chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move flexedge sparse Jacobian indices to mjModel.

Browse Source 
PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
This commit is contained in:
Alessio Quaglino
2026-01-13 07:32:31 -08:00
committed by Copybara-Service
parent 09a6fb7d4d
commit a49576e469
17 changed files with 70 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
wasm/codegen/generated/bindings.cc
+12 -12
View File
@@ -4441,6 +4441,15 @@ struct MjModel {
emscripten::val flex_bvhnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bvhnum));
}
emscripten::val flexedge_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rownnz));
}
emscripten::val flexedge_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rowadr));
}
emscripten::val flexedge_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * ptr_->nv, ptr_->flexedge_J_colind));
}
emscripten::val flex_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 4, ptr_->flex_rgba));
}
@@ -6152,15 +6161,6 @@ struct MjData {
emscripten::val flexelem_aabb() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexelem * 6, ptr_->flexelem_aabb));
}
emscripten::val flexedge_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_J_rownnz));
}
emscripten::val flexedge_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_J_rowadr));
}
emscripten::val flexedge_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge * model->nv, ptr_->flexedge_J_colind));
}
emscripten::val flexedge_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge * model->nv, ptr_->flexedge_J));
}
@@ -10826,9 +10826,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("energy", &MjData::energy)
.property("eq_active", &MjData::eq_active)
.property("flexedge_J", &MjData::flexedge_J)
.property("flexedge_J_colind", &MjData::flexedge_J_colind)
.property("flexedge_J_rowadr", &MjData::flexedge_J_rowadr)
.property("flexedge_J_rownnz", &MjData::flexedge_J_rownnz)
.property("flexedge_length", &MjData::flexedge_length)
.property("flexedge_velocity", &MjData::flexedge_velocity)
.property("flexelem_aabb", &MjData::flexelem_aabb)
@@ -11153,6 +11150,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flex_vertadr", &MjModel::flex_vertadr)
.property("flex_vertbodyid", &MjModel::flex_vertbodyid)
.property("flex_vertnum", &MjModel::flex_vertnum)
.property("flexedge_J_colind", &MjModel::flexedge_J_colind)
.property("flexedge_J_rowadr", &MjModel::flexedge_J_rowadr)
.property("flexedge_J_rownnz", &MjModel::flexedge_J_rownnz)
.property("flexedge_invweight0", &MjModel::flexedge_invweight0)
.property("flexedge_length0", &MjModel::flexedge_length0)
.property("flexedge_rigid", &MjModel::flexedge_rigid)