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Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.

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Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
2021-12-16 14:36:53 +00:00
parent 4bf5630558
commit a499b38120
49 changed files with 6055 additions and 5712 deletions
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include/mujoco.h
Executable → Regular
+62 -65
View File
@@ -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);