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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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unity/Runtime/Bindings/MjBindings.cs
+37 -3
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@@ -57,6 +57,7 @@ public const bool mjEXTERNC = true;
public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
public const int mjNAUX = 10;
public const int mjMAXTEXTURE = 1000;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
public const int mjMAXTHREAD = 128;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
@@ -427,6 +428,39 @@ public enum mjtFont : int{
mjFONT_SHADOW = 1,
mjFONT_BIG = 2,
}
public enum mjtGeomInertia : int{
mjINERTIA_VOLUME = 1,
mjINERTIA_SHELL = 2,
}
public enum mjtBuiltin : int{
mjBUILTIN_NONE = 0,
mjBUILTIN_GRADIENT = 1,
mjBUILTIN_CHECKER = 2,
mjBUILTIN_FLAT = 3,
}
public enum mjtMark : int{
mjMARK_NONE = 0,
mjMARK_EDGE = 1,
mjMARK_CROSS = 2,
mjMARK_RANDOM = 3,
}
public enum mjtLimited : int{
mjLIMITED_FALSE = 0,
mjLIMITED_TRUE = 1,
mjLIMITED_AUTO = 2,
}
public enum mjtInertiaFromGeom : int{
mjINERTIAFROMGEOM_FALSE = 0,
mjINERTIAFROMGEOM_TRUE = 1,
mjINERTIAFROMGEOM_AUTO = 2,
}
public enum mjtOrientation : int{
mjORIENTATION_QUAT = 0,
mjORIENTATION_AXISANGLE = 1,
mjORIENTATION_XYAXES = 2,
mjORIENTATION_ZAXIS = 3,
mjORIENTATION_EULER = 4,
}
public enum mjtTaskStatus : int{
mjTASK_NEW = 0,
mjTASK_QUEUED = 1,
@@ -6358,9 +6392,6 @@ public static unsafe extern int mj_saveLastXML([MarshalAs(UnmanagedType.LPStr)]s
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_freeLastXML();
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_printSchema([MarshalAs(UnmanagedType.LPStr)]string filename, StringBuilder buffer, int buffer_sz, int flg_html, int flg_pad);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_step(mjModel_* m, mjData_* d);
@@ -6469,6 +6500,9 @@ public static unsafe extern void mju_printMat(double* mat, int nr, int nc);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_printMatSparse(double* mat, int nr, int* rownnz, int* rowadr, int* colind);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_printSchema([MarshalAs(UnmanagedType.LPStr)]string filename, StringBuilder buffer, int buffer_sz, int flg_html, int flg_pad);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_fwdPosition(mjModel_* m, mjData_* d);