,6 +3336,8 @@ void* mju_malloc(size_t size);
|
||||
void mju_free(void* ptr);
|
||||
void mj_warning(mjData* d, int warning, int info);
|
||||
void mju_writeLog(const char* type, const char* msg);
|
||||
const char* mjs_getError(mjSpec* s);
|
||||
int mjs_isWarning(mjSpec* s);
|
||||
void mju_zero3(mjtNum res[3]);
|
||||
void mju_copy3(mjtNum res[3], const mjtNum data[3]);
|
||||
void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
|
||||
@@ -2838,4 +3481,94 @@ void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
|
||||
void mju_threadPoolDestroy(mjThreadPool* thread_pool);
|
||||
void mju_defaultTask(mjTask* task);
|
||||
void mju_taskJoin(mjTask* task);
|
||||
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
|
||||
const char* prefix, const char* suffix);
|
||||
int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
|
||||
const char* prefix, const char* suffix);
|
||||
int mjs_detachBody(mjSpec* s, mjsBody* b);
|
||||
mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
|
||||
mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
|
||||
mjsJoint* mjs_addJoint(mjsBody* body, mjsDefault* def);
|
||||
mjsJoint* mjs_addFreeJoint(mjsBody* body);
|
||||
mjsGeom* mjs_addGeom(mjsBody* body, mjsDefault* def);
|
||||
mjsCamera* mjs_addCamera(mjsBody* body, mjsDefault* def);
|
||||
mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
|
||||
mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
|
||||
void mjs_delete(mjsElement* element);
|
||||
mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
|
||||
mjsSensor* mjs_addSensor(mjSpec* s);
|
||||
mjsFlex* mjs_addFlex(mjSpec* s);
|
||||
mjsPair* mjs_addPair(mjSpec* s, mjsDefault* def);
|
||||
mjsExclude* mjs_addExclude(mjSpec* s);
|
||||
mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* def);
|
||||
mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* def);
|
||||
mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
|
||||
mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
|
||||
mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
|
||||
mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
|
||||
mjsNumeric* mjs_addNumeric(mjSpec* s);
|
||||
mjsText* mjs_addText(mjSpec* s);
|
||||
mjsTuple* mjs_addTuple(mjSpec* s);
|
||||
mjsKey* mjs_addKey(mjSpec* s);
|
||||
mjsPlugin* mjs_addPlugin(mjSpec* s);
|
||||
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
|
||||
mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
|
||||
mjsHField* mjs_addHField(mjSpec* s);
|
||||
mjsSkin* mjs_addSkin(mjSpec* s);
|
||||
mjsTexture* mjs_addTexture(mjSpec* s);
|
||||
mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
|
||||
mjSpec* mjs_getSpec(mjsBody* body);
|
||||
mjsBody* mjs_findBody(mjSpec* s, const char* name);
|
||||
mjsBody* mjs_findChild(mjsBody* body, const char* name);
|
||||
mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
|
||||
mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
|
||||
mjsDefault* mjs_getDefault(mjsElement* element);
|
||||
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
|
||||
mjsDefault* mjs_getSpecDefault(mjSpec* s);
|
||||
int mjs_getId(mjsElement* element);
|
||||
mjsElement* mjs_firstChild(mjsBody* body, mjtObj type);
|
||||
mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child);
|
||||
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);
|
||||
void mjs_appendString(mjStringVec* dest, const char* text);
|
||||
void mjs_setInt(mjIntVec* dest, const int* array, int size);
|
||||
void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
|
||||
void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
|
||||
void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
|
||||
void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
|
||||
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
|
||||
const char* mjs_getString(const mjString* source);
|
||||
const double* mjs_getDouble(const mjDoubleVec* source, int* size);
|
||||
void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
|
||||
void mjs_setDefault(mjsElement* element, mjsDefault* def);
|
||||
void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
|
||||
const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
|
||||
const mjsOrientation* orientation);
|
||||
const char* mjs_fullInertia(double quat[4], double inertia[3], const double fullinertia[6]);
|
||||
void mjs_defaultSpec(mjSpec* spec);
|
||||
void mjs_defaultOrientation(mjsOrientation* orient);
|
||||
void mjs_defaultBody(mjsBody* body);
|
||||
void mjs_defaultFrame(mjsFrame* frame);
|
||||
void mjs_defaultJoint(mjsJoint* joint);
|
||||
void mjs_defaultGeom(mjsGeom* geom);
|
||||
void mjs_defaultSite(mjsSite* site);
|
||||
void mjs_defaultCamera(mjsCamera* camera);
|
||||
void mjs_defaultLight(mjsLight* light);
|
||||
void mjs_defaultFlex(mjsFlex* flex);
|
||||
void mjs_defaultMesh(mjsMesh* mesh);
|
||||
void mjs_defaultHField(mjsHField* hfield);
|
||||
void mjs_defaultSkin(mjsSkin* skin);
|
||||
void mjs_defaultTexture(mjsTexture* texture);
|
||||
void mjs_defaultMaterial(mjsMaterial* material);
|
||||
void mjs_defaultPair(mjsPair* pair);
|
||||
void mjs_defaultEquality(mjsEquality* equality);
|
||||
void mjs_defaultTendon(mjsTendon* tendon);
|
||||
void mjs_defaultActuator(mjsActuator* actuator);
|
||||
void mjs_defaultSensor(mjsSensor* sensor);
|
||||
void mjs_defaultNumeric(mjsNumeric* numeric);
|
||||
void mjs_defaultText(mjsText* text);
|
||||
void mjs_defaultTuple(mjsTuple* tuple);
|
||||
void mjs_defaultKey(mjsKey* key);
|
||||
void mjs_defaultPlugin(mjsPlugin* plugin);
|
||||
// NOLINTEND
|
||||
|
||||
Reference in New Issue
Block a user