Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.
Closes #2 Closes #42 Closes #59 PiperOrigin-RevId: 416794598 Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
Executable → Regular
+228
-233
@@ -15,310 +15,305 @@
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#ifndef MUJOCO_MJDATA_H_
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#define MUJOCO_MJDATA_H_
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//---------------------------- primitive types (mjt) ------------------------------------
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#include "mjmodel.h"
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typedef enum _mjtWarning // warning types
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{
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mjWARN_INERTIA = 0, // (near) singular inertia matrix
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mjWARN_CONTACTFULL, // too many contacts in contact list
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mjWARN_CNSTRFULL, // too many constraints
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mjWARN_VGEOMFULL, // too many visual geoms
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mjWARN_BADQPOS, // bad number in qpos
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mjWARN_BADQVEL, // bad number in qvel
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mjWARN_BADQACC, // bad number in qacc
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mjWARN_BADCTRL, // bad number in ctrl
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//---------------------------------- primitive types (mjt) -----------------------------------------
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mjNWARNING // number of warnings
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typedef enum mjtWarning_ { // warning types
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mjWARN_INERTIA = 0, // (near) singular inertia matrix
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mjWARN_CONTACTFULL, // too many contacts in contact list
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mjWARN_CNSTRFULL, // too many constraints
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mjWARN_VGEOMFULL, // too many visual geoms
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mjWARN_BADQPOS, // bad number in qpos
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mjWARN_BADQVEL, // bad number in qvel
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mjWARN_BADQACC, // bad number in qacc
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mjWARN_BADCTRL, // bad number in ctrl
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mjNWARNING // number of warnings
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} mjtWarning;
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typedef enum _mjtTimer
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{
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// main api
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mjTIMER_STEP = 0, // step
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mjTIMER_FORWARD, // forward
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mjTIMER_INVERSE, // inverse
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typedef enum mjtTimer_ {
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// main api
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mjTIMER_STEP = 0, // step
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mjTIMER_FORWARD, // forward
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mjTIMER_INVERSE, // inverse
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// breakdown of step/forward
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mjTIMER_POSITION, // fwdPosition
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mjTIMER_VELOCITY, // fwdVelocity
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mjTIMER_ACTUATION, // fwdActuation
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mjTIMER_ACCELERATION, // fwdAcceleration
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mjTIMER_CONSTRAINT, // fwdConstraint
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// breakdown of step/forward
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mjTIMER_POSITION, // fwdPosition
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mjTIMER_VELOCITY, // fwdVelocity
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mjTIMER_ACTUATION, // fwdActuation
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mjTIMER_ACCELERATION, // fwdAcceleration
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mjTIMER_CONSTRAINT, // fwdConstraint
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// breakdown of fwdPosition
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mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
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mjTIMER_POS_INERTIA, // inertia computations
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mjTIMER_POS_COLLISION, // collision detection
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mjTIMER_POS_MAKE, // make constraints
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mjTIMER_POS_PROJECT, // project constraints
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// breakdown of fwdPosition
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mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
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mjTIMER_POS_INERTIA, // inertia computations
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mjTIMER_POS_COLLISION, // collision detection
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mjTIMER_POS_MAKE, // make constraints
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mjTIMER_POS_PROJECT, // project constraints
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mjNTIMER // number of timers
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mjNTIMER // number of timers
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} mjtTimer;
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//------------------------------ mjContact ----------------------------------------------
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//---------------------------------- mjContact -----------------------------------------------------
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struct _mjContact // result of collision detection functions
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{
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// contact parameters set by geom-specific collision detector
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mjtNum dist; // distance between nearest points; neg: penetration
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mjtNum pos[3]; // position of contact point: midpoint between geoms
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mjtNum frame[9]; // normal is in [0-2]
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struct mjContact_ { // result of collision detection functions
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// contact parameters set by geom-specific collision detector
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mjtNum dist; // distance between nearest points; neg: penetration
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mjtNum pos[3]; // position of contact point: midpoint between geoms
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mjtNum frame[9]; // normal is in [0-2]
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// contact parameters set by mj_collideGeoms
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mjtNum includemargin; // include if dist<includemargin=margin-gap
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mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
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mjtNum solref[mjNREF]; // constraint solver reference
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mjtNum solimp[mjNIMP]; // constraint solver impedance
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// contact parameters set by mj_collideGeoms
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mjtNum includemargin; // include if dist<includemargin=margin-gap
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mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
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mjtNum solref[mjNREF]; // constraint solver reference
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mjtNum solimp[mjNIMP]; // constraint solver impedance
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// internal storage used by solver
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mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
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mjtNum H[36]; // cone Hessian, set by mj_updateConstraint
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// internal storage used by solver
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mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
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mjtNum H[36]; // cone Hessian, set by mj_updateConstraint
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// contact descriptors set by mj_collideGeoms
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int dim; // contact space dimensionality: 1, 3, 4 or 6
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int geom1; // id of geom 1
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int geom2; // id of geom 2
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// contact descriptors set by mj_collideGeoms
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int dim; // contact space dimensionality: 1, 3, 4 or 6
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int geom1; // id of geom 1
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int geom2; // id of geom 2
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// flag set by mj_fuseContact or mj_instantianteEquality
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int exclude; // 0: include, 1: in gap, 2: fused, 3: equality, 4: no dofs
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// flag set by mj_fuseContact or mj_instantianteEquality
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int exclude; // 0: include, 1: in gap, 2: fused, 3: equality, 4: no dofs
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// address computed by mj_instantiateContact
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int efc_address; // address in efc; -1: not included, -2-i: distance constraint i
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// address computed by mj_instantiateContact
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int efc_address; // address in efc; -1: not included, -2-i: distance constraint i
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};
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typedef struct _mjContact mjContact;
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typedef struct mjContact_ mjContact;
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//------------------------------ diagnostics --------------------------------------------
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//---------------------------------- diagnostics ---------------------------------------------------
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struct _mjWarningStat // warning statistics
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{
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int lastinfo; // info from last warning
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int number; // how many times was warning raised
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struct mjWarningStat_ { // warning statistics
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int lastinfo; // info from last warning
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int number; // how many times was warning raised
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};
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typedef struct _mjWarningStat mjWarningStat;
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typedef struct mjWarningStat_ mjWarningStat;
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struct _mjTimerStat // timer statistics
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{
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mjtNum duration; // cumulative duration
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int number; // how many times was timer called
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struct mjTimerStat_ { // timer statistics
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mjtNum duration; // cumulative duration
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int number; // how many times was timer called
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};
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typedef struct _mjTimerStat mjTimerStat;
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typedef struct mjTimerStat_ mjTimerStat;
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struct _mjSolverStat // per-iteration solver statistics
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{
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mjtNum improvement; // cost reduction, scaled by 1/trace(M(qpos0))
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mjtNum gradient; // gradient norm (primal only, scaled)
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mjtNum lineslope; // slope in linesearch
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int nactive; // number of active constraints
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int nchange; // number of constraint state changes
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int neval; // number of cost evaluations in line search
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int nupdate; // number of Cholesky updates in line search
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struct mjSolverStat_ { // per-iteration solver statistics
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mjtNum improvement; // cost reduction, scaled by 1/trace(M(qpos0))
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mjtNum gradient; // gradient norm (primal only, scaled)
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mjtNum lineslope; // slope in linesearch
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int nactive; // number of active constraints
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int nchange; // number of constraint state changes
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int neval; // number of cost evaluations in line search
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int nupdate; // number of Cholesky updates in line search
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};
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typedef struct _mjSolverStat mjSolverStat;
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typedef struct mjSolverStat_ mjSolverStat;
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//---------------------------------- mjData ---------------------------------------------
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//---------------------------------- mjData --------------------------------------------------------
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struct _mjData
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{
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// constant sizes
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int nstack; // number of mjtNums that can fit in stack
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int nbuffer; // size of main buffer in bytes
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struct mjData_ {
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// constant sizes
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int nstack; // number of mjtNums that can fit in stack
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int nbuffer; // size of main buffer in bytes
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// stack pointer
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int pstack; // first available mjtNum address in stack
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// stack pointer
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int pstack; // first available mjtNum address in stack
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// memory utilization stats
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int maxuse_stack; // maximum stack allocation
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int maxuse_con; // maximum number of contacts
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int maxuse_efc; // maximum number of scalar constraints
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// memory utilization stats
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int maxuse_stack; // maximum stack allocation
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int maxuse_con; // maximum number of contacts
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int maxuse_efc; // maximum number of scalar constraints
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// diagnostics
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mjWarningStat warning[mjNWARNING]; // warning statistics
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mjTimerStat timer[mjNTIMER]; // timer statistics
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mjSolverStat solver[mjNSOLVER]; // solver statistics per iteration
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int solver_iter; // number of solver iterations
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int solver_nnz; // number of non-zeros in Hessian or efc_AR
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mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
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// diagnostics
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mjWarningStat warning[mjNWARNING]; // warning statistics
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mjTimerStat timer[mjNTIMER]; // timer statistics
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mjSolverStat solver[mjNSOLVER]; // solver statistics per iteration
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int solver_iter; // number of solver iterations
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int solver_nnz; // number of non-zeros in Hessian or efc_AR
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mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
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// variable sizes
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int ne; // number of equality constraints
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int nf; // number of friction constraints
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int nefc; // number of constraints
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int ncon; // number of detected contacts
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// variable sizes
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int ne; // number of equality constraints
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int nf; // number of friction constraints
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int nefc; // number of constraints
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int ncon; // number of detected contacts
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// global properties
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mjtNum time; // simulation time
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mjtNum energy[2]; // potential, kinetic energy
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// global properties
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mjtNum time; // simulation time
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mjtNum energy[2]; // potential, kinetic energy
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//-------------------------------- end of info header
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//-------------------------------- end of info header
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// buffers
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void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
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mjtNum* stack; // stack buffer (nstack mjtNums)
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// buffers
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void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
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mjtNum* stack; // stack buffer (nstack mjtNums)
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//-------------------------------- main inputs and outputs of the computation
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//-------------------------------- main inputs and outputs of the computation
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// state
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mjtNum* qpos; // position (nq x 1)
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mjtNum* qvel; // velocity (nv x 1)
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mjtNum* act; // actuator activation (na x 1)
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mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
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// state
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mjtNum* qpos; // position (nq x 1)
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mjtNum* qvel; // velocity (nv x 1)
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mjtNum* act; // actuator activation (na x 1)
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mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
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// control
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mjtNum* ctrl; // control (nu x 1)
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mjtNum* qfrc_applied; // applied generalized force (nv x 1)
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mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
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// control
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mjtNum* ctrl; // control (nu x 1)
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mjtNum* qfrc_applied; // applied generalized force (nv x 1)
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mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
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// dynamics
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mjtNum* qacc; // acceleration (nv x 1)
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mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
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// dynamics
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mjtNum* qacc; // acceleration (nv x 1)
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mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
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// mocap data
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mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
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mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
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// mocap data
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mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
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mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
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// user data
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mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
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// user data
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mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
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// sensors
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mjtNum* sensordata; // sensor data array (nsensordata x 1)
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// sensors
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mjtNum* sensordata; // sensor data array (nsensordata x 1)
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//-------------------------------- POSITION dependent
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//-------------------------------- POSITION dependent
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// computed by mj_fwdPosition/mj_kinematics
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mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
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mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
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mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
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mjtNum* xipos; // Cartesian position of body com (nbody x 3)
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mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
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mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
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mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
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mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
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mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
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mjtNum* site_xpos; // Cartesian site position (nsite x 3)
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mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
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mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
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mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
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mjtNum* light_xpos; // Cartesian light position (nlight x 3)
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mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
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// computed by mj_fwdPosition/mj_kinematics
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mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
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mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
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mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
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mjtNum* xipos; // Cartesian position of body com (nbody x 3)
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mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
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mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
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mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
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mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
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mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
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mjtNum* site_xpos; // Cartesian site position (nsite x 3)
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mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
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mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
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mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
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mjtNum* light_xpos; // Cartesian light position (nlight x 3)
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mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
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// computed by mj_fwdPosition/mj_comPos
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mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
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mjtNum* cdof; // com-based motion axis of each dof (nv x 6)
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mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
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// computed by mj_fwdPosition/mj_comPos
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mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
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mjtNum* cdof; // com-based motion axis of each dof (nv x 6)
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mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
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// computed by mj_fwdPosition/mj_tendon
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int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
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int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
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int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
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int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
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int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
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mjtNum* ten_length; // tendon lengths (ntendon x 1)
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mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
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int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
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mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
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// computed by mj_fwdPosition/mj_tendon
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int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
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int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
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int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
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int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
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int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
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mjtNum* ten_length; // tendon lengths (ntendon x 1)
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mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
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int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
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mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
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// computed by mj_fwdPosition/mj_transmission
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mjtNum* actuator_length; // actuator lengths (nu x 1)
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mjtNum* actuator_moment; // actuator moments (nu x nv)
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// computed by mj_fwdPosition/mj_transmission
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mjtNum* actuator_length; // actuator lengths (nu x 1)
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mjtNum* actuator_moment; // actuator moments (nu x nv)
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// computed by mj_fwdPosition/mj_crb
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mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
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mjtNum* qM; // total inertia (nM x 1)
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// computed by mj_fwdPosition/mj_crb
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mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
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mjtNum* qM; // total inertia (nM x 1)
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// computed by mj_fwdPosition/mj_factorM
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mjtNum* qLD; // L'*D*L factorization of M (nM x 1)
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mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
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mjtNum* qLDiagSqrtInv; // 1/sqrt(diag(D)) (nv x 1)
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// computed by mj_fwdPosition/mj_factorM
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mjtNum* qLD; // L'*D*L factorization of M (nM x 1)
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mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
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mjtNum* qLDiagSqrtInv; // 1/sqrt(diag(D)) (nv x 1)
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// computed by mj_fwdPosition/mj_collision
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mjContact* contact; // list of all detected contacts (nconmax x 1)
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// computed by mj_fwdPosition/mj_collision
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mjContact* contact; // list of all detected contacts (nconmax x 1)
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// computed by mj_fwdPosition/mj_makeConstraint
|
||||
int* efc_type; // constraint type (mjtConstraint) (njmax x 1)
|
||||
int* efc_id; // id of object of specified type (njmax x 1)
|
||||
int* efc_J_rownnz; // number of non-zeros in Jacobian row (njmax x 1)
|
||||
int* efc_J_rowadr; // row start address in colind array (njmax x 1)
|
||||
int* efc_J_rowsuper; // number of subsequent rows in supernode (njmax x 1)
|
||||
int* efc_J_colind; // column indices in Jacobian (njmax x nv)
|
||||
int* efc_JT_rownnz; // number of non-zeros in Jacobian row T (nv x 1)
|
||||
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
|
||||
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
|
||||
int* efc_JT_colind; // column indices in Jacobian T (nv x njmax)
|
||||
mjtNum* efc_J; // constraint Jacobian (njmax x nv)
|
||||
mjtNum* efc_JT; // constraint Jacobian transposed (nv x njmax)
|
||||
mjtNum* efc_pos; // constraint position (equality, contact) (njmax x 1)
|
||||
mjtNum* efc_margin; // inclusion margin (contact) (njmax x 1)
|
||||
mjtNum* efc_frictionloss; // frictionloss (friction) (njmax x 1)
|
||||
mjtNum* efc_diagApprox; // approximation to diagonal of A (njmax x 1)
|
||||
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (njmax x 4)
|
||||
mjtNum* efc_D; // constraint mass (njmax x 1)
|
||||
mjtNum* efc_R; // inverse constraint mass (njmax x 1)
|
||||
// computed by mj_fwdPosition/mj_makeConstraint
|
||||
int* efc_type; // constraint type (mjtConstraint) (njmax x 1)
|
||||
int* efc_id; // id of object of specified type (njmax x 1)
|
||||
int* efc_J_rownnz; // number of non-zeros in Jacobian row (njmax x 1)
|
||||
int* efc_J_rowadr; // row start address in colind array (njmax x 1)
|
||||
int* efc_J_rowsuper; // number of subsequent rows in supernode (njmax x 1)
|
||||
int* efc_J_colind; // column indices in Jacobian (njmax x nv)
|
||||
int* efc_JT_rownnz; // number of non-zeros in Jacobian row T (nv x 1)
|
||||
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
|
||||
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
|
||||
int* efc_JT_colind; // column indices in Jacobian T (nv x njmax)
|
||||
mjtNum* efc_J; // constraint Jacobian (njmax x nv)
|
||||
mjtNum* efc_JT; // constraint Jacobian transposed (nv x njmax)
|
||||
mjtNum* efc_pos; // constraint position (equality, contact) (njmax x 1)
|
||||
mjtNum* efc_margin; // inclusion margin (contact) (njmax x 1)
|
||||
mjtNum* efc_frictionloss; // frictionloss (friction) (njmax x 1)
|
||||
mjtNum* efc_diagApprox; // approximation to diagonal of A (njmax x 1)
|
||||
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (njmax x 4)
|
||||
mjtNum* efc_D; // constraint mass (njmax x 1)
|
||||
mjtNum* efc_R; // inverse constraint mass (njmax x 1)
|
||||
|
||||
// computed by mj_fwdPosition/mj_projectConstraint
|
||||
int* efc_AR_rownnz; // number of non-zeros in AR (njmax x 1)
|
||||
int* efc_AR_rowadr; // row start address in colind array (njmax x 1)
|
||||
int* efc_AR_colind; // column indices in sparse AR (njmax x njmax)
|
||||
mjtNum* efc_AR; // J*inv(M)*J' + R (njmax x njmax)
|
||||
// computed by mj_fwdPosition/mj_projectConstraint
|
||||
int* efc_AR_rownnz; // number of non-zeros in AR (njmax x 1)
|
||||
int* efc_AR_rowadr; // row start address in colind array (njmax x 1)
|
||||
int* efc_AR_colind; // column indices in sparse AR (njmax x njmax)
|
||||
mjtNum* efc_AR; // J*inv(M)*J' + R (njmax x njmax)
|
||||
|
||||
//-------------------------------- POSITION, VELOCITY dependent
|
||||
//-------------------------------- POSITION, VELOCITY dependent
|
||||
|
||||
// computed by mj_fwdVelocity
|
||||
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
|
||||
mjtNum* actuator_velocity; // actuator velocities (nu x 1)
|
||||
// computed by mj_fwdVelocity
|
||||
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
|
||||
mjtNum* actuator_velocity; // actuator velocities (nu x 1)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_comVel
|
||||
mjtNum* cvel; // com-based velocity [3D rot; 3D tran] (nbody x 6)
|
||||
mjtNum* cdof_dot; // time-derivative of cdof (nv x 6)
|
||||
// computed by mj_fwdVelocity/mj_comVel
|
||||
mjtNum* cvel; // com-based velocity [3D rot; 3D tran] (nbody x 6)
|
||||
mjtNum* cdof_dot; // time-derivative of cdof (nv x 6)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_rne (without acceleration)
|
||||
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
|
||||
// computed by mj_fwdVelocity/mj_rne (without acceleration)
|
||||
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_passive
|
||||
mjtNum* qfrc_passive; // passive force (nv x 1)
|
||||
// computed by mj_fwdVelocity/mj_passive
|
||||
mjtNum* qfrc_passive; // passive force (nv x 1)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_referenceConstraint
|
||||
mjtNum* efc_vel; // velocity in constraint space: J*qvel (njmax x 1)
|
||||
mjtNum* efc_aref; // reference pseudo-acceleration (njmax x 1)
|
||||
// computed by mj_fwdVelocity/mj_referenceConstraint
|
||||
mjtNum* efc_vel; // velocity in constraint space: J*qvel (njmax x 1)
|
||||
mjtNum* efc_aref; // reference pseudo-acceleration (njmax x 1)
|
||||
|
||||
// computed by mj_sensorVel/mj_subtreeVel if needed
|
||||
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
|
||||
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
|
||||
// computed by mj_sensorVel/mj_subtreeVel if needed
|
||||
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
|
||||
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
|
||||
|
||||
//-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
|
||||
//-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
|
||||
|
||||
// computed by mj_fwdActuation
|
||||
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
|
||||
mjtNum* qfrc_actuator; // actuator force (nv x 1)
|
||||
// computed by mj_fwdActuation
|
||||
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
|
||||
mjtNum* qfrc_actuator; // actuator force (nv x 1)
|
||||
|
||||
// computed by mj_fwdAcceleration
|
||||
mjtNum* qfrc_unc; // net unconstrained force (nv x 1)
|
||||
mjtNum* qacc_unc; // unconstrained acceleration (nv x 1)
|
||||
// computed by mj_fwdAcceleration
|
||||
mjtNum* qfrc_unc; // net unconstrained force (nv x 1)
|
||||
mjtNum* qacc_unc; // unconstrained acceleration (nv x 1)
|
||||
|
||||
// computed by mj_fwdConstraint/mj_inverse
|
||||
mjtNum* efc_b; // linear cost term: J*qacc_unc - aref (njmax x 1)
|
||||
mjtNum* efc_force; // constraint force in constraint space (njmax x 1)
|
||||
int* efc_state; // constraint state (mjtConstraintState) (njmax x 1)
|
||||
mjtNum* qfrc_constraint; // constraint force (nv x 1)
|
||||
// computed by mj_fwdConstraint/mj_inverse
|
||||
mjtNum* efc_b; // linear cost term: J*qacc_unc - aref (njmax x 1)
|
||||
mjtNum* efc_force; // constraint force in constraint space (njmax x 1)
|
||||
int* efc_state; // constraint state (mjtConstraintState) (njmax x 1)
|
||||
mjtNum* qfrc_constraint; // constraint force (nv x 1)
|
||||
|
||||
// computed by mj_inverse
|
||||
mjtNum* qfrc_inverse; // net external force; should equal: (nv x 1)
|
||||
// qfrc_applied + J'*xfrc_applied + qfrc_actuator
|
||||
// computed by mj_inverse
|
||||
mjtNum* qfrc_inverse; // net external force; should equal: (nv x 1)
|
||||
// qfrc_applied + J'*xfrc_applied + qfrc_actuator
|
||||
|
||||
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
|
||||
mjtNum* cacc; // com-based acceleration (nbody x 6)
|
||||
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
|
||||
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
|
||||
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
|
||||
mjtNum* cacc; // com-based acceleration (nbody x 6)
|
||||
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
|
||||
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
|
||||
};
|
||||
typedef struct _mjData mjData;
|
||||
typedef struct mjData_ mjData;
|
||||
|
||||
|
||||
//---------------------------------- callback function types ----------------------------
|
||||
//---------------------------------- callback function types ---------------------------------------
|
||||
|
||||
// generic MuJoCo function
|
||||
typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
|
||||
|
||||
Executable → Regular
+733
-770
File diff suppressed because it is too large
Load Diff
Executable → Regular
+103
-103
@@ -15,137 +15,137 @@
|
||||
#ifndef MUJOCO_MJRENDER_H_
|
||||
#define MUJOCO_MJRENDER_H_
|
||||
|
||||
#define mjNAUX 10 // number of auxiliary buffers
|
||||
#define mjMAXTEXTURE 1000 // maximum number of textures
|
||||
#include "mjmodel.h"
|
||||
|
||||
#define mjNAUX 10 // number of auxiliary buffers
|
||||
#define mjMAXTEXTURE 1000 // maximum number of textures
|
||||
|
||||
|
||||
typedef enum _mjtGridPos // grid position for overlay
|
||||
{
|
||||
mjGRID_TOPLEFT = 0, // top left
|
||||
mjGRID_TOPRIGHT, // top right
|
||||
mjGRID_BOTTOMLEFT, // bottom left
|
||||
mjGRID_BOTTOMRIGHT // bottom right
|
||||
//---------------------------------- primitive types (mjt) -----------------------------------------
|
||||
|
||||
typedef enum mjtGridPos_ { // grid position for overlay
|
||||
mjGRID_TOPLEFT = 0, // top left
|
||||
mjGRID_TOPRIGHT, // top right
|
||||
mjGRID_BOTTOMLEFT, // bottom left
|
||||
mjGRID_BOTTOMRIGHT // bottom right
|
||||
} mjtGridPos;
|
||||
|
||||
|
||||
typedef enum _mjtFramebuffer // OpenGL framebuffer option
|
||||
{
|
||||
mjFB_WINDOW = 0, // default/window buffer
|
||||
mjFB_OFFSCREEN // offscreen buffer
|
||||
typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
|
||||
mjFB_WINDOW = 0, // default/window buffer
|
||||
mjFB_OFFSCREEN // offscreen buffer
|
||||
} mjtFramebuffer;
|
||||
|
||||
|
||||
typedef enum _mjtFontScale // font scale, used at context creation
|
||||
{
|
||||
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
|
||||
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
|
||||
mjFONTSCALE_150 = 150, // 150% scale
|
||||
mjFONTSCALE_200 = 200, // 200% scale
|
||||
mjFONTSCALE_250 = 250, // 250% scale
|
||||
mjFONTSCALE_300 = 300 // 300% scale
|
||||
typedef enum mjtFontScale_ { // font scale, used at context creation
|
||||
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
|
||||
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
|
||||
mjFONTSCALE_150 = 150, // 150% scale
|
||||
mjFONTSCALE_200 = 200, // 200% scale
|
||||
mjFONTSCALE_250 = 250, // 250% scale
|
||||
mjFONTSCALE_300 = 300 // 300% scale
|
||||
} mjtFontScale;
|
||||
|
||||
|
||||
typedef enum _mjtFont // font type, used at each text operation
|
||||
{
|
||||
mjFONT_NORMAL = 0, // normal font
|
||||
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
|
||||
mjFONT_BIG // big font (for user alerts)
|
||||
typedef enum mjtFont_ { // font type, used at each text operation
|
||||
mjFONT_NORMAL = 0, // normal font
|
||||
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
|
||||
mjFONT_BIG // big font (for user alerts)
|
||||
} mjtFont;
|
||||
|
||||
|
||||
struct _mjrRect // OpenGL rectangle
|
||||
{
|
||||
int left; // left (usually 0)
|
||||
int bottom; // bottom (usually 0)
|
||||
int width; // width (usually buffer width)
|
||||
int height; // height (usually buffer height)
|
||||
struct mjrRect_ { // OpenGL rectangle
|
||||
int left; // left (usually 0)
|
||||
int bottom; // bottom (usually 0)
|
||||
int width; // width (usually buffer width)
|
||||
int height; // height (usually buffer height)
|
||||
};
|
||||
typedef struct _mjrRect mjrRect;
|
||||
typedef struct mjrRect_ mjrRect;
|
||||
|
||||
|
||||
struct _mjrContext // custom OpenGL context
|
||||
{
|
||||
// parameters copied from mjVisual
|
||||
float lineWidth; // line width for wireframe rendering
|
||||
float shadowClip; // clipping radius for directional lights
|
||||
float shadowScale; // fraction of light cutoff for spot lights
|
||||
float fogStart; // fog start = stat.extent * vis.map.fogstart
|
||||
float fogEnd; // fog end = stat.extent * vis.map.fogend
|
||||
float fogRGBA[4]; // fog rgba
|
||||
int shadowSize; // size of shadow map texture
|
||||
int offWidth; // width of offscreen buffer
|
||||
int offHeight; // height of offscreen buffer
|
||||
int offSamples; // number of offscreen buffer multisamples
|
||||
//---------------------------------- mjrContext ----------------------------------------------------
|
||||
|
||||
// parameters specified at creation
|
||||
int fontScale; // font scale
|
||||
int auxWidth[mjNAUX]; // auxiliary buffer width
|
||||
int auxHeight[mjNAUX]; // auxiliary buffer height
|
||||
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
|
||||
struct mjrContext_ { // custom OpenGL context
|
||||
// parameters copied from mjVisual
|
||||
float lineWidth; // line width for wireframe rendering
|
||||
float shadowClip; // clipping radius for directional lights
|
||||
float shadowScale; // fraction of light cutoff for spot lights
|
||||
float fogStart; // fog start = stat.extent * vis.map.fogstart
|
||||
float fogEnd; // fog end = stat.extent * vis.map.fogend
|
||||
float fogRGBA[4]; // fog rgba
|
||||
int shadowSize; // size of shadow map texture
|
||||
int offWidth; // width of offscreen buffer
|
||||
int offHeight; // height of offscreen buffer
|
||||
int offSamples; // number of offscreen buffer multisamples
|
||||
|
||||
// offscreen rendering objects
|
||||
unsigned int offFBO; // offscreen framebuffer object
|
||||
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
|
||||
unsigned int offColor; // offscreen color buffer
|
||||
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
|
||||
unsigned int offDepthStencil; // offscreen depth and stencil buffer
|
||||
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
|
||||
// parameters specified at creation
|
||||
int fontScale; // font scale
|
||||
int auxWidth[mjNAUX]; // auxiliary buffer width
|
||||
int auxHeight[mjNAUX]; // auxiliary buffer height
|
||||
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
|
||||
|
||||
// shadow rendering objects
|
||||
unsigned int shadowFBO; // shadow map framebuffer object
|
||||
unsigned int shadowTex; // shadow map texture
|
||||
// offscreen rendering objects
|
||||
unsigned int offFBO; // offscreen framebuffer object
|
||||
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
|
||||
unsigned int offColor; // offscreen color buffer
|
||||
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
|
||||
unsigned int offDepthStencil; // offscreen depth and stencil buffer
|
||||
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
|
||||
|
||||
// auxiliary buffers
|
||||
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
|
||||
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
|
||||
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
|
||||
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
|
||||
// shadow rendering objects
|
||||
unsigned int shadowFBO; // shadow map framebuffer object
|
||||
unsigned int shadowTex; // shadow map texture
|
||||
|
||||
// texture objects and info
|
||||
int ntexture; // number of allocated textures
|
||||
int textureType[100]; // type of texture (mjtTexture)
|
||||
unsigned int texture[100]; // texture names
|
||||
// auxiliary buffers
|
||||
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
|
||||
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
|
||||
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
|
||||
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
|
||||
|
||||
// displaylist starting positions
|
||||
unsigned int basePlane; // all planes from model
|
||||
unsigned int baseMesh; // all meshes from model
|
||||
unsigned int baseHField; // all hfields from model
|
||||
unsigned int baseBuiltin; // all buildin geoms, with quality from model
|
||||
unsigned int baseFontNormal; // normal font
|
||||
unsigned int baseFontShadow; // shadow font
|
||||
unsigned int baseFontBig; // big font
|
||||
// texture objects and info
|
||||
int ntexture; // number of allocated textures
|
||||
int textureType[100]; // type of texture (mjtTexture)
|
||||
unsigned int texture[100]; // texture names
|
||||
|
||||
// displaylist ranges
|
||||
int rangePlane; // all planes from model
|
||||
int rangeMesh; // all meshes from model
|
||||
int rangeHField; // all hfields from model
|
||||
int rangeBuiltin; // all builtin geoms, with quality from model
|
||||
int rangeFont; // all characters in font
|
||||
// displaylist starting positions
|
||||
unsigned int basePlane; // all planes from model
|
||||
unsigned int baseMesh; // all meshes from model
|
||||
unsigned int baseHField; // all hfields from model
|
||||
unsigned int baseBuiltin; // all buildin geoms, with quality from model
|
||||
unsigned int baseFontNormal; // normal font
|
||||
unsigned int baseFontShadow; // shadow font
|
||||
unsigned int baseFontBig; // big font
|
||||
|
||||
// skin VBOs
|
||||
int nskin; // number of skins
|
||||
unsigned int* skinvertVBO; // skin vertex position VBOs
|
||||
unsigned int* skinnormalVBO; // skin vertex normal VBOs
|
||||
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs
|
||||
unsigned int* skinfaceVBO; // skin face index VBOs
|
||||
// displaylist ranges
|
||||
int rangePlane; // all planes from model
|
||||
int rangeMesh; // all meshes from model
|
||||
int rangeHField; // all hfields from model
|
||||
int rangeBuiltin; // all builtin geoms, with quality from model
|
||||
int rangeFont; // all characters in font
|
||||
|
||||
// character info
|
||||
int charWidth[127]; // character widths: normal and shadow
|
||||
int charWidthBig[127]; // chacarter widths: big
|
||||
int charHeight; // character heights: normal and shadow
|
||||
int charHeightBig; // character heights: big
|
||||
// skin VBOs
|
||||
int nskin; // number of skins
|
||||
unsigned int* skinvertVBO; // skin vertex position VBOs
|
||||
unsigned int* skinnormalVBO; // skin vertex normal VBOs
|
||||
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs
|
||||
unsigned int* skinfaceVBO; // skin face index VBOs
|
||||
|
||||
// capabilities
|
||||
int glewInitialized; // is glew initialized
|
||||
int windowAvailable; // is default/window framebuffer available
|
||||
int windowSamples; // number of samples for default/window framebuffer
|
||||
int windowStereo; // is stereo available for default/window framebuffer
|
||||
int windowDoublebuffer; // is default/window framebuffer double buffered
|
||||
// character info
|
||||
int charWidth[127]; // character widths: normal and shadow
|
||||
int charWidthBig[127]; // chacarter widths: big
|
||||
int charHeight; // character heights: normal and shadow
|
||||
int charHeightBig; // character heights: big
|
||||
|
||||
// framebuffer
|
||||
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
|
||||
// capabilities
|
||||
int glewInitialized; // is glew initialized
|
||||
int windowAvailable; // is default/window framebuffer available
|
||||
int windowSamples; // number of samples for default/window framebuffer
|
||||
int windowStereo; // is stereo available for default/window framebuffer
|
||||
int windowDoublebuffer; // is default/window framebuffer double buffered
|
||||
|
||||
// framebuffer
|
||||
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
|
||||
};
|
||||
typedef struct _mjrContext mjrContext;
|
||||
typedef struct mjrContext_ mjrContext;
|
||||
|
||||
#endif // MUJOCO_MJRENDER_H_
|
||||
|
||||
Executable → Regular
+195
-192
@@ -15,6 +15,8 @@
|
||||
#ifndef MUJOCO_MJUI_H_
|
||||
#define MUJOCO_MJUI_H_
|
||||
|
||||
#include "mjrender.h"
|
||||
|
||||
#define mjMAXUISECT 10 // maximum number of sections
|
||||
#define mjMAXUIITEM 80 // maximum number of items per section
|
||||
#define mjMAXUITEXT 300 // maximum number of chars in edittext and other
|
||||
@@ -55,48 +57,47 @@
|
||||
#define mjKEY_F12 301
|
||||
|
||||
|
||||
typedef enum _mjtButton // mouse button
|
||||
{
|
||||
mjBUTTON_NONE = 0, // no button
|
||||
mjBUTTON_LEFT, // left button
|
||||
mjBUTTON_RIGHT, // right button
|
||||
mjBUTTON_MIDDLE // middle button
|
||||
//---------------------------------- primitive types (mjt) -----------------------------------------
|
||||
|
||||
typedef enum mjtButton_ { // mouse button
|
||||
mjBUTTON_NONE = 0, // no button
|
||||
mjBUTTON_LEFT, // left button
|
||||
mjBUTTON_RIGHT, // right button
|
||||
mjBUTTON_MIDDLE // middle button
|
||||
} mjtButton;
|
||||
|
||||
|
||||
typedef enum _mjtEvent // mouse and keyboard event type
|
||||
{
|
||||
mjEVENT_NONE = 0, // no event
|
||||
mjEVENT_MOVE, // mouse move
|
||||
mjEVENT_PRESS, // mouse button press
|
||||
mjEVENT_RELEASE, // mouse button release
|
||||
mjEVENT_SCROLL, // scroll
|
||||
mjEVENT_KEY, // key press
|
||||
mjEVENT_RESIZE // resize
|
||||
typedef enum mjtEvent_ { // mouse and keyboard event type
|
||||
mjEVENT_NONE = 0, // no event
|
||||
mjEVENT_MOVE, // mouse move
|
||||
mjEVENT_PRESS, // mouse button press
|
||||
mjEVENT_RELEASE, // mouse button release
|
||||
mjEVENT_SCROLL, // scroll
|
||||
mjEVENT_KEY, // key press
|
||||
mjEVENT_RESIZE // resize
|
||||
} mjtEvent;
|
||||
|
||||
|
||||
typedef enum _mjtItem // UI item type
|
||||
{
|
||||
mjITEM_END = -2, // end of definition list (not an item)
|
||||
mjITEM_SECTION = -1, // section (not an item)
|
||||
mjITEM_SEPARATOR = 0, // separator
|
||||
mjITEM_STATIC, // static text
|
||||
mjITEM_BUTTON, // button
|
||||
typedef enum mjtItem_ { // UI item type
|
||||
mjITEM_END = -2, // end of definition list (not an item)
|
||||
mjITEM_SECTION = -1, // section (not an item)
|
||||
mjITEM_SEPARATOR = 0, // separator
|
||||
mjITEM_STATIC, // static text
|
||||
mjITEM_BUTTON, // button
|
||||
|
||||
// the rest have data pointer
|
||||
mjITEM_CHECKINT, // check box, int value
|
||||
mjITEM_CHECKBYTE, // check box, mjtByte value
|
||||
mjITEM_RADIO, // radio group
|
||||
mjITEM_RADIOLINE, // radio group, single line
|
||||
mjITEM_SELECT, // selection box
|
||||
mjITEM_SLIDERINT, // slider, int value
|
||||
mjITEM_SLIDERNUM, // slider, mjtNum value
|
||||
mjITEM_EDITINT, // editable array, int values
|
||||
mjITEM_EDITNUM, // editable array, mjtNum values
|
||||
mjITEM_EDITTXT, // editable text
|
||||
// the rest have data pointer
|
||||
mjITEM_CHECKINT, // check box, int value
|
||||
mjITEM_CHECKBYTE, // check box, mjtByte value
|
||||
mjITEM_RADIO, // radio group
|
||||
mjITEM_RADIOLINE, // radio group, single line
|
||||
mjITEM_SELECT, // selection box
|
||||
mjITEM_SLIDERINT, // slider, int value
|
||||
mjITEM_SLIDERNUM, // slider, mjtNum value
|
||||
mjITEM_EDITINT, // editable array, int values
|
||||
mjITEM_EDITNUM, // editable array, mjtNum values
|
||||
mjITEM_EDITTXT, // editable text
|
||||
|
||||
mjNITEM // number of item types
|
||||
mjNITEM // number of item types
|
||||
} mjtItem;
|
||||
|
||||
|
||||
@@ -104,206 +105,208 @@ typedef enum _mjtItem // UI item type
|
||||
typedef int (*mjfItemEnable)(int category, void* data);
|
||||
|
||||
|
||||
struct _mjuiState // mouse and keyboard state
|
||||
{
|
||||
// constants set by user
|
||||
int nrect; // number of rectangles used
|
||||
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
|
||||
void* userdata; // pointer to user data (for callbacks)
|
||||
//---------------------------------- mjuiState -----------------------------------------------------
|
||||
|
||||
// event type
|
||||
int type; // (type mjtEvent)
|
||||
struct mjuiState_ { // mouse and keyboard state
|
||||
// constants set by user
|
||||
int nrect; // number of rectangles used
|
||||
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
|
||||
void* userdata; // pointer to user data (for callbacks)
|
||||
|
||||
// mouse buttons
|
||||
int left; // is left button down
|
||||
int right; // is right button down
|
||||
int middle; // is middle button down
|
||||
int doubleclick; // is last press a double click
|
||||
int button; // which button was pressed (mjtButton)
|
||||
double buttontime; // time of last button press
|
||||
// event type
|
||||
int type; // (type mjtEvent)
|
||||
|
||||
// mouse position
|
||||
double x; // x position
|
||||
double y; // y position
|
||||
double dx; // x displacement
|
||||
double dy; // y displacement
|
||||
double sx; // x scroll
|
||||
double sy; // y scroll
|
||||
// mouse buttons
|
||||
int left; // is left button down
|
||||
int right; // is right button down
|
||||
int middle; // is middle button down
|
||||
int doubleclick; // is last press a double click
|
||||
int button; // which button was pressed (mjtButton)
|
||||
double buttontime; // time of last button press
|
||||
|
||||
// keyboard
|
||||
int control; // is control down
|
||||
int shift; // is shift down
|
||||
int alt; // is alt down
|
||||
int key; // which key was pressed
|
||||
double keytime; // time of last key press
|
||||
// mouse position
|
||||
double x; // x position
|
||||
double y; // y position
|
||||
double dx; // x displacement
|
||||
double dy; // y displacement
|
||||
double sx; // x scroll
|
||||
double sy; // y scroll
|
||||
|
||||
// rectangle ownership and dragging
|
||||
int mouserect; // which rectangle contains mouse
|
||||
int dragrect; // which rectangle is dragged with mouse
|
||||
int dragbutton; // which button started drag (mjtButton)
|
||||
// keyboard
|
||||
int control; // is control down
|
||||
int shift; // is shift down
|
||||
int alt; // is alt down
|
||||
int key; // which key was pressed
|
||||
double keytime; // time of last key press
|
||||
|
||||
// rectangle ownership and dragging
|
||||
int mouserect; // which rectangle contains mouse
|
||||
int dragrect; // which rectangle is dragged with mouse
|
||||
int dragbutton; // which button started drag (mjtButton)
|
||||
};
|
||||
typedef struct _mjuiState mjuiState;
|
||||
typedef struct mjuiState_ mjuiState;
|
||||
|
||||
|
||||
struct _mjuiThemeSpacing // UI visualization theme spacing
|
||||
{
|
||||
int total; // total width
|
||||
int scroll; // scrollbar width
|
||||
int label; // label width
|
||||
int section; // section gap
|
||||
int itemside; // item side gap
|
||||
int itemmid; // item middle gap
|
||||
int itemver; // item vertical gap
|
||||
int texthor; // text horizontal gap
|
||||
int textver; // text vertical gap
|
||||
int linescroll; // number of pixels to scroll
|
||||
int samples; // number of multisamples
|
||||
//---------------------------------- mjuiThemeSpacing ----------------------------------------------
|
||||
|
||||
struct mjuiThemeSpacing_ { // UI visualization theme spacing
|
||||
int total; // total width
|
||||
int scroll; // scrollbar width
|
||||
int label; // label width
|
||||
int section; // section gap
|
||||
int itemside; // item side gap
|
||||
int itemmid; // item middle gap
|
||||
int itemver; // item vertical gap
|
||||
int texthor; // text horizontal gap
|
||||
int textver; // text vertical gap
|
||||
int linescroll; // number of pixels to scroll
|
||||
int samples; // number of multisamples
|
||||
};
|
||||
typedef struct _mjuiThemeSpacing mjuiThemeSpacing;
|
||||
typedef struct mjuiThemeSpacing_ mjuiThemeSpacing;
|
||||
|
||||
|
||||
struct _mjuiThemeColor // UI visualization theme color
|
||||
{
|
||||
float master[3]; // master background
|
||||
float thumb[3]; // scrollbar thumb
|
||||
float secttitle[3]; // section title
|
||||
float sectfont[3]; // section font
|
||||
float sectsymbol[3]; // section symbol
|
||||
float sectpane[3]; // section pane
|
||||
float shortcut[3]; // shortcut background
|
||||
float fontactive[3]; // font active
|
||||
float fontinactive[3]; // font inactive
|
||||
float decorinactive[3]; // decor inactive
|
||||
float decorinactive2[3]; // inactive slider color 2
|
||||
float button[3]; // button
|
||||
float check[3]; // check
|
||||
float radio[3]; // radio
|
||||
float select[3]; // select
|
||||
float select2[3]; // select pane
|
||||
float slider[3]; // slider
|
||||
float slider2[3]; // slider color 2
|
||||
float edit[3]; // edit
|
||||
float edit2[3]; // edit invalid
|
||||
float cursor[3]; // edit cursor
|
||||
//---------------------------------- mjuiThemeColor ------------------------------------------------
|
||||
|
||||
struct mjuiThemeColor_ { // UI visualization theme color
|
||||
float master[3]; // master background
|
||||
float thumb[3]; // scrollbar thumb
|
||||
float secttitle[3]; // section title
|
||||
float sectfont[3]; // section font
|
||||
float sectsymbol[3]; // section symbol
|
||||
float sectpane[3]; // section pane
|
||||
float shortcut[3]; // shortcut background
|
||||
float fontactive[3]; // font active
|
||||
float fontinactive[3]; // font inactive
|
||||
float decorinactive[3]; // decor inactive
|
||||
float decorinactive2[3]; // inactive slider color 2
|
||||
float button[3]; // button
|
||||
float check[3]; // check
|
||||
float radio[3]; // radio
|
||||
float select[3]; // select
|
||||
float select2[3]; // select pane
|
||||
float slider[3]; // slider
|
||||
float slider2[3]; // slider color 2
|
||||
float edit[3]; // edit
|
||||
float edit2[3]; // edit invalid
|
||||
float cursor[3]; // edit cursor
|
||||
};
|
||||
typedef struct _mjuiThemeColor mjuiThemeColor;
|
||||
typedef struct mjuiThemeColor_ mjuiThemeColor;
|
||||
|
||||
|
||||
struct _mjuiItemSingle // check and button-related
|
||||
{
|
||||
int modifier; // 0: none, 1: control, 2: shift; 4: alt
|
||||
int shortcut; // shortcut key; 0: undefined
|
||||
//---------------------------------- mjuiItem ------------------------------------------------------
|
||||
|
||||
struct mjuiItemSingle_ { // check and button-related
|
||||
int modifier; // 0: none, 1: control, 2: shift; 4: alt
|
||||
int shortcut; // shortcut key; 0: undefined
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItemMulti // static, radio and select-related
|
||||
{
|
||||
int nelem; // number of elements in group
|
||||
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
|
||||
struct mjuiItemMulti_ { // static, radio and select-related
|
||||
int nelem; // number of elements in group
|
||||
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItemSlider // slider-related
|
||||
{
|
||||
double range[2]; // slider range
|
||||
double divisions; // number of range divisions
|
||||
struct mjuiItemSlider_ { // slider-related
|
||||
double range[2]; // slider range
|
||||
double divisions; // number of range divisions
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItemEdit // edit-related
|
||||
{
|
||||
int nelem; // number of elements in list
|
||||
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
|
||||
struct mjuiItemEdit_ { // edit-related
|
||||
int nelem; // number of elements in list
|
||||
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItem // UI item
|
||||
{
|
||||
// common properties
|
||||
int type; // type (mjtItem)
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // 0: disable, 1: enable, 2+: use predicate
|
||||
void *pdata; // data pointer (type-specific)
|
||||
int sectionid; // id of section containing item
|
||||
int itemid; // id of item within section
|
||||
struct mjuiItem_ { // UI item
|
||||
// common properties
|
||||
int type; // type (mjtItem)
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // 0: disable, 1: enable, 2+: use predicate
|
||||
void *pdata; // data pointer (type-specific)
|
||||
int sectionid; // id of section containing item
|
||||
int itemid; // id of item within section
|
||||
|
||||
// type-specific properties
|
||||
union
|
||||
{
|
||||
struct _mjuiItemSingle single; // check and button
|
||||
struct _mjuiItemMulti multi; // static, radio and select
|
||||
struct _mjuiItemSlider slider; // slider
|
||||
struct _mjuiItemEdit edit; // edit
|
||||
};
|
||||
// type-specific properties
|
||||
union {
|
||||
struct mjuiItemSingle_ single; // check and button
|
||||
struct mjuiItemMulti_ multi; // static, radio and select
|
||||
struct mjuiItemSlider_ slider; // slider
|
||||
struct mjuiItemEdit_ edit; // edit
|
||||
};
|
||||
|
||||
// internal
|
||||
mjrRect rect; // rectangle occupied by item
|
||||
// internal
|
||||
mjrRect rect; // rectangle occupied by item
|
||||
};
|
||||
typedef struct _mjuiItem mjuiItem;
|
||||
typedef struct mjuiItem_ mjuiItem;
|
||||
|
||||
|
||||
struct _mjuiSection // UI section
|
||||
{
|
||||
// properties
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // 0: closed, 1: open
|
||||
int modifier; // 0: none, 1: control, 2: shift; 4: alt
|
||||
int shortcut; // shortcut key; 0: undefined
|
||||
int nitem; // number of items in use
|
||||
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
|
||||
//---------------------------------- mjuiSection ---------------------------------------------------
|
||||
|
||||
// internal
|
||||
mjrRect rtitle; // rectangle occupied by title
|
||||
mjrRect rcontent; // rectangle occupied by content
|
||||
struct mjuiSection_ { // UI section
|
||||
// properties
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // 0: closed, 1: open
|
||||
int modifier; // 0: none, 1: control, 2: shift; 4: alt
|
||||
int shortcut; // shortcut key; 0: undefined
|
||||
int nitem; // number of items in use
|
||||
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
|
||||
|
||||
// internal
|
||||
mjrRect rtitle; // rectangle occupied by title
|
||||
mjrRect rcontent; // rectangle occupied by content
|
||||
};
|
||||
typedef struct _mjuiSection mjuiSection;
|
||||
typedef struct mjuiSection_ mjuiSection;
|
||||
|
||||
|
||||
struct _mjUI // entire UI
|
||||
{
|
||||
// constants set by user
|
||||
mjuiThemeSpacing spacing; // UI theme spacing
|
||||
mjuiThemeColor color; // UI theme color
|
||||
mjfItemEnable predicate; // callback to set item state programmatically
|
||||
void* userdata; // pointer to user data (passed to predicate)
|
||||
int rectid; // index of this ui rectangle in mjuiState
|
||||
int auxid; // aux buffer index of this ui
|
||||
int radiocol; // number of radio columns (0 defaults to 2)
|
||||
//---------------------------------- mjUI ----------------------------------------------------------
|
||||
|
||||
// UI sizes (framebuffer units)
|
||||
int width; // width
|
||||
int height; // current heigth
|
||||
int maxheight; // height when all sections open
|
||||
int scroll; // scroll from top of UI
|
||||
struct mjUI_ { // entire UI
|
||||
// constants set by user
|
||||
mjuiThemeSpacing spacing; // UI theme spacing
|
||||
mjuiThemeColor color; // UI theme color
|
||||
mjfItemEnable predicate; // callback to set item state programmatically
|
||||
void* userdata; // pointer to user data (passed to predicate)
|
||||
int rectid; // index of this ui rectangle in mjuiState
|
||||
int auxid; // aux buffer index of this ui
|
||||
int radiocol; // number of radio columns (0 defaults to 2)
|
||||
|
||||
// mouse focus
|
||||
int mousesect; // 0: none, -1: scroll, otherwise 1+section
|
||||
int mouseitem; // item within section
|
||||
int mousehelp; // help button down: print shortcuts
|
||||
// UI sizes (framebuffer units)
|
||||
int width; // width
|
||||
int height; // current heigth
|
||||
int maxheight; // height when all sections open
|
||||
int scroll; // scroll from top of UI
|
||||
|
||||
// keyboard focus and edit
|
||||
int editsect; // 0: none, otherwise 1+section
|
||||
int edititem; // item within section
|
||||
int editcursor; // cursor position
|
||||
int editscroll; // horizontal scroll
|
||||
char edittext[mjMAXUITEXT]; // current text
|
||||
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
|
||||
// mouse focus
|
||||
int mousesect; // 0: none, -1: scroll, otherwise 1+section
|
||||
int mouseitem; // item within section
|
||||
int mousehelp; // help button down: print shortcuts
|
||||
|
||||
// sections
|
||||
int nsect; // number of sections in use
|
||||
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
|
||||
// keyboard focus and edit
|
||||
int editsect; // 0: none, otherwise 1+section
|
||||
int edititem; // item within section
|
||||
int editcursor; // cursor position
|
||||
int editscroll; // horizontal scroll
|
||||
char edittext[mjMAXUITEXT]; // current text
|
||||
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
|
||||
|
||||
// sections
|
||||
int nsect; // number of sections in use
|
||||
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
|
||||
};
|
||||
typedef struct _mjUI mjUI;
|
||||
typedef struct mjUI_ mjUI;
|
||||
|
||||
|
||||
struct _mjuiDef // table passed to mjui_add()
|
||||
{
|
||||
int type; // type (mjtItem); -1: section
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // state
|
||||
void* pdata; // pointer to data
|
||||
char other[mjMAXUITEXT]; // string with type-specific properties
|
||||
//---------------------------------- mjuiDef -------------------------------------------------------
|
||||
|
||||
struct mjuiDef_ { // table passed to mjui_add()
|
||||
int type; // type (mjtItem); -1: section
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // state
|
||||
void* pdata; // pointer to data
|
||||
char other[mjMAXUITEXT]; // string with type-specific properties
|
||||
};
|
||||
typedef struct _mjuiDef mjuiDef;
|
||||
typedef struct mjuiDef_ mjuiDef;
|
||||
|
||||
#endif // MUJOCO_MJUI_H_
|
||||
|
||||
Executable → Regular
+264
-261
@@ -15,336 +15,339 @@
|
||||
#ifndef MUJOCO_MJVISUALIZE_H_
|
||||
#define MUJOCO_MJVISUALIZE_H_
|
||||
|
||||
#define mjNGROUP 6 // number of geom, site, joint groups with visflags
|
||||
#define mjMAXOVERLAY 500 // maximum number of characters in overlay text
|
||||
#define mjMAXLINE 100 // maximum number of lines per plot
|
||||
#define mjMAXLINEPNT 1000 // maximum number points per line
|
||||
#define mjMAXPLANEGRID 200 // maximum number of grid divisions for plane
|
||||
#include "mjmodel.h"
|
||||
|
||||
#define mjNGROUP 6 // number of geom, site, joint groups with visflags
|
||||
#define mjMAXOVERLAY 500 // maximum number of characters in overlay text
|
||||
#define mjMAXLINE 100 // maximum number of lines per plot
|
||||
#define mjMAXLINEPNT 1000 // maximum number points per line
|
||||
#define mjMAXPLANEGRID 200 // maximum number of grid divisions for plane
|
||||
|
||||
|
||||
typedef enum _mjtCatBit // bitflags for mjvGeom category
|
||||
{
|
||||
mjCAT_STATIC = 1, // model elements in body 0
|
||||
mjCAT_DYNAMIC = 2, // model elements in all other bodies
|
||||
mjCAT_DECOR = 4, // decorative geoms
|
||||
mjCAT_ALL = 7 // select all categories
|
||||
//---------------------------------- primitive types (mjt) -----------------------------------------
|
||||
|
||||
typedef enum mjtCatBit_ { // bitflags for mjvGeom category
|
||||
mjCAT_STATIC = 1, // model elements in body 0
|
||||
mjCAT_DYNAMIC = 2, // model elements in all other bodies
|
||||
mjCAT_DECOR = 4, // decorative geoms
|
||||
mjCAT_ALL = 7 // select all categories
|
||||
} mjtCatBit;
|
||||
|
||||
|
||||
typedef enum _mjtMouse // mouse interaction mode
|
||||
{
|
||||
mjMOUSE_NONE = 0, // no action
|
||||
mjMOUSE_ROTATE_V, // rotate, vertical plane
|
||||
mjMOUSE_ROTATE_H, // rotate, horizontal plane
|
||||
mjMOUSE_MOVE_V, // move, vertical plane
|
||||
mjMOUSE_MOVE_H, // move, horizontal plane
|
||||
mjMOUSE_ZOOM, // zoom
|
||||
mjMOUSE_SELECT // selection
|
||||
typedef enum mjtMouse_ { // mouse interaction mode
|
||||
mjMOUSE_NONE = 0, // no action
|
||||
mjMOUSE_ROTATE_V, // rotate, vertical plane
|
||||
mjMOUSE_ROTATE_H, // rotate, horizontal plane
|
||||
mjMOUSE_MOVE_V, // move, vertical plane
|
||||
mjMOUSE_MOVE_H, // move, horizontal plane
|
||||
mjMOUSE_ZOOM, // zoom
|
||||
mjMOUSE_SELECT // selection
|
||||
} mjtMouse;
|
||||
|
||||
|
||||
typedef enum _mjtPertBit // mouse perturbations
|
||||
{
|
||||
mjPERT_TRANSLATE = 1, // translation
|
||||
mjPERT_ROTATE = 2 // rotation
|
||||
typedef enum mjtPertBit_ { // mouse perturbations
|
||||
mjPERT_TRANSLATE = 1, // translation
|
||||
mjPERT_ROTATE = 2 // rotation
|
||||
} mjtPertBit;
|
||||
|
||||
|
||||
typedef enum _mjtCamera // abstract camera type
|
||||
{
|
||||
mjCAMERA_FREE = 0, // free camera
|
||||
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
|
||||
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
|
||||
mjCAMERA_USER // user is responsible for setting OpenGL camera
|
||||
typedef enum mjtCamera_ { // abstract camera type
|
||||
mjCAMERA_FREE = 0, // free camera
|
||||
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
|
||||
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
|
||||
mjCAMERA_USER // user is responsible for setting OpenGL camera
|
||||
} mjtCamera;
|
||||
|
||||
|
||||
typedef enum _mjtLabel // object labeling
|
||||
{
|
||||
mjLABEL_NONE = 0, // nothing
|
||||
mjLABEL_BODY, // body labels
|
||||
mjLABEL_JOINT, // joint labels
|
||||
mjLABEL_GEOM, // geom labels
|
||||
mjLABEL_SITE, // site labels
|
||||
mjLABEL_CAMERA, // camera labels
|
||||
mjLABEL_LIGHT, // light labels
|
||||
mjLABEL_TENDON, // tendon labels
|
||||
mjLABEL_ACTUATOR, // actuator labels
|
||||
mjLABEL_CONSTRAINT, // constraint labels
|
||||
mjLABEL_SKIN, // skin labels
|
||||
mjLABEL_SELECTION, // selected object
|
||||
mjLABEL_SELPNT, // coordinates of selection point
|
||||
mjLABEL_CONTACTFORCE, // magnitude of contact force
|
||||
typedef enum mjtLabel_ { // object labeling
|
||||
mjLABEL_NONE = 0, // nothing
|
||||
mjLABEL_BODY, // body labels
|
||||
mjLABEL_JOINT, // joint labels
|
||||
mjLABEL_GEOM, // geom labels
|
||||
mjLABEL_SITE, // site labels
|
||||
mjLABEL_CAMERA, // camera labels
|
||||
mjLABEL_LIGHT, // light labels
|
||||
mjLABEL_TENDON, // tendon labels
|
||||
mjLABEL_ACTUATOR, // actuator labels
|
||||
mjLABEL_CONSTRAINT, // constraint labels
|
||||
mjLABEL_SKIN, // skin labels
|
||||
mjLABEL_SELECTION, // selected object
|
||||
mjLABEL_SELPNT, // coordinates of selection point
|
||||
mjLABEL_CONTACTFORCE, // magnitude of contact force
|
||||
|
||||
mjNLABEL // number of label types
|
||||
mjNLABEL // number of label types
|
||||
} mjtLabel;
|
||||
|
||||
|
||||
typedef enum _mjtFrame // frame visualization
|
||||
{
|
||||
mjFRAME_NONE = 0, // no frames
|
||||
mjFRAME_BODY, // body frames
|
||||
mjFRAME_GEOM, // geom frames
|
||||
mjFRAME_SITE, // site frames
|
||||
mjFRAME_CAMERA, // camera frames
|
||||
mjFRAME_LIGHT, // light frames
|
||||
mjFRAME_WORLD, // world frame
|
||||
typedef enum mjtFrame_ { // frame visualization
|
||||
mjFRAME_NONE = 0, // no frames
|
||||
mjFRAME_BODY, // body frames
|
||||
mjFRAME_GEOM, // geom frames
|
||||
mjFRAME_SITE, // site frames
|
||||
mjFRAME_CAMERA, // camera frames
|
||||
mjFRAME_LIGHT, // light frames
|
||||
mjFRAME_WORLD, // world frame
|
||||
|
||||
mjNFRAME // number of visualization frames
|
||||
mjNFRAME // number of visualization frames
|
||||
} mjtFrame;
|
||||
|
||||
|
||||
typedef enum _mjtVisFlag // flags enabling model element visualization
|
||||
{
|
||||
mjVIS_CONVEXHULL = 0, // mesh convex hull
|
||||
mjVIS_TEXTURE, // textures
|
||||
mjVIS_JOINT, // joints
|
||||
mjVIS_ACTUATOR, // actuators
|
||||
mjVIS_CAMERA, // cameras
|
||||
mjVIS_LIGHT, // lights
|
||||
mjVIS_TENDON, // tendons
|
||||
mjVIS_RANGEFINDER, // rangefinder sensors
|
||||
mjVIS_CONSTRAINT, // point constraints
|
||||
mjVIS_INERTIA, // equivalent inertia boxes
|
||||
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
|
||||
mjVIS_PERTFORCE, // perturbation force
|
||||
mjVIS_PERTOBJ, // perturbation object
|
||||
mjVIS_CONTACTPOINT, // contact points
|
||||
mjVIS_CONTACTFORCE, // contact force
|
||||
mjVIS_CONTACTSPLIT, // split contact force into normal and tanget
|
||||
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
|
||||
mjVIS_AUTOCONNECT, // auto connect joints and body coms
|
||||
mjVIS_COM, // center of mass
|
||||
mjVIS_SELECT, // selection point
|
||||
mjVIS_STATIC, // static bodies
|
||||
mjVIS_SKIN, // skin
|
||||
typedef enum mjtVisFlag_ { // flags enabling model element visualization
|
||||
mjVIS_CONVEXHULL = 0, // mesh convex hull
|
||||
mjVIS_TEXTURE, // textures
|
||||
mjVIS_JOINT, // joints
|
||||
mjVIS_ACTUATOR, // actuators
|
||||
mjVIS_CAMERA, // cameras
|
||||
mjVIS_LIGHT, // lights
|
||||
mjVIS_TENDON, // tendons
|
||||
mjVIS_RANGEFINDER, // rangefinder sensors
|
||||
mjVIS_CONSTRAINT, // point constraints
|
||||
mjVIS_INERTIA, // equivalent inertia boxes
|
||||
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
|
||||
mjVIS_PERTFORCE, // perturbation force
|
||||
mjVIS_PERTOBJ, // perturbation object
|
||||
mjVIS_CONTACTPOINT, // contact points
|
||||
mjVIS_CONTACTFORCE, // contact force
|
||||
mjVIS_CONTACTSPLIT, // split contact force into normal and tanget
|
||||
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
|
||||
mjVIS_AUTOCONNECT, // auto connect joints and body coms
|
||||
mjVIS_COM, // center of mass
|
||||
mjVIS_SELECT, // selection point
|
||||
mjVIS_STATIC, // static bodies
|
||||
mjVIS_SKIN, // skin
|
||||
|
||||
mjNVISFLAG // number of visualization flags
|
||||
mjNVISFLAG // number of visualization flags
|
||||
} mjtVisFlag;
|
||||
|
||||
|
||||
typedef enum _mjtRndFlag // flags enabling rendering effects
|
||||
{
|
||||
mjRND_SHADOW = 0, // shadows
|
||||
mjRND_WIREFRAME, // wireframe
|
||||
mjRND_REFLECTION, // reflections
|
||||
mjRND_ADDITIVE, // additive transparency
|
||||
mjRND_SKYBOX, // skybox
|
||||
mjRND_FOG, // fog
|
||||
mjRND_HAZE, // haze
|
||||
mjRND_SEGMENT, // segmentation with random color
|
||||
mjRND_IDCOLOR, // segmentation with segid color
|
||||
typedef enum mjtRndFlag_ { // flags enabling rendering effects
|
||||
mjRND_SHADOW = 0, // shadows
|
||||
mjRND_WIREFRAME, // wireframe
|
||||
mjRND_REFLECTION, // reflections
|
||||
mjRND_ADDITIVE, // additive transparency
|
||||
mjRND_SKYBOX, // skybox
|
||||
mjRND_FOG, // fog
|
||||
mjRND_HAZE, // haze
|
||||
mjRND_SEGMENT, // segmentation with random color
|
||||
mjRND_IDCOLOR, // segmentation with segid color
|
||||
|
||||
mjNRNDFLAG // number of rendering flags
|
||||
mjNRNDFLAG // number of rendering flags
|
||||
} mjtRndFlag;
|
||||
|
||||
|
||||
typedef enum _mjtStereo // type of stereo rendering
|
||||
{
|
||||
mjSTEREO_NONE = 0, // no stereo; use left eye only
|
||||
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
|
||||
mjSTEREO_SIDEBYSIDE // side-by-side
|
||||
typedef enum mjtStereo_ { // type of stereo rendering
|
||||
mjSTEREO_NONE = 0, // no stereo; use left eye only
|
||||
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
|
||||
mjSTEREO_SIDEBYSIDE // side-by-side
|
||||
} mjtStereo;
|
||||
|
||||
|
||||
struct _mjvPerturb // object selection and perturbation
|
||||
{
|
||||
int select; // selected body id; non-positive: none
|
||||
int skinselect; // selected skin id; negative: none
|
||||
int active; // perturbation bitmask (mjtPertBit)
|
||||
int active2; // secondary perturbation bitmask (mjtPertBit)
|
||||
mjtNum refpos[3]; // desired position for selected object
|
||||
mjtNum refquat[4]; // desired orientation for selected object
|
||||
mjtNum localpos[3]; // selection point in object coordinates
|
||||
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
|
||||
//---------------------------------- mjvPerturb ----------------------------------------------------
|
||||
|
||||
struct mjvPerturb_ { // object selection and perturbation
|
||||
int select; // selected body id; non-positive: none
|
||||
int skinselect; // selected skin id; negative: none
|
||||
int active; // perturbation bitmask (mjtPertBit)
|
||||
int active2; // secondary perturbation bitmask (mjtPertBit)
|
||||
mjtNum refpos[3]; // desired position for selected object
|
||||
mjtNum refquat[4]; // desired orientation for selected object
|
||||
mjtNum localpos[3]; // selection point in object coordinates
|
||||
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
|
||||
};
|
||||
typedef struct _mjvPerturb mjvPerturb;
|
||||
typedef struct mjvPerturb_ mjvPerturb;
|
||||
|
||||
|
||||
struct _mjvCamera // abstract camera
|
||||
{
|
||||
// type and ids
|
||||
int type; // camera type (mjtCamera)
|
||||
int fixedcamid; // fixed camera id
|
||||
int trackbodyid; // body id to track
|
||||
//---------------------------------- mjvCamera -----------------------------------------------------
|
||||
|
||||
// abstract camera pose specification
|
||||
mjtNum lookat[3]; // lookat point
|
||||
mjtNum distance; // distance to lookat point or tracked body
|
||||
mjtNum azimuth; // camera azimuth (deg)
|
||||
mjtNum elevation; // camera elevation (deg)
|
||||
struct mjvCamera_ { // abstract camera
|
||||
// type and ids
|
||||
int type; // camera type (mjtCamera)
|
||||
int fixedcamid; // fixed camera id
|
||||
int trackbodyid; // body id to track
|
||||
|
||||
// abstract camera pose specification
|
||||
mjtNum lookat[3]; // lookat point
|
||||
mjtNum distance; // distance to lookat point or tracked body
|
||||
mjtNum azimuth; // camera azimuth (deg)
|
||||
mjtNum elevation; // camera elevation (deg)
|
||||
};
|
||||
typedef struct _mjvCamera mjvCamera;
|
||||
typedef struct mjvCamera_ mjvCamera;
|
||||
|
||||
|
||||
struct _mjvGLCamera // OpenGL camera
|
||||
{
|
||||
// camera frame
|
||||
float pos[3]; // position
|
||||
float forward[3]; // forward direction
|
||||
float up[3]; // up direction
|
||||
//---------------------------------- mjvGLCamera ---------------------------------------------------
|
||||
|
||||
// camera projection
|
||||
float frustum_center; // hor. center (left,right set to match aspect)
|
||||
float frustum_bottom; // bottom
|
||||
float frustum_top; // top
|
||||
float frustum_near; // near
|
||||
float frustum_far; // far
|
||||
struct mjvGLCamera_ { // OpenGL camera
|
||||
// camera frame
|
||||
float pos[3]; // position
|
||||
float forward[3]; // forward direction
|
||||
float up[3]; // up direction
|
||||
|
||||
// camera projection
|
||||
float frustum_center; // hor. center (left,right set to match aspect)
|
||||
float frustum_bottom; // bottom
|
||||
float frustum_top; // top
|
||||
float frustum_near; // near
|
||||
float frustum_far; // far
|
||||
};
|
||||
typedef struct _mjvGLCamera mjvGLCamera;
|
||||
typedef struct mjvGLCamera_ mjvGLCamera;
|
||||
|
||||
|
||||
struct _mjvGeom // abstract geom
|
||||
{
|
||||
// type info
|
||||
int type; // geom type (mjtGeom)
|
||||
int dataid; // mesh, hfield or plane id; -1: none
|
||||
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
|
||||
int objid; // mujoco object id; -1 for decor
|
||||
int category; // visual category
|
||||
int texid; // texture id; -1: no texture
|
||||
int texuniform; // uniform cube mapping
|
||||
int texcoord; // mesh geom has texture coordinates
|
||||
int segid; // segmentation id; -1: not shown
|
||||
//---------------------------------- mjvGeom -------------------------------------------------------
|
||||
|
||||
// OpenGL info
|
||||
float texrepeat[2]; // texture repetition for 2D mapping
|
||||
float size[3]; // size parameters
|
||||
float pos[3]; // Cartesian position
|
||||
float mat[9]; // Cartesian orientation
|
||||
float rgba[4]; // color and transparency
|
||||
float emission; // emission coef
|
||||
float specular; // specular coef
|
||||
float shininess; // shininess coef
|
||||
float reflectance; // reflectance coef
|
||||
char label[100]; // text label
|
||||
struct mjvGeom_ { // abstract geom
|
||||
// type info
|
||||
int type; // geom type (mjtGeom)
|
||||
int dataid; // mesh, hfield or plane id; -1: none
|
||||
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
|
||||
int objid; // mujoco object id; -1 for decor
|
||||
int category; // visual category
|
||||
int texid; // texture id; -1: no texture
|
||||
int texuniform; // uniform cube mapping
|
||||
int texcoord; // mesh geom has texture coordinates
|
||||
int segid; // segmentation id; -1: not shown
|
||||
|
||||
// transparency rendering (set internally)
|
||||
float camdist; // distance to camera (used by sorter)
|
||||
float modelrbound; // geom rbound from model, 0 if not model geom
|
||||
mjtByte transparent; // treat geom as transparent
|
||||
// OpenGL info
|
||||
float texrepeat[2]; // texture repetition for 2D mapping
|
||||
float size[3]; // size parameters
|
||||
float pos[3]; // Cartesian position
|
||||
float mat[9]; // Cartesian orientation
|
||||
float rgba[4]; // color and transparency
|
||||
float emission; // emission coef
|
||||
float specular; // specular coef
|
||||
float shininess; // shininess coef
|
||||
float reflectance; // reflectance coef
|
||||
char label[100]; // text label
|
||||
|
||||
// transparency rendering (set internally)
|
||||
float camdist; // distance to camera (used by sorter)
|
||||
float modelrbound; // geom rbound from model, 0 if not model geom
|
||||
mjtByte transparent; // treat geom as transparent
|
||||
};
|
||||
typedef struct _mjvGeom mjvGeom;
|
||||
typedef struct mjvGeom_ mjvGeom;
|
||||
|
||||
|
||||
struct _mjvLight // OpenGL light
|
||||
{
|
||||
float pos[3]; // position rel. to body frame
|
||||
float dir[3]; // direction rel. to body frame
|
||||
float attenuation[3]; // OpenGL attenuation (quadratic model)
|
||||
float cutoff; // OpenGL cutoff
|
||||
float exponent; // OpenGL exponent
|
||||
float ambient[3]; // ambient rgb (alpha=1)
|
||||
float diffuse[3]; // diffuse rgb (alpha=1)
|
||||
float specular[3]; // specular rgb (alpha=1)
|
||||
mjtByte headlight; // headlight
|
||||
mjtByte directional; // directional light
|
||||
mjtByte castshadow; // does light cast shadows
|
||||
//---------------------------------- mjvLight ------------------------------------------------------
|
||||
|
||||
struct mjvLight_ { // OpenGL light
|
||||
float pos[3]; // position rel. to body frame
|
||||
float dir[3]; // direction rel. to body frame
|
||||
float attenuation[3]; // OpenGL attenuation (quadratic model)
|
||||
float cutoff; // OpenGL cutoff
|
||||
float exponent; // OpenGL exponent
|
||||
float ambient[3]; // ambient rgb (alpha=1)
|
||||
float diffuse[3]; // diffuse rgb (alpha=1)
|
||||
float specular[3]; // specular rgb (alpha=1)
|
||||
mjtByte headlight; // headlight
|
||||
mjtByte directional; // directional light
|
||||
mjtByte castshadow; // does light cast shadows
|
||||
};
|
||||
typedef struct _mjvLight mjvLight;
|
||||
typedef struct mjvLight_ mjvLight;
|
||||
|
||||
|
||||
struct _mjvOption // abstract visualization options
|
||||
{
|
||||
int label; // what objects to label (mjtLabel)
|
||||
int frame; // which frame to show (mjtFrame)
|
||||
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
|
||||
mjtByte sitegroup[mjNGROUP]; // site visualization by group
|
||||
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
|
||||
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
|
||||
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
|
||||
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
|
||||
//---------------------------------- mjvOption -----------------------------------------------------
|
||||
|
||||
struct mjvOption_ { // abstract visualization options
|
||||
int label; // what objects to label (mjtLabel)
|
||||
int frame; // which frame to show (mjtFrame)
|
||||
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
|
||||
mjtByte sitegroup[mjNGROUP]; // site visualization by group
|
||||
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
|
||||
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
|
||||
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
|
||||
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
|
||||
};
|
||||
typedef struct _mjvOption mjvOption;
|
||||
typedef struct mjvOption_ mjvOption;
|
||||
|
||||
|
||||
struct _mjvScene // abstract scene passed to OpenGL renderer
|
||||
{
|
||||
// abstract geoms
|
||||
int maxgeom; // size of allocated geom buffer
|
||||
int ngeom; // number of geoms currently in buffer
|
||||
mjvGeom* geoms; // buffer for geoms
|
||||
int* geomorder; // buffer for ordering geoms by distance to camera
|
||||
//---------------------------------- mjvScene ------------------------------------------------------
|
||||
|
||||
// skin data
|
||||
int nskin; // number of skins
|
||||
int* skinfacenum; // number of faces in skin
|
||||
int* skinvertadr; // address of skin vertices
|
||||
int* skinvertnum; // number of vertices in skin
|
||||
float* skinvert; // skin vertex data
|
||||
float* skinnormal; // skin normal data
|
||||
struct mjvScene_ { // abstract scene passed to OpenGL renderer
|
||||
// abstract geoms
|
||||
int maxgeom; // size of allocated geom buffer
|
||||
int ngeom; // number of geoms currently in buffer
|
||||
mjvGeom* geoms; // buffer for geoms
|
||||
int* geomorder; // buffer for ordering geoms by distance to camera
|
||||
|
||||
// OpenGL lights
|
||||
int nlight; // number of lights currently in buffer
|
||||
mjvLight lights[8]; // buffer for lights
|
||||
// skin data
|
||||
int nskin; // number of skins
|
||||
int* skinfacenum; // number of faces in skin
|
||||
int* skinvertadr; // address of skin vertices
|
||||
int* skinvertnum; // number of vertices in skin
|
||||
float* skinvert; // skin vertex data
|
||||
float* skinnormal; // skin normal data
|
||||
|
||||
// OpenGL cameras
|
||||
mjvGLCamera camera[2]; // left and right camera
|
||||
// OpenGL lights
|
||||
int nlight; // number of lights currently in buffer
|
||||
mjvLight lights[8]; // buffer for lights
|
||||
|
||||
// OpenGL model transformation
|
||||
mjtByte enabletransform; // enable model transformation
|
||||
float translate[3]; // model translation
|
||||
float rotate[4]; // model quaternion rotation
|
||||
float scale; // model scaling
|
||||
// OpenGL cameras
|
||||
mjvGLCamera camera[2]; // left and right camera
|
||||
|
||||
// OpenGL rendering effects
|
||||
int stereo; // stereoscopic rendering (mjtStereo)
|
||||
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
|
||||
// OpenGL model transformation
|
||||
mjtByte enabletransform; // enable model transformation
|
||||
float translate[3]; // model translation
|
||||
float rotate[4]; // model quaternion rotation
|
||||
float scale; // model scaling
|
||||
|
||||
// framing
|
||||
int framewidth; // frame pixel width; 0: disable framing
|
||||
float framergb[3]; // frame color
|
||||
// OpenGL rendering effects
|
||||
int stereo; // stereoscopic rendering (mjtStereo)
|
||||
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
|
||||
|
||||
// framing
|
||||
int framewidth; // frame pixel width; 0: disable framing
|
||||
float framergb[3]; // frame color
|
||||
};
|
||||
typedef struct _mjvScene mjvScene;
|
||||
typedef struct mjvScene_ mjvScene;
|
||||
|
||||
|
||||
struct _mjvFigure // abstract 2D figure passed to OpenGL renderer
|
||||
{
|
||||
// enable flags
|
||||
int flg_legend; // show legend
|
||||
int flg_ticklabel[2]; // show grid tick labels (x,y)
|
||||
int flg_extend; // automatically extend axis ranges to fit data
|
||||
int flg_barplot; // isolated line segments (i.e. GL_LINES)
|
||||
int flg_selection; // vertical selection line
|
||||
int flg_symmetric; // symmetric y-axis
|
||||
//---------------------------------- mjvFigure -----------------------------------------------------
|
||||
|
||||
// style settings
|
||||
float linewidth; // line width
|
||||
float gridwidth; // grid line width
|
||||
int gridsize[2]; // number of grid points in (x,y)
|
||||
float gridrgb[3]; // grid line rgb
|
||||
float figurergba[4]; // figure color and alpha
|
||||
float panergba[4]; // pane color and alpha
|
||||
float legendrgba[4]; // legend color and alpha
|
||||
float textrgb[3]; // text color
|
||||
float linergb[mjMAXLINE][3]; // line colors
|
||||
float range[2][2]; // axis ranges; (min>=max) automatic
|
||||
char xformat[20]; // x-tick label format for sprintf
|
||||
char yformat[20]; // y-tick label format for sprintf
|
||||
char minwidth[20]; // string used to determine min y-tick width
|
||||
struct mjvFigure_ { // abstract 2D figure passed to OpenGL renderer
|
||||
// enable flags
|
||||
int flg_legend; // show legend
|
||||
int flg_ticklabel[2]; // show grid tick labels (x,y)
|
||||
int flg_extend; // automatically extend axis ranges to fit data
|
||||
int flg_barplot; // isolated line segments (i.e. GL_LINES)
|
||||
int flg_selection; // vertical selection line
|
||||
int flg_symmetric; // symmetric y-axis
|
||||
|
||||
// text labels
|
||||
char title[1000]; // figure title; subplots separated with 2+ spaces
|
||||
char xlabel[100]; // x-axis label
|
||||
char linename[mjMAXLINE][100]; // line names for legend
|
||||
// style settings
|
||||
float linewidth; // line width
|
||||
float gridwidth; // grid line width
|
||||
int gridsize[2]; // number of grid points in (x,y)
|
||||
float gridrgb[3]; // grid line rgb
|
||||
float figurergba[4]; // figure color and alpha
|
||||
float panergba[4]; // pane color and alpha
|
||||
float legendrgba[4]; // legend color and alpha
|
||||
float textrgb[3]; // text color
|
||||
float linergb[mjMAXLINE][3]; // line colors
|
||||
float range[2][2]; // axis ranges; (min>=max) automatic
|
||||
char xformat[20]; // x-tick label format for sprintf
|
||||
char yformat[20]; // y-tick label format for sprintf
|
||||
char minwidth[20]; // string used to determine min y-tick width
|
||||
|
||||
// dynamic settings
|
||||
int legendoffset; // number of lines to offset legend
|
||||
int subplot; // selected subplot (for title rendering)
|
||||
int highlight[2]; // if point is in legend rect, highlight line
|
||||
int highlightid; // if id>=0 and no point, highlight id
|
||||
float selection; // selection line x-value
|
||||
// text labels
|
||||
char title[1000]; // figure title; subplots separated with 2+ spaces
|
||||
char xlabel[100]; // x-axis label
|
||||
char linename[mjMAXLINE][100]; // line names for legend
|
||||
|
||||
// line data
|
||||
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
|
||||
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
|
||||
// dynamic settings
|
||||
int legendoffset; // number of lines to offset legend
|
||||
int subplot; // selected subplot (for title rendering)
|
||||
int highlight[2]; // if point is in legend rect, highlight line
|
||||
int highlightid; // if id>=0 and no point, highlight id
|
||||
float selection; // selection line x-value
|
||||
|
||||
// output from renderer
|
||||
int xaxispixel[2]; // range of x-axis in pixels
|
||||
int yaxispixel[2]; // range of y-axis in pixels
|
||||
float xaxisdata[2]; // range of x-axis in data units
|
||||
float yaxisdata[2]; // range of y-axis in data units
|
||||
// line data
|
||||
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
|
||||
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
|
||||
|
||||
// output from renderer
|
||||
int xaxispixel[2]; // range of x-axis in pixels
|
||||
int yaxispixel[2]; // range of y-axis in pixels
|
||||
float xaxisdata[2]; // range of x-axis in data units
|
||||
float yaxisdata[2]; // range of y-axis in data units
|
||||
};
|
||||
typedef struct _mjvFigure mjvFigure;
|
||||
typedef struct mjvFigure_ mjvFigure;
|
||||
|
||||
#endif // MUJOCO_MJVISUALIZE_H_
|
||||
|
||||
Executable → Regular
+32
-1
@@ -18,7 +18,7 @@
|
||||
//-------------------------------- mjOption ---------------------------------------------
|
||||
|
||||
// scalar fields of mjOption
|
||||
#define MJOPTION_SCALARS \
|
||||
#define MJOPTION_FLOATS \
|
||||
X( mjtNum, timestep ) \
|
||||
X( mjtNum, apirate ) \
|
||||
X( mjtNum, impratio ) \
|
||||
@@ -28,6 +28,9 @@
|
||||
X( mjtNum, density ) \
|
||||
X( mjtNum, viscosity ) \
|
||||
X( mjtNum, o_margin ) \
|
||||
|
||||
|
||||
#define MJOPTION_INTS \
|
||||
X( int, integrator ) \
|
||||
X( int, collision ) \
|
||||
X( int, cone ) \
|
||||
@@ -40,6 +43,11 @@
|
||||
X( int, enableflags )
|
||||
|
||||
|
||||
#define MJOPTION_SCALARS \
|
||||
MJOPTION_FLOATS \
|
||||
MJOPTION_INTS
|
||||
|
||||
|
||||
// vector fields of mjOption
|
||||
#define MJOPTION_VECTORS \
|
||||
X( gravity, 3 ) \
|
||||
@@ -113,6 +121,23 @@
|
||||
X( nbuffer )
|
||||
|
||||
|
||||
// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
|
||||
#define MJMODEL_POINTERS_PREAMBLE( m ) \
|
||||
int nuser_body = m->nuser_body; \
|
||||
int nuser_jnt = m->nuser_jnt; \
|
||||
int nuser_geom = m->nuser_geom; \
|
||||
int nuser_site = m->nuser_site; \
|
||||
int nuser_cam = m->nuser_cam; \
|
||||
int nuser_tendon = m->nuser_tendon; \
|
||||
int nuser_actuator = m->nuser_actuator; \
|
||||
int nuser_sensor = m->nuser_sensor; \
|
||||
int nq = m->nq; \
|
||||
int nv = m->nv; \
|
||||
int na = m->na; \
|
||||
int nmocap3 = 3*m->nmocap; \
|
||||
int nmocap4 = 4*m->nmocap;
|
||||
|
||||
|
||||
// pointer fields of mjModel
|
||||
#define MJMODEL_POINTERS \
|
||||
X( mjtNum, qpos0, nq, 1 ) \
|
||||
@@ -386,6 +411,12 @@
|
||||
|
||||
//-------------------------------- mjData -----------------------------------------------
|
||||
|
||||
|
||||
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
|
||||
#define MJDATA_POINTERS_PREAMBLE( m ) \
|
||||
int nv = m->nv; \
|
||||
int njmax = m->njmax;
|
||||
|
||||
// pointer fields of mjData
|
||||
#define MJDATA_POINTERS \
|
||||
X( mjtNum, qpos, nq, 1 ) \
|
||||
|
||||
Executable → Regular
+62
-65
@@ -15,27 +15,16 @@
|
||||
#ifndef MUJOCO_MUJOCO_H_
|
||||
#define MUJOCO_MUJOCO_H_
|
||||
|
||||
// cross-platform import
|
||||
#if defined(MJ_STATIC)
|
||||
#define MJAPI
|
||||
#else
|
||||
#if defined(_WIN32)
|
||||
#define MJAPI __declspec(dllimport)
|
||||
#else
|
||||
#define MJAPI
|
||||
#endif
|
||||
#endif
|
||||
#include "mujoco_export.h"
|
||||
|
||||
|
||||
// this is a C-API
|
||||
#if defined(__cplusplus)
|
||||
extern "C"
|
||||
{
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// header version; should match the library version as returned by mj_version()
|
||||
#define mjVERSION_HEADER 210
|
||||
|
||||
#define mjVERSION_HEADER 211
|
||||
|
||||
// needed to define size_t, fabs and log10
|
||||
#include "stdlib.h"
|
||||
@@ -89,7 +78,7 @@ MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
|
||||
MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
|
||||
|
||||
|
||||
//---------------------- Activation -----------------------------------------------------
|
||||
//---------------------------------- Activation ----------------------------------------------------
|
||||
|
||||
// Return 1 (for backward compatibility).
|
||||
MJAPI int mj_activate(const char* filename);
|
||||
@@ -98,7 +87,7 @@ MJAPI int mj_activate(const char* filename);
|
||||
MJAPI void mj_deactivate(void);
|
||||
|
||||
|
||||
//---------------------- Virtual file system --------------------------------------------
|
||||
//---------------------------------- Virtual file system -------------------------------------------
|
||||
|
||||
// Initialize VFS to empty (no deallocation).
|
||||
MJAPI void mj_defaultVFS(mjVFS* vfs);
|
||||
@@ -119,7 +108,7 @@ MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
|
||||
MJAPI void mj_deleteVFS(mjVFS* vfs);
|
||||
|
||||
|
||||
//---------------------- Parse and compile ----------------------------------------------
|
||||
//---------------------------------- Parse and compile ---------------------------------------------
|
||||
|
||||
// Parse XML file in MJCF or URDF format, compile it, return low-level model.
|
||||
// If vfs is not NULL, look up files in vfs before reading from disk.
|
||||
@@ -140,7 +129,7 @@ MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
|
||||
int flg_html, int flg_pad);
|
||||
|
||||
|
||||
//---------------------- Main simulation ------------------------------------------------
|
||||
//---------------------------------- Main simulation -----------------------------------------------
|
||||
|
||||
// Advance simulation, use control callback to obtain external force and control.
|
||||
MJAPI void mj_step(const mjModel* m, mjData* d);
|
||||
@@ -166,7 +155,7 @@ MJAPI void mj_inverseSkip(const mjModel* m, mjData* d,
|
||||
int skipstage, int skipsensor);
|
||||
|
||||
|
||||
//---------------------- Initialization -------------------------------------------------
|
||||
//---------------------------------- Initialization ------------------------------------------------
|
||||
|
||||
// Set default options for length range computation.
|
||||
MJAPI void mj_defaultLROpt(mjLROpt* opt);
|
||||
@@ -228,7 +217,12 @@ MJAPI int mj_setLengthRange(mjModel* m, mjData* d, int index,
|
||||
const mjLROpt* opt, char* error, int error_sz);
|
||||
|
||||
|
||||
//---------------------- Printing -------------------------------------------------------
|
||||
//---------------------------------- Printing ------------------------------------------------------
|
||||
|
||||
// Print mjModel to text file, specifying format.
|
||||
// float_format_str must be a valid printf-style format string for a single float value.
|
||||
MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename,
|
||||
const char* float_format_str);
|
||||
|
||||
// Print model to text file.
|
||||
MJAPI void mj_printModel(const mjModel* m, const char* filename);
|
||||
@@ -245,7 +239,7 @@ MJAPI void mju_printMatSparse(const mjtNum* mat, int nr,
|
||||
const int* colind);
|
||||
|
||||
|
||||
//---------------------- Components -----------------------------------------------------
|
||||
//---------------------------------- Components ----------------------------------------------------
|
||||
|
||||
// Run position-dependent computations.
|
||||
MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
|
||||
@@ -281,7 +275,7 @@ MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
|
||||
MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d);
|
||||
|
||||
|
||||
//---------------------- Sub components -------------------------------------------------
|
||||
//---------------------------------- Sub components ------------------------------------------------
|
||||
|
||||
// Evaluate position-dependent sensors.
|
||||
MJAPI void mj_sensorPos(const mjModel* m, mjData* d);
|
||||
@@ -367,7 +361,7 @@ MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
|
||||
mjtNum* cost, int flg_coneHessian);
|
||||
|
||||
|
||||
//---------------------- Support --------------------------------------------------------
|
||||
//---------------------------------- Support -------------------------------------------------------
|
||||
|
||||
// Add contact to d->contact list; return 0 if success; 1 if buffer full.
|
||||
MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
|
||||
@@ -473,8 +467,11 @@ MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
|
||||
// Return version number: 1.0.2 is encoded as 102.
|
||||
MJAPI int mj_version(void);
|
||||
|
||||
// Return the current version of MuJoCo as a null-terminated string.
|
||||
MJAPI const char* mj_versionString();
|
||||
|
||||
//---------------------- Ray collisions -------------------------------------------------
|
||||
|
||||
//---------------------------------- Ray collisions ------------------------------------------------
|
||||
|
||||
// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
|
||||
// Return geomid and distance (x) to nearest surface, or -1 if no intersection.
|
||||
@@ -500,7 +497,7 @@ MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* ver
|
||||
const mjtNum* pnt, const mjtNum* vec, int* vertid);
|
||||
|
||||
|
||||
//---------------------- Interaction ----------------------------------------------------
|
||||
//---------------------------------- Interaction ---------------------------------------------------
|
||||
|
||||
// Set default camera.
|
||||
MJAPI void mjv_defaultCamera(mjvCamera* cam);
|
||||
@@ -563,7 +560,7 @@ MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
|
||||
const mjvScene* scn, mjtNum* selpnt, int* geomid, int* skinid);
|
||||
|
||||
|
||||
//---------------------- Visualization --------------------------------------------------
|
||||
//---------------------------------- Visualization -------------------------------------------------
|
||||
|
||||
// Set default visualization options.
|
||||
MJAPI void mjv_defaultOption(mjvOption* opt);
|
||||
@@ -608,7 +605,7 @@ MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScen
|
||||
MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
|
||||
|
||||
|
||||
//---------------------- OpenGL rendering -----------------------------------------------
|
||||
//---------------------------------- OpenGL rendering ----------------------------------------------
|
||||
|
||||
// Set default mjrContext.
|
||||
MJAPI void mjr_defaultContext(mjrContext* con);
|
||||
@@ -680,7 +677,7 @@ MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
|
||||
// Draw rectangle with centered text.
|
||||
MJAPI void mjr_label(mjrRect viewport, int font, const char* txt,
|
||||
float r, float g, float b, float a, float rt, float gt, float bt,
|
||||
const mjrContext* con);
|
||||
const mjrContext* con);
|
||||
|
||||
// Draw 2D figure.
|
||||
MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
|
||||
@@ -698,7 +695,7 @@ MJAPI int mjr_getError(void);
|
||||
MJAPI int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
|
||||
|
||||
|
||||
//---------------------- UI framework ---------------------------------------------------
|
||||
//---------------------------------- UI framework --------------------------------------------------
|
||||
|
||||
// Get builtin UI theme spacing (ind: 0-1).
|
||||
MJAPI mjuiThemeSpacing mjui_themeSpacing(int ind);
|
||||
@@ -726,7 +723,7 @@ MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
|
||||
MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
|
||||
|
||||
|
||||
//---------------------- Error and memory -----------------------------------------------
|
||||
//---------------------------------- Error and memory ----------------------------------------------
|
||||
|
||||
// Main error function; does not return to caller.
|
||||
MJAPI void mju_error(const char* msg);
|
||||
@@ -762,48 +759,48 @@ MJAPI void mj_warning(mjData* d, int warning, int info);
|
||||
MJAPI void mju_writeLog(const char* type, const char* msg);
|
||||
|
||||
|
||||
//---------------------- Standard math --------------------------------------------------
|
||||
//---------------------------------- Standard math -------------------------------------------------
|
||||
|
||||
#define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
|
||||
#define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
|
||||
|
||||
#ifdef mjUSEDOUBLE
|
||||
#define mju_sqrt sqrt
|
||||
#define mju_exp exp
|
||||
#define mju_sin sin
|
||||
#define mju_cos cos
|
||||
#define mju_tan tan
|
||||
#define mju_asin asin
|
||||
#define mju_acos acos
|
||||
#define mju_atan2 atan2
|
||||
#define mju_tanh tanh
|
||||
#define mju_pow pow
|
||||
#define mju_abs fabs
|
||||
#define mju_log log
|
||||
#define mju_log10 log10
|
||||
#define mju_floor floor
|
||||
#define mju_ceil ceil
|
||||
#define mju_sqrt sqrt
|
||||
#define mju_exp exp
|
||||
#define mju_sin sin
|
||||
#define mju_cos cos
|
||||
#define mju_tan tan
|
||||
#define mju_asin asin
|
||||
#define mju_acos acos
|
||||
#define mju_atan2 atan2
|
||||
#define mju_tanh tanh
|
||||
#define mju_pow pow
|
||||
#define mju_abs fabs
|
||||
#define mju_log log
|
||||
#define mju_log10 log10
|
||||
#define mju_floor floor
|
||||
#define mju_ceil ceil
|
||||
|
||||
#else
|
||||
#define mju_sqrt sqrtf
|
||||
#define mju_exp expf
|
||||
#define mju_sin sinf
|
||||
#define mju_cos cosf
|
||||
#define mju_tan tanf
|
||||
#define mju_asin asinf
|
||||
#define mju_acos acosf
|
||||
#define mju_atan2 atan2f
|
||||
#define mju_tanh tanhf
|
||||
#define mju_pow powf
|
||||
#define mju_abs fabsf
|
||||
#define mju_log logf
|
||||
#define mju_log10 log10f
|
||||
#define mju_floor floorf
|
||||
#define mju_ceil ceilf
|
||||
#define mju_sqrt sqrtf
|
||||
#define mju_exp expf
|
||||
#define mju_sin sinf
|
||||
#define mju_cos cosf
|
||||
#define mju_tan tanf
|
||||
#define mju_asin asinf
|
||||
#define mju_acos acosf
|
||||
#define mju_atan2 atan2f
|
||||
#define mju_tanh tanhf
|
||||
#define mju_pow powf
|
||||
#define mju_abs fabsf
|
||||
#define mju_log logf
|
||||
#define mju_log10 log10f
|
||||
#define mju_floor floorf
|
||||
#define mju_ceil ceilf
|
||||
#endif
|
||||
|
||||
|
||||
//------------------------------ Vector math --------------------------------------------
|
||||
//---------------------------------- Vector math ---------------------------------------------------
|
||||
|
||||
// Set res = 0.
|
||||
MJAPI void mju_zero3(mjtNum res[3]);
|
||||
@@ -940,7 +937,7 @@ MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_forc
|
||||
const mjtNum rotnew2old[9]);
|
||||
|
||||
|
||||
//---------------------- Quaternions ----------------------------------------------------
|
||||
//---------------------------------- Quaternions ---------------------------------------------------
|
||||
|
||||
// Rotate vector by quaternion.
|
||||
MJAPI void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
|
||||
@@ -979,7 +976,7 @@ MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
|
||||
MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
|
||||
|
||||
|
||||
//---------------------- Poses ----------------------------------------------------------
|
||||
//---------------------------------- Poses ---------------------------------------------------------
|
||||
|
||||
// Multiply two poses.
|
||||
MJAPI void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
|
||||
@@ -995,7 +992,7 @@ MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[
|
||||
const mjtNum vec[3]);
|
||||
|
||||
|
||||
//---------------------- Decompositions --------------------------------------------------
|
||||
//--------------------------------- Decompositions -------------------------------------------------
|
||||
|
||||
// Cholesky decomposition: mat = L*L'; return rank.
|
||||
MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
// Copyright 2021 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MUJOCO_MUJOCO_EXPORT_H_
|
||||
#define MUJOCO_MUJOCO_EXPORT_H_
|
||||
|
||||
#if defined _WIN32 || defined __CYGWIN__
|
||||
#define MUJOCO_HELPER_DLL_IMPORT __declspec(dllimport)
|
||||
#define MUJOCO_HELPER_DLL_EXPORT __declspec(dllexport)
|
||||
#define MUJOCO_HELPER_DLL_LOCAL
|
||||
#else
|
||||
#if __GNUC__ >= 4
|
||||
#define MUJOCO_HELPER_DLL_IMPORT __attribute__ ((visibility ("default")))
|
||||
#define MUJOCO_HELPER_DLL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#define MUJOCO_HELPER_DLL_LOCAL __attribute__ ((visibility ("hidden")))
|
||||
#else
|
||||
#define MUJOCO_HELPER_DLL_IMPORT
|
||||
#define MUJOCO_HELPER_DLL_EXPORT
|
||||
#define MUJOCO_HELPER_DLL_LOCAL
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef MJ_STATIC
|
||||
// static library
|
||||
#define MJAPI
|
||||
#define MJLOCAL
|
||||
#else
|
||||
#ifdef MUJOCO_DLL_EXPORTS
|
||||
#define MJAPI MUJOCO_HELPER_DLL_EXPORT
|
||||
#else
|
||||
#define MJAPI MUJOCO_HELPER_DLL_IMPORT
|
||||
#endif
|
||||
#define MJLOCAL MUJOCO_HELPER_DLL_LOCAL
|
||||
#endif
|
||||
|
||||
#endif // MUJOCO_MUJOCO_EXPORT_H_
|
||||
Reference in New Issue
Block a user