Refactor MJMODEL_POINTERS into category-specific macros.
PiperOrigin-RevId: 802089588 Change-Id: Id3443f88e8243c5167a23b6e42eb32a32f88e8d3
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8d884585dd
commit
7a93e22514
+90
-33
@@ -181,9 +181,7 @@
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// pointer fields of mjModel
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// XNV means that the field is not required to construct mjvScene
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// (by default we define XNV to be the same as X)
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#define MJMODEL_POINTERS \
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X ( mjtNum, qpos0, nq, 1 ) \
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X ( mjtNum, qpos_spring, nq, 1 ) \
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#define MJMODEL_POINTERS_BODY \
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X ( int, body_parentid, nbody, 1 ) \
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X ( int, body_rootid, nbody, 1 ) \
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X ( int, body_weldid, nbody, 1 ) \
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@@ -212,15 +210,9 @@
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X ( int, body_contype, nbody, 1 ) \
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X ( int, body_conaffinity, nbody, 1 ) \
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X ( int, body_bvhadr, nbody, 1 ) \
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X ( int, body_bvhnum, nbody, 1 ) \
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X ( int, bvh_depth, nbvh, 1 ) \
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X ( int, bvh_child, nbvh, 2 ) \
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X ( int, bvh_nodeid, nbvh, 1 ) \
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X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
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X ( int, oct_depth, noct, 1 ) \
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X ( int, oct_child, noct, 8 ) \
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X ( mjtNum, oct_aabb, noct, 6 ) \
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X ( mjtNum, oct_coeff, noct, 8 ) \
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X ( int, body_bvhnum, nbody, 1 )
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#define MJMODEL_POINTERS_JOINT \
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X ( int, jnt_type, njnt, 1 ) \
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X ( int, jnt_qposadr, njnt, 1 ) \
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X ( int, jnt_dofadr, njnt, 1 ) \
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@@ -237,7 +229,9 @@
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X ( mjtNum, jnt_range, njnt, 2 ) \
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X ( mjtNum, jnt_actfrcrange, njnt, 2 ) \
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X ( mjtNum, jnt_margin, njnt, 1 ) \
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X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) ) \
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X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) )
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#define MJMODEL_POINTERS_DOF \
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X ( int, dof_bodyid, nv, 1 ) \
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X ( int, dof_jntid, nv, 1 ) \
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X ( int, dof_parentid, nv, 1 ) \
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@@ -250,7 +244,9 @@
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X ( mjtNum, dof_armature, nv, 1 ) \
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X ( mjtNum, dof_damping, nv, 1 ) \
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X ( mjtNum, dof_invweight0, nv, 1 ) \
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X ( mjtNum, dof_M0, nv, 1 ) \
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X ( mjtNum, dof_M0, nv, 1 )
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#define MJMODEL_POINTERS_GEOM \
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X ( int, geom_type, ngeom, 1 ) \
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X ( int, geom_contype, ngeom, 1 ) \
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X ( int, geom_conaffinity, ngeom, 1 ) \
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@@ -275,7 +271,9 @@
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X ( mjtNum, geom_gap, ngeom, 1 ) \
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XNV ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
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X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
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X ( float, geom_rgba, ngeom, 4 ) \
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X ( float, geom_rgba, ngeom, 4 )
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#define MJMODEL_POINTERS_SITE \
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X ( int, site_type, nsite, 1 ) \
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X ( int, site_bodyid, nsite, 1 ) \
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X ( int, site_matid, nsite, 1 ) \
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@@ -285,7 +283,9 @@
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X ( mjtNum, site_pos, nsite, 3 ) \
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X ( mjtNum, site_quat, nsite, 4 ) \
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X ( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
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X ( float, site_rgba, nsite, 4 ) \
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X ( float, site_rgba, nsite, 4 )
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#define MJMODEL_POINTERS_CAMERA \
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X ( int, cam_mode, ncam, 1 ) \
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X ( int, cam_bodyid, ncam, 1 ) \
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X ( int, cam_targetbodyid, ncam, 1 ) \
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@@ -300,7 +300,9 @@
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X ( int, cam_resolution, ncam, 2 ) \
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X ( float, cam_sensorsize, ncam, 2 ) \
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X ( float, cam_intrinsic, ncam, 4 ) \
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X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
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X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) )
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#define MJMODEL_POINTERS_LIGHT \
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X ( int, light_mode, nlight, 1 ) \
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X ( int, light_bodyid, nlight, 1 ) \
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X ( int, light_targetbodyid, nlight, 1 ) \
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@@ -321,7 +323,9 @@
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X ( float, light_exponent, nlight, 1 ) \
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X ( float, light_ambient, nlight, 3 ) \
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X ( float, light_diffuse, nlight, 3 ) \
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X ( float, light_specular, nlight, 3 ) \
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X ( float, light_specular, nlight, 3 )
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#define MJMODEL_POINTERS_FLEX \
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X ( int, flex_contype, nflex, 1 ) \
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X ( int, flex_conaffinity, nflex, 1 ) \
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X ( int, flex_condim, nflex, 1 ) \
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@@ -385,7 +389,9 @@
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X ( int, flex_bvhadr, nflex, 1 ) \
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X ( int, flex_bvhnum, nflex, 1 ) \
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X ( float, flex_rgba, nflex, 4 ) \
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X ( float, flex_texcoord, nflextexcoord, 2 ) \
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X ( float, flex_texcoord, nflextexcoord, 2 )
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#define MJMODEL_POINTERS_MESH \
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X ( int, mesh_vertadr, nmesh, 1 ) \
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X ( int, mesh_vertnum, nmesh, 1 ) \
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X ( int, mesh_faceadr, nmesh, 1 ) \
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@@ -418,7 +424,9 @@
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XNV ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
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XNV ( int, mesh_polymapadr, nmeshvert, 1 ) \
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XNV ( int, mesh_polymapnum, nmeshvert, 1 ) \
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XNV ( int, mesh_polymap, nmeshpolymap, 1 ) \
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XNV ( int, mesh_polymap, nmeshpolymap, 1 )
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#define MJMODEL_POINTERS_SKIN \
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X ( int, skin_matid, nskin, 1 ) \
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X ( int, skin_group, nskin, 1 ) \
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X ( float, skin_rgba, nskin, 4 ) \
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@@ -440,13 +448,17 @@
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X ( int, skin_bonebodyid, nskinbone, 1 ) \
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X ( int, skin_bonevertid, nskinbonevert, 1 ) \
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X ( float, skin_bonevertweight, nskinbonevert, 1 ) \
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X ( int, skin_pathadr, nskin, 1 ) \
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X ( int, skin_pathadr, nskin, 1 )
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#define MJMODEL_POINTERS_HFIELD \
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X ( mjtNum, hfield_size, nhfield, 4 ) \
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X ( int, hfield_nrow, nhfield, 1 ) \
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X ( int, hfield_ncol, nhfield, 1 ) \
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X ( int, hfield_adr, nhfield, 1 ) \
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XNV ( float, hfield_data, nhfielddata, 1 ) \
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X ( int, hfield_pathadr, nhfield, 1 ) \
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X ( int, hfield_pathadr, nhfield, 1 )
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#define MJMODEL_POINTERS_TEXTURE \
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X ( int, tex_type, ntex, 1 ) \
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X ( int, tex_colorspace, ntex, 1 ) \
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X ( int, tex_height, ntex, 1 ) \
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@@ -454,7 +466,9 @@
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X ( int, tex_nchannel, ntex, 1 ) \
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X ( int, tex_adr, ntex, 1 ) \
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XNV ( mjtByte, tex_data, ntexdata, 1 ) \
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X ( int, tex_pathadr, ntex, 1 ) \
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X ( int, tex_pathadr, ntex, 1 )
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#define MJMODEL_POINTERS_MATERIAL \
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X ( int, mat_texid, nmat, mjNTEXROLE ) \
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X ( mjtByte, mat_texuniform, nmat, 1 ) \
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X ( float, mat_texrepeat, nmat, 2 ) \
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@@ -464,7 +478,9 @@
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X ( float, mat_reflectance, nmat, 1 ) \
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X ( float, mat_metallic, nmat, 1 ) \
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X ( float, mat_roughness, nmat, 1 ) \
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X ( float, mat_rgba, nmat, 4 ) \
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X ( float, mat_rgba, nmat, 4 )
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#define MJMODEL_POINTERS_PAIR \
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X ( int, pair_dim, npair, 1 ) \
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X ( int, pair_geom1, npair, 1 ) \
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X ( int, pair_geom2, npair, 1 ) \
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@@ -474,8 +490,12 @@
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X ( mjtNum, pair_solimp, npair, mjNIMP ) \
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X ( mjtNum, pair_margin, npair, 1 ) \
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X ( mjtNum, pair_gap, npair, 1 ) \
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X ( mjtNum, pair_friction, npair, 5 ) \
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X ( int, exclude_signature, nexclude, 1 ) \
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X ( mjtNum, pair_friction, npair, 5 )
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#define MJMODEL_POINTERS_EXCLUDE \
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X ( int, exclude_signature, nexclude, 1 )
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#define MJMODEL_POINTERS_EQUALITY \
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X ( int, eq_type, neq, 1 ) \
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X ( int, eq_obj1id, neq, 1 ) \
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X ( int, eq_obj2id, neq, 1 ) \
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@@ -483,7 +503,9 @@
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X ( mjtByte, eq_active0, neq, 1 ) \
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X ( mjtNum, eq_solref, neq, mjNREF ) \
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X ( mjtNum, eq_solimp, neq, mjNIMP ) \
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X ( mjtNum, eq_data, neq, mjNEQDATA ) \
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X ( mjtNum, eq_data, neq, mjNEQDATA )
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#define MJMODEL_POINTERS_TENDON \
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X ( int, tendon_adr, ntendon, 1 ) \
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X ( int, tendon_num, ntendon, 1 ) \
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X ( int, tendon_matid, ntendon, 1 ) \
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@@ -506,10 +528,9 @@
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X ( mjtNum, tendon_length0, ntendon, 1 ) \
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X ( mjtNum, tendon_invweight0, ntendon, 1 ) \
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X ( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
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X ( float, tendon_rgba, ntendon, 4 ) \
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X ( int, wrap_type, nwrap, 1 ) \
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X ( int, wrap_objid, nwrap, 1 ) \
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X ( mjtNum, wrap_prm, nwrap, 1 ) \
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X ( float, tendon_rgba, ntendon, 4 )
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#define MJMODEL_POINTERS_ACTUATOR \
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X ( int, actuator_trntype, nu, 1 ) \
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X ( int, actuator_dyntype, nu, 1 ) \
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X ( int, actuator_gaintype, nu, 1 ) \
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@@ -534,7 +555,9 @@
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X ( mjtNum, actuator_length0, nu, 1 ) \
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X ( mjtNum, actuator_lengthrange, nu, 2 ) \
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X ( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
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X ( int, actuator_plugin, nu, 1 ) \
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X ( int, actuator_plugin, nu, 1 )
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#define MJMODEL_POINTERS_SENSOR \
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X ( int, sensor_type, nsensor, 1 ) \
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X ( int, sensor_datatype, nsensor, 1 ) \
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X ( int, sensor_needstage, nsensor, 1 ) \
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@@ -548,7 +571,41 @@
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X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
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X ( mjtNum, sensor_noise, nsensor, 1 ) \
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X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
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X ( int, sensor_plugin, nsensor, 1 ) \
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X ( int, sensor_plugin, nsensor, 1 )
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#define MJMODEL_POINTERS \
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X ( mjtNum, qpos0, nq, 1 ) \
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X ( mjtNum, qpos_spring, nq, 1 ) \
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MJMODEL_POINTERS_BODY \
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X ( int, bvh_depth, nbvh, 1 ) \
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X ( int, bvh_child, nbvh, 2 ) \
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X ( int, bvh_nodeid, nbvh, 1 ) \
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X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
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X ( int, oct_depth, noct, 1 ) \
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X ( int, oct_child, noct, 8 ) \
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X ( mjtNum, oct_aabb, noct, 6 ) \
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X ( mjtNum, oct_coeff, noct, 8 ) \
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MJMODEL_POINTERS_JOINT \
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MJMODEL_POINTERS_DOF \
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MJMODEL_POINTERS_GEOM \
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MJMODEL_POINTERS_SITE \
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MJMODEL_POINTERS_CAMERA \
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MJMODEL_POINTERS_LIGHT \
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MJMODEL_POINTERS_FLEX \
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MJMODEL_POINTERS_MESH \
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MJMODEL_POINTERS_SKIN \
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MJMODEL_POINTERS_HFIELD \
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MJMODEL_POINTERS_TEXTURE \
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MJMODEL_POINTERS_MATERIAL \
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MJMODEL_POINTERS_PAIR \
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MJMODEL_POINTERS_EXCLUDE \
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MJMODEL_POINTERS_EQUALITY \
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MJMODEL_POINTERS_TENDON \
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X ( int, wrap_type, nwrap, 1 ) \
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X ( int, wrap_objid, nwrap, 1 ) \
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X ( mjtNum, wrap_prm, nwrap, 1 ) \
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MJMODEL_POINTERS_ACTUATOR \
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MJMODEL_POINTERS_SENSOR \
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X ( int, plugin, nplugin, 1 ) \
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X ( int, plugin_stateadr, nplugin, 1 ) \
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X ( int, plugin_statenum, nplugin, 1 ) \
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