Add xmacros for MjSpec.
PiperOrigin-RevId: 922169069 Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
This commit is contained in:
Google DeepMind
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Copybara-Service
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commit
af4be63cd8
@@ -117,6 +117,7 @@ set(MUJOCO_HEADERS
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include/mujoco/mjrender.h
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include/mujoco/mjsan.h
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include/mujoco/mjspec.h
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include/mujoco/mjspecmacro.h
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include/mujoco/mjthread.h
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include/mujoco/mjtype.h
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include/mujoco/mjui.h
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@@ -706,7 +706,8 @@ X Macros
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^^^^^^^^
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The X Macros are not needed in most user projects. They are used internally to allocate the model, and are also
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available for users who know how to use this programming technique. See the header file `mjxmacro.h
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<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`_ for the actual definitions. They are
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available for users who know how to use this programming technique. See the header files `mjxmacro.h
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<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`_ and `mjspecmacro.h
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<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspecmacro.h>`_ for the actual definitions. They are
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particularly useful in writing MuJoCo wrappers for scripting languages, where dynamic structures matching the MuJoCo
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data structures need to be constructed programmatically.
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@@ -151,7 +151,7 @@ links below, to make this documentation self-contained.
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`mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`__
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This is the main header file and must be included in all programs using MuJoCo. It defines all API functions and
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global variables, and includes all other header files except mjxmacro.h.
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global variables, and includes all other header files except mjxmacro.h and mjspecmacro.h.
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`mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`__
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Defines the C structure :ref:`mjModel` which is the runtime representation of the
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model being simulated.
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@@ -179,6 +179,10 @@ links below, to make this documentation self-contained.
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This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
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automate the mapping of mjModel and mjData into scripting languages, as well as other operations that require
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accessing all fields of mjModel and mjData.
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`mjspecmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspecmacro.h>`__
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This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
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automate the mapping of mjSpec and its element structs into scripting languages, as well as other operations that require
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accessing all fields of mjSpec during procedural model editing.
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`mjexport.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
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Macros used for exporting public symbols from the MuJoCo library. This header should not be used directly by client
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code.
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@@ -0,0 +1,603 @@
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// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_MJSPECMACRO_H_
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#define MUJOCO_MJSPECMACRO_H_
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//-------------------------------- mjsElement ------------------------------------------------------
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#define MJSELEMENT_FIELDS \
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X( mjtObj, elemtype, 1 ) \
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X( uint64_t, signature, 1 )
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//-------------------------------- mjsCompiler -----------------------------------------------------
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#define MJSCOMPILER_FIELDS \
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X ( mjtByte, autolimits, 1 ) \
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X ( double, boundmass, 1 ) \
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X ( double, boundinertia, 1 ) \
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X ( double, settotalmass, 1 ) \
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X ( mjtByte, balanceinertia, 1 ) \
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X ( mjtByte, fitaabb, 1 ) \
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X ( mjtByte, degree, 1 ) \
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XVEC( char, eulerseq, 3 ) \
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X ( mjtByte, discardvisual, 1 ) \
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X ( mjtByte, usethread, 1 ) \
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X ( mjtByte, fusestatic, 1 ) \
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X ( int, inertiafromgeom, 1 ) \
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XVEC( int, inertiagrouprange, 2 ) \
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X ( mjtByte, saveinertial, 1 ) \
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X ( int, alignfree, 1 ) \
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X ( mjLROpt, LRopt, 1 ) \
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X ( mjString*, meshdir, 1 ) \
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X ( mjString*, texturedir, 1 )
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//-------------------------------- mjSpec ----------------------------------------------------------
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#define MJSPEC_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, modelname, 1 ) \
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X( mjsCompiler, compiler, 1 ) \
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X( mjtByte, strippath, 1 ) \
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X( mjOption, option, 1 ) \
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X( mjVisual, visual, 1 ) \
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X( mjStatistic, stat, 1 ) \
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X( mjtSize, memory, 1 ) \
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X( int, nemax, 1 ) \
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X( int, nuserdata, 1 ) \
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X( int, nuser_body, 1 ) \
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X( int, nuser_jnt, 1 ) \
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X( int, nuser_geom, 1 ) \
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X( int, nuser_site, 1 ) \
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X( int, nuser_cam, 1 ) \
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X( int, nuser_tendon, 1 ) \
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X( int, nuser_actuator, 1 ) \
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X( int, nuser_sensor, 1 ) \
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X( int, nkey, 1 ) \
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X( int, njmax, 1 ) \
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X( int, nconmax, 1 ) \
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X( mjtSize, nstack, 1 ) \
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X( mjString*, comment, 1 ) \
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X( mjString*, modelfiledir, 1 ) \
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X( mjtByte, hasImplicitPluginElem, 1 )
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//-------------------------------- mjsOrientation --------------------------------------------------
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#define MJSORIENTATION_FIELDS \
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X ( mjtOrientation, type, 1 ) \
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XVEC( double, axisangle, 4 ) \
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XVEC( double, xyaxes, 6 ) \
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XVEC( double, zaxis, 3 ) \
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XVEC( double, euler, 3 )
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//-------------------------------- mjsPlugin -------------------------------------------------------
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#define MJSPLUGIN_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, name, 1 ) \
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X( mjString*, plugin_name, 1 ) \
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X( mjtByte, active, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsBody ---------------------------------------------------------
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#define MJSBODY_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, childclass, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( double, mass, 1 ) \
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XVEC( double, ipos, 3 ) \
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XVEC( double, iquat, 4 ) \
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XVEC( double, inertia, 3 ) \
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X ( mjsOrientation, ialt, 1 ) \
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XVEC( double, fullinertia, 6 ) \
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X ( mjtByte, mocap, 1 ) \
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X ( double, gravcomp, 1 ) \
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X ( mjtSleepPolicy, sleep, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjtByte, explicitinertial, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsFrame --------------------------------------------------------
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#define MJSFRAME_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, childclass, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsJoint --------------------------------------------------------
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#define MJSJOINT_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtJoint, type, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, axis, 3 ) \
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X ( double, ref, 1 ) \
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X ( int, align, 1 ) \
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XVEC( double, stiffness, mjNPOLY+1 ) \
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X ( double, springref, 1 ) \
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XVEC( double, springdamper, 2 ) \
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X ( int, limited, 1 ) \
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XVEC( double, range, 2 ) \
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X ( double, margin, 1 ) \
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XVEC( mjtNum, solref_limit, mjNREF ) \
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XVEC( mjtNum, solimp_limit, mjNIMP ) \
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X ( int, actfrclimited, 1 ) \
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XVEC( double, actfrcrange, 2 ) \
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X ( double, armature, 1 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, frictionloss, 1 ) \
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XVEC( mjtNum, solref_friction, mjNREF ) \
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XVEC( mjtNum, solimp_friction, mjNIMP ) \
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X ( int, group, 1 ) \
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X ( mjtByte, actgravcomp, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsGeom ---------------------------------------------------------
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#define MJSGEOM_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtGeom, type, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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XVEC( double, fromto, 6 ) \
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XVEC( double, size, 3 ) \
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X ( int, contype, 1 ) \
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X ( int, conaffinity, 1 ) \
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X ( int, condim, 1 ) \
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X ( int, priority, 1 ) \
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XVEC( double, friction, 3 ) \
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X ( double, solmix, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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X ( double, mass, 1 ) \
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X ( double, density, 1 ) \
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X ( mjtGeomInertia, typeinertia, 1 ) \
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X ( mjtNum, fluid_ellipsoid, 1 ) \
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XVEC( mjtNum, fluid_coefs, 5 ) \
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X ( mjString*, material, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( int, group, 1 ) \
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X ( mjString*, hfieldname, 1 ) \
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X ( mjString*, meshname, 1 ) \
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X ( double, fitscale, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSite ---------------------------------------------------------
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#define MJSSITE_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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XVEC( double, fromto, 6 ) \
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XVEC( double, size, 3 ) \
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X ( mjtGeom, type, 1 ) \
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X ( mjString*, material, 1 ) \
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X ( int, group, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsCamera -------------------------------------------------------
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#define MJSCAMERA_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( mjtCamLight, mode, 1 ) \
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X ( mjString*, targetbody, 1 ) \
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X ( mjtProjection, proj, 1 ) \
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XVEC( int, resolution, 2 ) \
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X ( int, output, 1 ) \
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X ( double, fovy, 1 ) \
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X ( double, ipd, 1 ) \
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XVEC( float, intrinsic, 4 ) \
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XVEC( float, sensor_size, 2 ) \
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XVEC( float, focal_length, 2 ) \
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XVEC( float, focal_pixel, 2 ) \
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XVEC( float, principal_length, 2 ) \
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XVEC( float, principal_pixel, 2 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsLight --------------------------------------------------------
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#define MJSLIGHT_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, dir, 3 ) \
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X ( mjtCamLight, mode, 1 ) \
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X ( mjString*, targetbody, 1 ) \
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X ( mjtByte, active, 1 ) \
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X ( mjtLightType, type, 1 ) \
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X ( mjString*, texture, 1 ) \
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X ( mjtByte, castshadow, 1 ) \
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X ( float, bulbradius, 1 ) \
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X ( float, intensity, 1 ) \
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X ( float, range, 1 ) \
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XVEC( float, attenuation, 3 ) \
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X ( float, cutoff, 1 ) \
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X ( float, exponent, 1 ) \
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XVEC( float, ambient, 3 ) \
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XVEC( float, diffuse, 3 ) \
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XVEC( float, specular, 3 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsFlex ---------------------------------------------------------
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#define MJSFLEX_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( int, contype, 1 ) \
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X ( int, conaffinity, 1 ) \
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X ( int, condim, 1 ) \
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X ( int, priority, 1 ) \
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XVEC( double, friction, 3 ) \
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X ( double, solmix, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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X ( int, dim, 1 ) \
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X ( double, radius, 1 ) \
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XVEC( double, size, 3 ) \
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X ( mjtByte, internal, 1 ) \
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X ( mjtByte, flatskin, 1 ) \
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X ( int, selfcollide, 1 ) \
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X ( int, passive, 1 ) \
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X ( int, activelayers, 1 ) \
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X ( int, group, 1 ) \
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X ( double, edgestiffness, 1 ) \
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X ( double, edgedamping, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjString*, material, 1 ) \
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X ( double, young, 1 ) \
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X ( double, poisson, 1 ) \
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X ( double, damping, 1 ) \
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X ( double, thickness, 1 ) \
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X ( int, elastic2d, 1 ) \
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XVEC( int, cellcount, 3 ) \
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X ( int, order, 1 ) \
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X ( mjStringVec*, nodebody, 1 ) \
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X ( mjStringVec*, vertbody, 1 ) \
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X ( mjDoubleVec*, node, 1 ) \
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X ( mjDoubleVec*, vert, 1 ) \
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X ( mjIntVec*, elem, 1 ) \
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X ( mjFloatVec*, texcoord, 1 ) \
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X ( mjIntVec*, elemtexcoord, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsMesh ---------------------------------------------------------
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#define MJSMESH_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( double, refpos, 3 ) \
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XVEC( double, refquat, 4 ) \
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XVEC( double, scale, 3 ) \
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X ( mjtMeshInertia, inertia, 1 ) \
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X ( mjtByte, smoothnormal, 1 ) \
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X ( mjtByte, needsdf, 1 ) \
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X ( int, maxhullvert, 1 ) \
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X ( mjFloatVec*, uservert, 1 ) \
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X ( mjFloatVec*, usernormal, 1 ) \
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X ( mjFloatVec*, usertexcoord, 1 ) \
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X ( mjIntVec*, userface, 1 ) \
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X ( mjIntVec*, userfacenormal, 1 ) \
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X ( mjIntVec*, userfacetexcoord, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, material, 1 ) \
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X ( int, octree_maxdepth, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsHField -------------------------------------------------------
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#define MJSHFIELD_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( double, size, 4 ) \
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X ( int, nrow, 1 ) \
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X ( int, ncol, 1 ) \
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X ( mjFloatVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSkin ---------------------------------------------------------
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#define MJSSKIN_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, file, 1 ) \
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X ( mjString*, material, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( float, inflate, 1 ) \
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X ( int, group, 1 ) \
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X ( mjFloatVec*, vert, 1 ) \
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X ( mjFloatVec*, texcoord, 1 ) \
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X ( mjIntVec*, face, 1 ) \
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X ( mjStringVec*, bodyname, 1 ) \
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X ( mjFloatVec*, bindpos, 1 ) \
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X ( mjFloatVec*, bindquat, 1 ) \
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X ( mjIntVecVec*, vertid, 1 ) \
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X ( mjFloatVecVec*, vertweight, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsTexture ------------------------------------------------------
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#define MJSTEXTURE_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtTexture, type, 1 ) \
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X ( mjtColorSpace, colorspace, 1 ) \
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X ( int, builtin, 1 ) \
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X ( int, mark, 1 ) \
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XVEC( double, rgb1, 3 ) \
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XVEC( double, rgb2, 3 ) \
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XVEC( double, markrgb, 3 ) \
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X ( double, random, 1 ) \
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X ( int, height, 1 ) \
|
||||
X ( int, width, 1 ) \
|
||||
X ( int, nchannel, 1 ) \
|
||||
X ( mjString*, content_type, 1 ) \
|
||||
X ( mjString*, file, 1 ) \
|
||||
XVEC( int, gridsize, 2 ) \
|
||||
XVEC( char, gridlayout, 12 ) \
|
||||
X ( mjStringVec*, cubefiles, 1 ) \
|
||||
X ( mjByteVec*, data, 1 ) \
|
||||
X ( mjtByte, hflip, 1 ) \
|
||||
X ( mjtByte, vflip, 1 ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsMaterial -----------------------------------------------------
|
||||
|
||||
#define MJSMATERIAL_FIELDS \
|
||||
X ( mjsElement*, element, 1 ) \
|
||||
X ( mjStringVec*, textures, 1 ) \
|
||||
X ( mjtByte, texuniform, 1 ) \
|
||||
XVEC( float, texrepeat, 2 ) \
|
||||
X ( float, emission, 1 ) \
|
||||
X ( float, specular, 1 ) \
|
||||
X ( float, shininess, 1 ) \
|
||||
X ( float, reflectance, 1 ) \
|
||||
X ( float, metallic, 1 ) \
|
||||
X ( float, roughness, 1 ) \
|
||||
XVEC( float, rgba, 4 ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsPair ---------------------------------------------------------
|
||||
|
||||
#define MJSPAIR_FIELDS \
|
||||
X ( mjsElement*, element, 1 ) \
|
||||
X ( mjString*, geomname1, 1 ) \
|
||||
X ( mjString*, geomname2, 1 ) \
|
||||
X ( int, condim, 1 ) \
|
||||
XVEC( mjtNum, solref, mjNREF ) \
|
||||
XVEC( mjtNum, solreffriction, mjNREF ) \
|
||||
XVEC( mjtNum, solimp, mjNIMP ) \
|
||||
X ( double, margin, 1 ) \
|
||||
X ( double, gap, 1 ) \
|
||||
XVEC( double, friction, 5 ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsExclude ------------------------------------------------------
|
||||
|
||||
#define MJSEXCLUDE_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( mjString*, bodyname1, 1 ) \
|
||||
X( mjString*, bodyname2, 1 ) \
|
||||
X( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsEquality -----------------------------------------------------
|
||||
|
||||
#define MJSEQUALITY_FIELDS \
|
||||
X ( mjsElement*, element, 1 ) \
|
||||
X ( mjtEq, type, 1 ) \
|
||||
XVEC( double, data, mjNEQDATA ) \
|
||||
X ( mjtByte, active, 1 ) \
|
||||
X ( mjString*, name1, 1 ) \
|
||||
X ( mjString*, name2, 1 ) \
|
||||
X ( mjtObj, objtype, 1 ) \
|
||||
XVEC( mjtNum, solref, mjNREF ) \
|
||||
XVEC( mjtNum, solimp, mjNIMP ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsTendon -------------------------------------------------------
|
||||
|
||||
#define MJSTENDON_FIELDS \
|
||||
X ( mjsElement*, element, 1 ) \
|
||||
XVEC( double, stiffness, mjNPOLY+1 ) \
|
||||
XVEC( double, springlength, 2 ) \
|
||||
XVEC( double, damping, mjNPOLY+1 ) \
|
||||
X ( double, frictionloss, 1 ) \
|
||||
XVEC( mjtNum, solref_friction, mjNREF ) \
|
||||
XVEC( mjtNum, solimp_friction, mjNIMP ) \
|
||||
X ( double, armature, 1 ) \
|
||||
X ( int, limited, 1 ) \
|
||||
X ( int, actfrclimited, 1 ) \
|
||||
XVEC( double, range, 2 ) \
|
||||
XVEC( double, actfrcrange, 2 ) \
|
||||
X ( double, margin, 1 ) \
|
||||
XVEC( mjtNum, solref_limit, mjNREF ) \
|
||||
XVEC( mjtNum, solimp_limit, mjNIMP ) \
|
||||
X ( mjString*, material, 1 ) \
|
||||
X ( double, width, 1 ) \
|
||||
XVEC( float, rgba, 4 ) \
|
||||
X ( int, group, 1 ) \
|
||||
X ( mjDoubleVec*, userdata, 1 ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsWrap ---------------------------------------------------------
|
||||
|
||||
#define MJSWRAP_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( mjtWrap, type, 1 ) \
|
||||
X( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsActuator -----------------------------------------------------
|
||||
|
||||
#define MJSACTUATOR_FIELDS \
|
||||
X ( mjsElement*, element, 1 ) \
|
||||
X ( mjtGain, gaintype, 1 ) \
|
||||
XVEC( double, gainprm, mjNGAIN ) \
|
||||
X ( mjtBias, biastype, 1 ) \
|
||||
XVEC( double, biasprm, mjNGAIN ) \
|
||||
X ( mjtDyn, dyntype, 1 ) \
|
||||
XVEC( double, dynprm, mjNDYN ) \
|
||||
X ( int, actdim, 1 ) \
|
||||
X ( mjtByte, actearly, 1 ) \
|
||||
X ( mjtTrn, trntype, 1 ) \
|
||||
XVEC( double, gear, 6 ) \
|
||||
X ( mjString*, target, 1 ) \
|
||||
X ( mjString*, refsite, 1 ) \
|
||||
X ( mjString*, slidersite, 1 ) \
|
||||
X ( double, cranklength, 1 ) \
|
||||
XVEC( double, lengthrange, 2 ) \
|
||||
X ( double, inheritrange, 1 ) \
|
||||
XVEC( double, damping, mjNPOLY+1 ) \
|
||||
X ( double, armature, 1 ) \
|
||||
X ( int, ctrllimited, 1 ) \
|
||||
XVEC( double, ctrlrange, 2 ) \
|
||||
X ( int, forcelimited, 1 ) \
|
||||
XVEC( double, forcerange, 2 ) \
|
||||
X ( int, actlimited, 1 ) \
|
||||
XVEC( double, actrange, 2 ) \
|
||||
X ( int, group, 1 ) \
|
||||
X ( int, nsample, 1 ) \
|
||||
X ( int, interp, 1 ) \
|
||||
X ( double, delay, 1 ) \
|
||||
X ( mjDoubleVec*, userdata, 1 ) \
|
||||
X ( mjsPlugin, plugin, 1 ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsSensor -------------------------------------------------------
|
||||
|
||||
#define MJSSENSOR_FIELDS \
|
||||
X ( mjsElement*, element, 1 ) \
|
||||
X ( mjtSensor, type, 1 ) \
|
||||
X ( mjtObj, objtype, 1 ) \
|
||||
X ( mjString*, objname, 1 ) \
|
||||
X ( mjtObj, reftype, 1 ) \
|
||||
X ( mjString*, refname, 1 ) \
|
||||
XVEC( int, intprm, mjNSENS ) \
|
||||
X ( mjtDataType, datatype, 1 ) \
|
||||
X ( mjtStage, needstage, 1 ) \
|
||||
X ( int, dim, 1 ) \
|
||||
X ( double, cutoff, 1 ) \
|
||||
X ( double, noise, 1 ) \
|
||||
X ( int, nsample, 1 ) \
|
||||
X ( int, interp, 1 ) \
|
||||
X ( double, delay, 1 ) \
|
||||
XVEC( double, interval, 2 ) \
|
||||
X ( mjDoubleVec*, userdata, 1 ) \
|
||||
X ( mjsPlugin, plugin, 1 ) \
|
||||
X ( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsNumeric ------------------------------------------------------
|
||||
|
||||
#define MJSNUMERIC_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( mjDoubleVec*, data, 1 ) \
|
||||
X( int, size, 1 ) \
|
||||
X( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsText ---------------------------------------------------------
|
||||
|
||||
#define MJSTEXT_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( mjString*, data, 1 ) \
|
||||
X( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsTuple --------------------------------------------------------
|
||||
|
||||
#define MJSTUPLE_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( mjIntVec*, objtype, 1 ) \
|
||||
X( mjStringVec*, objname, 1 ) \
|
||||
X( mjDoubleVec*, objprm, 1 ) \
|
||||
X( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsKey ----------------------------------------------------------
|
||||
|
||||
#define MJSKEY_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( double, time, 1 ) \
|
||||
X( mjDoubleVec*, qpos, 1 ) \
|
||||
X( mjDoubleVec*, qvel, 1 ) \
|
||||
X( mjDoubleVec*, act, 1 ) \
|
||||
X( mjDoubleVec*, mpos, 1 ) \
|
||||
X( mjDoubleVec*, mquat, 1 ) \
|
||||
X( mjDoubleVec*, ctrl, 1 ) \
|
||||
X( mjString*, info, 1 )
|
||||
|
||||
|
||||
//-------------------------------- mjsDefault ------------------------------------------------------
|
||||
|
||||
#define MJSDEFAULT_FIELDS \
|
||||
X( mjsElement*, element, 1 ) \
|
||||
X( mjsJoint*, joint, 1 ) \
|
||||
X( mjsGeom*, geom, 1 ) \
|
||||
X( mjsSite*, site, 1 ) \
|
||||
X( mjsCamera*, camera, 1 ) \
|
||||
X( mjsLight*, light, 1 ) \
|
||||
X( mjsFlex*, flex, 1 ) \
|
||||
X( mjsMesh*, mesh, 1 ) \
|
||||
X( mjsMaterial*, material, 1 ) \
|
||||
X( mjsPair*, pair, 1 ) \
|
||||
X( mjsEquality*, equality, 1 ) \
|
||||
X( mjsTendon*, tendon, 1 ) \
|
||||
X( mjsActuator*, actuator, 1 )
|
||||
|
||||
|
||||
#endif // MUJOCO_MJSPECMACRO_H_
|
||||
@@ -108,6 +108,8 @@ mujoco_test(fixture_test)
|
||||
|
||||
mujoco_test(header_test)
|
||||
|
||||
mujoco_test(mjspecmacro_test)
|
||||
|
||||
mujoco_test(pipeline_test)
|
||||
|
||||
add_subdirectory(benchmark)
|
||||
|
||||
@@ -0,0 +1,145 @@
|
||||
// Copyright 2026 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.
|
||||
|
||||
// Tests for X macros in mjspecmacro.h.
|
||||
|
||||
#include <cstddef>
|
||||
#include <type_traits>
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjspecmacro.h>
|
||||
|
||||
namespace mujoco {
|
||||
namespace {
|
||||
|
||||
namespace expected {
|
||||
#define X(type, name, dim) type name;
|
||||
#define XVEC(type, name, dim) type name[dim];
|
||||
|
||||
struct mjsElement { MJSELEMENT_FIELDS };
|
||||
struct mjsCompiler { MJSCOMPILER_FIELDS };
|
||||
struct mjSpec { MJSPEC_FIELDS };
|
||||
struct mjsOrientation { MJSORIENTATION_FIELDS };
|
||||
struct mjsPlugin { MJSPLUGIN_FIELDS };
|
||||
struct mjsBody { MJSBODY_FIELDS };
|
||||
struct mjsFrame { MJSFRAME_FIELDS };
|
||||
struct mjsJoint { MJSJOINT_FIELDS };
|
||||
struct mjsGeom { MJSGEOM_FIELDS };
|
||||
struct mjsSite { MJSSITE_FIELDS };
|
||||
struct mjsCamera { MJSCAMERA_FIELDS };
|
||||
struct mjsLight { MJSLIGHT_FIELDS };
|
||||
struct mjsFlex { MJSFLEX_FIELDS };
|
||||
struct mjsMesh { MJSMESH_FIELDS };
|
||||
struct mjsHField { MJSHFIELD_FIELDS };
|
||||
struct mjsSkin { MJSSKIN_FIELDS };
|
||||
struct mjsTexture { MJSTEXTURE_FIELDS };
|
||||
struct mjsMaterial { MJSMATERIAL_FIELDS };
|
||||
struct mjsPair { MJSPAIR_FIELDS };
|
||||
struct mjsExclude { MJSEXCLUDE_FIELDS };
|
||||
struct mjsEquality { MJSEQUALITY_FIELDS };
|
||||
struct mjsTendon { MJSTENDON_FIELDS };
|
||||
struct mjsWrap { MJSWRAP_FIELDS };
|
||||
struct mjsActuator { MJSACTUATOR_FIELDS };
|
||||
struct mjsSensor { MJSSENSOR_FIELDS };
|
||||
struct mjsNumeric { MJSNUMERIC_FIELDS };
|
||||
struct mjsText { MJSTEXT_FIELDS };
|
||||
struct mjsTuple { MJSTUPLE_FIELDS };
|
||||
struct mjsKey { MJSKEY_FIELDS };
|
||||
struct mjsDefault { MJSDEFAULT_FIELDS };
|
||||
|
||||
#undef XVEC
|
||||
#undef X
|
||||
} // namespace expected
|
||||
|
||||
template <typename T, size_t N>
|
||||
struct ArrayOrScalar {
|
||||
using type = T[N];
|
||||
};
|
||||
template <typename T>
|
||||
struct ArrayOrScalar<T, 1> {
|
||||
using type = T;
|
||||
};
|
||||
template <typename T, size_t N>
|
||||
using ArrayOrScalarT = typename ArrayOrScalar<T, N>::type;
|
||||
|
||||
#define XIMPL(type, name, dim) \
|
||||
static_assert( \
|
||||
std::is_same_v<decltype(RealStruct::name), ArrayOrScalarT<type, dim>>, \
|
||||
"Type mismatch for " #name); \
|
||||
static_assert(offsetof(RealStruct, name) == offsetof(ExpectedStruct, name), \
|
||||
"Offset mismatch for " #name);
|
||||
|
||||
#define X(type, name, dim) \
|
||||
static_assert(dim == 1, "use XVEC for non-scalar fields"); \
|
||||
XIMPL(type, name, dim)
|
||||
|
||||
#define XVEC(type, name, dim) \
|
||||
static_assert(dim > 1, "use X for scalar fields"); \
|
||||
XIMPL(type, name, dim)
|
||||
|
||||
#define CHECK_STRUCT(Name, Macro) \
|
||||
struct Check##Name { \
|
||||
using RealStruct = Name; \
|
||||
using ExpectedStruct = expected::Name; \
|
||||
static_assert(sizeof(RealStruct) == sizeof(ExpectedStruct), \
|
||||
"sizeof mismatch for " #Name); \
|
||||
static_assert(alignof(RealStruct) == alignof(ExpectedStruct), \
|
||||
"alignof mismatch for " #Name); \
|
||||
Macro \
|
||||
};
|
||||
|
||||
CHECK_STRUCT(mjsElement, MJSELEMENT_FIELDS)
|
||||
CHECK_STRUCT(mjsCompiler, MJSCOMPILER_FIELDS)
|
||||
CHECK_STRUCT(mjSpec, MJSPEC_FIELDS)
|
||||
CHECK_STRUCT(mjsOrientation, MJSORIENTATION_FIELDS)
|
||||
CHECK_STRUCT(mjsPlugin, MJSPLUGIN_FIELDS)
|
||||
CHECK_STRUCT(mjsBody, MJSBODY_FIELDS)
|
||||
CHECK_STRUCT(mjsFrame, MJSFRAME_FIELDS)
|
||||
CHECK_STRUCT(mjsJoint, MJSJOINT_FIELDS)
|
||||
CHECK_STRUCT(mjsGeom, MJSGEOM_FIELDS)
|
||||
CHECK_STRUCT(mjsSite, MJSSITE_FIELDS)
|
||||
CHECK_STRUCT(mjsCamera, MJSCAMERA_FIELDS)
|
||||
CHECK_STRUCT(mjsLight, MJSLIGHT_FIELDS)
|
||||
CHECK_STRUCT(mjsFlex, MJSFLEX_FIELDS)
|
||||
CHECK_STRUCT(mjsMesh, MJSMESH_FIELDS)
|
||||
CHECK_STRUCT(mjsHField, MJSHFIELD_FIELDS)
|
||||
CHECK_STRUCT(mjsSkin, MJSSKIN_FIELDS)
|
||||
CHECK_STRUCT(mjsTexture, MJSTEXTURE_FIELDS)
|
||||
CHECK_STRUCT(mjsMaterial, MJSMATERIAL_FIELDS)
|
||||
CHECK_STRUCT(mjsPair, MJSPAIR_FIELDS)
|
||||
CHECK_STRUCT(mjsExclude, MJSEXCLUDE_FIELDS)
|
||||
CHECK_STRUCT(mjsEquality, MJSEQUALITY_FIELDS)
|
||||
CHECK_STRUCT(mjsTendon, MJSTENDON_FIELDS)
|
||||
CHECK_STRUCT(mjsWrap, MJSWRAP_FIELDS)
|
||||
CHECK_STRUCT(mjsActuator, MJSACTUATOR_FIELDS)
|
||||
CHECK_STRUCT(mjsSensor, MJSSENSOR_FIELDS)
|
||||
CHECK_STRUCT(mjsNumeric, MJSNUMERIC_FIELDS)
|
||||
CHECK_STRUCT(mjsText, MJSTEXT_FIELDS)
|
||||
CHECK_STRUCT(mjsTuple, MJSTUPLE_FIELDS)
|
||||
CHECK_STRUCT(mjsKey, MJSKEY_FIELDS)
|
||||
CHECK_STRUCT(mjsDefault, MJSDEFAULT_FIELDS)
|
||||
|
||||
#undef CHECK_STRUCT
|
||||
#undef XVEC
|
||||
#undef X
|
||||
#undef XIMPL
|
||||
|
||||
TEST(MjspecmacroTest, CompileTimeChecks) {
|
||||
// Verifies that the test binary compiled successfully and all static_asserts passed.
|
||||
EXPECT_TRUE(true);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mujoco
|
||||
@@ -65,6 +65,7 @@ public const int mjMAXMATERIAL = 1000;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSAN_H_ = true;
|
||||
public const bool ADDRESS_SANITIZER = true;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
|
||||
public const bool THIRD_PARTY_MUJOCO_MJSPECMACRO_H_ = true;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
|
||||
public const int mjMAXTHREAD = 128;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTYPE_H_ = true;
|
||||
|
||||
Reference in New Issue
Block a user