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Clean up user_api.h

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PiperOrigin-RevId: 625693719
Change-Id: I8e75abb9a38bd45ba7a81938eda3baf68b878d4a
This commit is contained in:
Yuval Tassa
2024-04-17 08:34:27 -07:00
committed by Copybara-Service
parent 2b4975811b
commit a4c31c09a8
1 changed files with 162 additions and 137 deletions
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src/user/user_api.h
+162 -137
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@@ -40,39 +40,39 @@ typedef struct _mjDoubleVec* mjDoubleVec;
//---------------------------------- enum types (mjt) ----------------------------------------------
typedef enum _mjtGeomInertia { // type of inertia inference
mjINERTIA_VOLUME, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
typedef enum _mjtGeomInertia { // type of inertia inference
mjINERTIA_VOLUME, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia;
typedef enum _mjtBuiltin { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
mjBUILTIN_FLAT // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
typedef enum _mjtBuiltin { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
mjBUILTIN_FLAT // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
} mjtBuiltin;
typedef enum _mjtMark { // mark type for procedural textures
mjMARK_NONE = 0, // no mark
mjMARK_EDGE, // edges
mjMARK_CROSS, // cross
mjMARK_RANDOM // random dots
typedef enum _mjtMark { // mark type for procedural textures
mjMARK_NONE = 0, // no mark
mjMARK_EDGE, // edges
mjMARK_CROSS, // cross
mjMARK_RANDOM // random dots
} mjtMark;
typedef enum _mjtLimited { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
typedef enum _mjtLimited { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
} mjtLimited;
typedef enum _mjtInertiaFromGeom {
mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
} mjtInertiaFromGeom;
@@ -84,8 +84,8 @@ typedef struct _mjElement { // element type, do not modify
typedef struct _mjSpec { // model specification
mjElement* element; // object type
mjStatistic stat; // statistics override (if defined)
mjElement* element; // element type
mjString modelname; // model name
// compiler settings
mjtByte autolimits; // infer "limited" attribute based on range
@@ -109,33 +109,33 @@ typedef struct _mjSpec { // model specification
mjLROpt LRopt; // options for lengthrange computation
// engine data
mjString modelname; // model name
mjOption option; // options
mjVisual visual; // visual options
size_t memory; // size of arena+stack memory in bytes
int nemax; // max number of equality constraints
int njmax; // max number of constraints (Jacobian rows)
int nconmax; // max number of detected contacts (mjContact array size)
size_t nstack; // (deprecated) number of fields in mjData stack
int nuserdata; // number extra fields in mjData
int nuser_body; // number of mjtNums in body_user
int nuser_jnt; // number of mjtNums in jnt_user
int nuser_geom; // number of mjtNums in geom_user
int nuser_site; // number of mjtNums in site_user
int nuser_cam; // number of mjtNums in cam_user
int nuser_tendon; // number of mjtNums in tendon_user
int nuser_actuator; // number of mjtNums in actuator_user
int nuser_sensor; // number of mjtNums in sensor_user
mjOption option; // physics options
mjVisual visual; // visual options
mjStatistic stat; // statistics override (if defined)
// sizes
int nkey; // number of keyframes
size_t memory; // number of bytes in arena+stack memory
int nemax; // max number of equality constraints
int nuserdata; // number of mjtNums in userdata
int nuser_body; // number of mjtNums in body_user
int nuser_jnt; // number of mjtNums in jnt_user
int nuser_geom; // number of mjtNums in geom_user
int nuser_site; // number of mjtNums in site_user
int nuser_cam; // number of mjtNums in cam_user
int nuser_tendon; // number of mjtNums in tendon_user
int nuser_actuator; // number of mjtNums in actuator_user
int nuser_sensor; // number of mjtNums in sensor_user
int nkey; // number of keyframes
int njmax; // (deprecated) max number of constraints
int nconmax; // (deprecated) max number of detected contacts
size_t nstack; // (deprecated) number of mjtNums in mjData stack
// global data
mjString comment; // comment at top of XML
mjString modelfiledir; // path to model file
mjString comment; // comment at top of XML
mjString modelfiledir; // path to model file
// other
bool hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
bool hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
} mjSpec;
@@ -148,7 +148,7 @@ typedef struct _mjsOrientation { // alternative orientation specifiers
typedef struct _mjsPlugin { // plugin specification
mjElement* instance; // object type
mjElement* instance; // element type
mjString name; // name
mjString instance_name; // instance name
int plugin_slot; // global registered slot number of the plugin
@@ -158,7 +158,7 @@ typedef struct _mjsPlugin { // plugin specification
typedef struct _mjsBody { // body specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString childclass; // childclass name
@@ -186,7 +186,7 @@ typedef struct _mjsBody { // body specification
typedef struct _mjsFrame { // frame specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString childclass; // childclass name
double pos[3]; // position
@@ -197,7 +197,7 @@ typedef struct _mjsFrame { // frame specification
typedef struct _mjsJoint { // joint specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjtJoint type; // joint type
@@ -238,7 +238,7 @@ typedef struct _mjsJoint { // joint specification
typedef struct _mjsGeom { // geom specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // classname
mjtGeom type; // geom type
@@ -287,7 +287,7 @@ typedef struct _mjsGeom { // geom specification
typedef struct _mjsSite { // site specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -311,7 +311,7 @@ typedef struct _mjsSite { // site specification
typedef struct _mjsCamera { // camera specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -340,7 +340,7 @@ typedef struct _mjsCamera { // camera specification
typedef struct _mjsLight { // light specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -368,7 +368,7 @@ typedef struct _mjsLight { // light specification
typedef struct _mjsFlex {
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -409,7 +409,7 @@ typedef struct _mjsFlex {
typedef struct _mjsMesh { // mesh specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString content_type; // content type of file
@@ -430,7 +430,7 @@ typedef struct _mjsMesh { // mesh specification
typedef struct _mjsHField { // height field specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString content_type; // content type of file
mjString file; // file: (nrow, ncol, [elevation data])
@@ -444,7 +444,7 @@ typedef struct _mjsHField { // height field specification
typedef struct _mjsSkin { // skin specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString file; // skin file
@@ -471,7 +471,7 @@ typedef struct _mjsSkin { // skin specification
typedef struct _mjsTexture { // texture specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjtTexture type; // texture type
@@ -505,7 +505,7 @@ typedef struct _mjsTexture { // texture specification
typedef struct _mjsMaterial { // material specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString texture; // name of texture (empty: none)
@@ -521,7 +521,7 @@ typedef struct _mjsMaterial { // material specification
typedef struct _mjsPair {
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString geomname1; // name of geom 1
@@ -540,7 +540,7 @@ typedef struct _mjsPair {
typedef struct _mjsExclude {
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString bodyname1; // name of geom 1
mjString bodyname2; // name of geom 2
@@ -549,7 +549,7 @@ typedef struct _mjsExclude {
typedef struct _mjsEquality { // equality specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjtEq type; // constraint type
@@ -564,7 +564,7 @@ typedef struct _mjsEquality { // equality specification
typedef struct _mjsTendon { // tendon specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -596,13 +596,13 @@ typedef struct _mjsTendon { // tendon specification
typedef struct _mjsWrap { // wrapping object specification
mjElement* element; // object type
mjElement* element; // element type
mjString info; // message appended to errors
} mjsWrap;
typedef struct _mjsActuator { // actuator specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -646,7 +646,7 @@ typedef struct _mjsActuator { // actuator specification
typedef struct _mjsSensor { // sensor specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
@@ -674,7 +674,7 @@ typedef struct _mjsSensor { // sensor specification
typedef struct _mjsNumeric { // custom numeric field specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjDoubleVec data; // initialization data
int size; // array size, can be bigger than data size
@@ -683,7 +683,7 @@ typedef struct _mjsNumeric { // custom numeric field specification
typedef struct _mjsText { // custom text specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjString data; // text string
mjString info; // message appended to compiler errors
@@ -691,7 +691,7 @@ typedef struct _mjsText { // custom text specification
typedef struct _mjsTuple { // tuple specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
mjIntVec objtype; // object types
mjStringVec objname; // object names
@@ -701,7 +701,7 @@ typedef struct _mjsTuple { // tuple specification
typedef struct _mjsKey { // keyframe specification
mjElement* element; // object type
mjElement* element; // element type
mjString name; // name
double time; // time
mjDoubleVec qpos; // qpos
@@ -716,7 +716,7 @@ typedef struct _mjsKey { // keyframe specification
typedef struct _mjsDefault { // default specification
mjString name; // name
mjElement* element; // object type
mjElement* element; // element type
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
@@ -732,38 +732,44 @@ typedef struct _mjsDefault { // default specification
} mjsDefault;
//---------------------------------- API functions -------------------------------------------------
//---------------------------------- Top-level spec manipulation -----------------------------------
// Create model.
// Create spec.
MJAPI mjSpec* mjs_createSpec();
// Copy model.
MJAPI mjSpec* mjs_copySpec(const mjSpec* s);
// Copy back model.
MJAPI void mjs_copyBack(mjSpec* s, const mjModel* m);
// Compile model.
// Compile spec to model.
MJAPI mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs);
// Attach child body to a frame of the parent, return 0 if success
// Copy spec.
MJAPI mjSpec* mjs_copySpec(const mjSpec* s);
// Get compiler error message from spec.
MJAPI const char* mjs_getError(mjSpec* s);
// Return 1 if compiler error is a warning.
MJAPI int mjs_isWarning(mjSpec* s);
// Copy model fields back into spec.
MJAPI void mjs_copyBack(mjSpec* s, const mjModel* m);
// Delete spec.
MJAPI void mjs_deleteSpec(mjSpec* s);
//---------------------------------- Attachment ----------------------------------------------------
// Attach child body to a parent frame, return 0 on success.
MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return 0 if success
// Attach child frame to a parent body, return 0 if success.
MJAPI int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Get error message from model.
MJAPI const char* mjs_getError(mjSpec* s);
// Return 1 if model has warnings.
MJAPI int mjs_isWarning(mjSpec* s);
//---------------------------------- Add tree elements ---------------------------------------------
// Delete model.
MJAPI void mjs_deleteSpec(mjSpec* s);
// Add child body to body, return child spec.
// Add child body to body, return child.
MJAPI mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
// Add site to body, return site spec.
@@ -787,34 +793,28 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
// Add frame to body.
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
// Add flex to model.
//---------------------------------- Add non-tree elements -----------------------------------------
// Add actuator.
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
// Add sensor.
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
// Add flex.
MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
// Add mesh to model.
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
// Add height field to model.
MJAPI mjsHField* mjs_addHField(mjSpec* s);
// Add skin to model.
MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
// Add texture to model.
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material to model.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
// Add pair to model.
// Add contact pair.
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjsDefault* def);
// Add excluded body pair to model.
// Add excluded body pair.
MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
// Add equality to model.
// Add equality.
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* def);
// Add tendon to model.
// Add tendon.
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* def);
// Wrap site using tendon.
@@ -829,42 +829,48 @@ MJAPI mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
// Wrap pulley using tendon.
MJAPI mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
// Add actuator to model.
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
// Add sensor to model.
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
// Add numeric to model.
// Add numeric.
MJAPI mjsNumeric* mjs_addNumeric(mjSpec* s);
// Add text to model.
// Add text.
MJAPI mjsText* mjs_addText(mjSpec* s);
// Add tuple to model.
// Add tuple.
MJAPI mjsTuple* mjs_addTuple(mjSpec* s);
// Add keyframe to model.
// Add keyframe.
MJAPI mjsKey* mjs_addKey(mjSpec* s);
// Add plugin to model.
// Add plugin.
MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
// Add default to model.
// Add default.
MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
// Get model spec from body.
//---------------------------------- Add assets ----------------------------------------------------
// Add mesh.
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
// Add height field.
MJAPI mjsHField* mjs_addHField(mjSpec* s);
// Add skin.
MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
// Add texture.
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
//---------------------------------- Find/get utilities --------------------------------------------
// Get spec from body.
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Get default corresponding to an mjElement.
MJAPI mjsDefault* mjs_getDefault(mjElement* element);
// Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
// Get global default from model.
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
// Find body in model by name.
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
@@ -877,9 +883,21 @@ MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
// Find frame by name.
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
// Get default corresponding to an element.
MJAPI mjsDefault* mjs_getDefault(mjElement* element);
// Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
// Get global default from model.
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
// Get element id.
MJAPI int mjs_getId(mjElement* element);
//---------------------------------- Attribute setters ---------------------------------------------
// Copy text to string.
MJAPI void mjs_setString(mjString dest, const char* text);
@@ -907,33 +925,39 @@ MJAPI void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
// Copy double array to vector.
MJAPI void mjs_setDouble(mjDoubleVec dest, const double* array, int size);
// Set plugin attributes.
MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
//---------------------------------- Attribute getters ---------------------------------------------
// Get string contents.
MJAPI const char* mjs_getString(mjString source);
// Get double array contents and optionally its size.
MJAPI const double* mjs_getDouble(mjDoubleVec source, int* size);
// Set plugin attributes.
MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
//---------------------------------- Other utilities -----------------------------------------------
// Set active plugins.
MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
// Set default.
// Set element's default.
MJAPI void mjs_setDefault(mjElement* element, mjsDefault* def);
// Set frame.
// Set element's enlcosing frame.
MJAPI void mjs_setFrame(mjElement* dest, mjsFrame* frame);
// Resolve alternative orientations to quat.
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
const mjsOrientation* orientation);
// Compute quat and inertia from body->fullinertia.
// Compute quat and inertia from fullinertia, return error if any.
MJAPI const char* mjs_setFullInertia(mjsBody* body, double quat[4], double inertia[3]);
//---------------------------------- Initialization functions --------------------------------------
//---------------------------------- Initialization -----------------------------------------------
// Default model attributes.
MJAPI void mjs_defaultSpec(mjSpec& model);
@@ -1010,7 +1034,8 @@ MJAPI void mjs_defaultKey(mjsKey& key);
// Default plugin attributes.
MJAPI void mjs_defaultPlugin(mjsPlugin& plugin);
//------------------------- Cache functions ------------------------------------
//---------------------------------- Compiler cache ------------------------------------------------
typedef struct _mjCache* mjCache;