Expose a handle for the Python viewer.
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData. To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData. Fixes https://github.com/deepmind/mujoco/issues/796 PiperOrigin-RevId: 525723636 Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
4f5da9c554
commit
b362cb4972
@@ -447,7 +447,6 @@ struct mjVisual_ { // visualization options
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float realtime; // initial real-time factor (1: real time)
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int offwidth; // width of offscreen buffer
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int offheight; // height of offscreen buffer
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int treedepth; // depth of the bounding volume hierarchy
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int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
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} global;
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@@ -15,6 +15,8 @@
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#ifndef MUJOCO_MJVISUALIZE_H_
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#define MUJOCO_MJVISUALIZE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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@@ -265,6 +267,7 @@ struct mjvOption_ { // abstract visualization options
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mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
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mjtByte skingroup[mjNGROUP]; // skin visualization by group
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mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
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int bvh_depth; // depth of the bounding volume hierarchy to be visualized
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};
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typedef struct mjvOption_ mjvOption;
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@@ -360,4 +363,221 @@ struct mjvFigure_ { // abstract 2D figure passed to OpenGL rendere
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};
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typedef struct mjvFigure_ mjvFigure;
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//---------------------------------- mjvSceneState -------------------------------------------------
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struct mjvSceneState_ {
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int nbuffer; // size of the buffer in bytes
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void* buffer; // heap-allocated memory for all arrays in this struct
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int maxgeom; // maximum number of mjvGeom supported by this state object
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mjvScene plugincache; // scratch space for vis geoms inserted by plugins
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// fields in mjModel that are necessary to re-render a scene
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struct {
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int nu;
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int na;
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int nbody;
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int nbvh;
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int njnt;
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int ngeom;
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int nsite;
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int ncam;
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int nlight;
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int nmesh;
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int nskin;
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int nskinvert;
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int nskinface;
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int nskinbone;
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int nskinbonevert;
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int nmat;
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int neq;
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int ntendon;
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int nwrap;
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int nsensor;
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int nnames;
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int nsensordata;
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mjOption opt;
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mjVisual vis;
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mjStatistic stat;
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int* body_parentid;
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int* body_rootid;
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int* body_weldid;
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int* body_mocapid;
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int* body_jntnum;
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int* body_jntadr;
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int* body_geomnum;
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int* body_geomadr;
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mjtNum* body_iquat;
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mjtNum* body_mass;
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mjtNum* body_inertia;
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int* body_bvhadr;
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int* body_bvhnum;
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int* bvh_depth;
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int* bvh_child;
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int* bvh_geomid;
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mjtNum* bvh_aabb;
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int* jnt_type;
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int* jnt_bodyid;
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int* jnt_group;
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int* geom_type;
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int* geom_bodyid;
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int* geom_dataid;
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int* geom_matid;
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int* geom_group;
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mjtNum* geom_size;
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mjtNum* geom_aabb;
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mjtNum* geom_rbound;
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float* geom_rgba;
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int* site_type;
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int* site_bodyid;
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int* site_matid;
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int* site_group;
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mjtNum* site_size;
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float* site_rgba;
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mjtNum* cam_fovy;
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mjtNum* cam_ipd;
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mjtByte* light_directional;
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mjtByte* light_castshadow;
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mjtByte* light_active;
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float* light_attenuation;
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float* light_cutoff;
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float* light_exponent;
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float* light_ambient;
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float* light_diffuse;
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float* light_specular;
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int* mesh_texcoordadr;
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int* mesh_graphadr;
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int* skin_matid;
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int* skin_group;
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float* skin_rgba;
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float* skin_inflate;
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int* skin_vertadr;
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int* skin_vertnum;
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int* skin_texcoordadr;
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int* skin_faceadr;
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int* skin_facenum;
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int* skin_boneadr;
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int* skin_bonenum;
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float* skin_vert;
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int* skin_face;
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int* skin_bonevertadr;
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int* skin_bonevertnum;
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float* skin_bonebindpos;
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float* skin_bonebindquat;
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int* skin_bonebodyid;
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int* skin_bonevertid;
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float* skin_bonevertweight;
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int* mat_texid;
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mjtByte* mat_texuniform;
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float* mat_texrepeat;
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float* mat_emission;
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float* mat_specular;
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float* mat_shininess;
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float* mat_reflectance;
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float* mat_rgba;
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int* eq_type;
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int* eq_obj1id;
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int* eq_obj2id;
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mjtByte* eq_active;
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mjtNum* eq_data;
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int* tendon_num;
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int* tendon_matid;
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int* tendon_group;
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mjtByte* tendon_limited;
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mjtNum* tendon_width;
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mjtNum* tendon_range;
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mjtNum* tendon_stiffness;
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mjtNum* tendon_damping;
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mjtNum* tendon_frictionloss;
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mjtNum* tendon_lengthspring;
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float* tendon_rgba;
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int* actuator_trntype;
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int* actuator_dyntype;
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int* actuator_trnid;
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int* actuator_actadr;
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int* actuator_actnum;
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int* actuator_group;
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mjtByte* actuator_ctrllimited;
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mjtByte* actuator_actlimited;
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mjtNum* actuator_ctrlrange;
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mjtNum* actuator_actrange;
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mjtNum* actuator_cranklength;
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int* sensor_type;
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int* sensor_objid;
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int* sensor_adr;
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int* name_bodyadr;
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int* name_jntadr;
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int* name_geomadr;
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int* name_siteadr;
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int* name_camadr;
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int* name_lightadr;
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int* name_eqadr;
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int* name_tendonadr;
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int* name_actuatoradr;
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char* names;
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} model;
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// fields in mjData that are necessary to re-render a scene
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struct {
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mjWarningStat warning[mjNWARNING];
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int nefc;
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int ncon;
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mjtNum time;
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mjtNum* act;
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mjtNum* ctrl;
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mjtNum* xfrc_applied;
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mjtNum* sensordata;
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mjtNum* xpos;
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mjtNum* xquat;
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mjtNum* xmat;
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mjtNum* xipos;
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mjtNum* ximat;
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mjtNum* xanchor;
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mjtNum* xaxis;
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mjtNum* geom_xpos;
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mjtNum* geom_xmat;
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mjtNum* site_xpos;
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mjtNum* site_xmat;
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mjtNum* cam_xpos;
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mjtNum* cam_xmat;
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mjtNum* light_xpos;
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mjtNum* light_xdir;
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mjtNum* subtree_com;
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int* ten_wrapadr;
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int* ten_wrapnum;
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int* wrap_obj;
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mjtNum* wrap_xpos;
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mjtByte* bvh_active;
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mjContact* contact;
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mjtNum* efc_force;
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} data;
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};
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typedef struct mjvSceneState_ mjvSceneState;
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#endif // MUJOCO_MJVISUALIZE_H_
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+451
-442
@@ -62,71 +62,71 @@
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// int fields of mjModel
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#define MJMODEL_INTS \
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X( nq ) \
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X( nv ) \
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X( nu ) \
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X( na ) \
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X( nbody ) \
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X( nbvh ) \
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X( njnt ) \
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X( ngeom ) \
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X( nsite ) \
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X( ncam ) \
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X( nlight ) \
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X( nmesh ) \
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X( nmeshvert ) \
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X( nmeshnormal ) \
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X( nmeshtexcoord ) \
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X( nmeshface ) \
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X( nmeshgraph ) \
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X( nskin ) \
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X( nskinvert ) \
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X( nskintexvert ) \
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X( nskinface ) \
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X( nskinbone ) \
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X( nskinbonevert ) \
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X( nhfield ) \
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X( nhfielddata ) \
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X( ntex ) \
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X( ntexdata ) \
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X( nmat ) \
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X( npair ) \
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X( nexclude ) \
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X( neq ) \
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X( ntendon ) \
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X( nwrap ) \
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X( nsensor ) \
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X( nnumeric ) \
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X( nnumericdata ) \
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X( ntext ) \
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X( ntextdata ) \
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X( ntuple ) \
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X( ntupledata ) \
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X( nkey ) \
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X( nmocap ) \
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X( nplugin ) \
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X( npluginattr ) \
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X( nuser_body ) \
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X( nuser_jnt ) \
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X( nuser_geom ) \
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X( nuser_site ) \
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X( nuser_cam ) \
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X( nuser_tendon ) \
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X( nuser_actuator ) \
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X( nuser_sensor ) \
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X( nnames ) \
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X( nnames_map ) \
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X( nM ) \
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X( nD ) \
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X( nB ) \
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X( nemax ) \
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X( njmax ) \
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X( nconmax ) \
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X( nstack ) \
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X( nuserdata ) \
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X( nsensordata ) \
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X( npluginstate ) \
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X( nbuffer )
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X ( nq ) \
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X ( nv ) \
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XMJV( nu ) \
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XMJV( na ) \
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XMJV( nbody ) \
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XMJV( nbvh ) \
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XMJV( njnt ) \
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XMJV( ngeom ) \
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XMJV( nsite ) \
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XMJV( ncam ) \
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XMJV( nlight ) \
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XMJV( nmesh ) \
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X ( nmeshvert ) \
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X ( nmeshnormal ) \
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X ( nmeshtexcoord ) \
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X ( nmeshface ) \
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X ( nmeshgraph ) \
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XMJV( nskin ) \
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XMJV( nskinvert ) \
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X ( nskintexvert ) \
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XMJV( nskinface ) \
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XMJV( nskinbone ) \
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XMJV( nskinbonevert ) \
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X ( nhfield ) \
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X ( nhfielddata ) \
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X ( ntex ) \
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X ( ntexdata ) \
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XMJV( nmat ) \
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X ( npair ) \
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X ( nexclude ) \
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XMJV( neq ) \
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XMJV( ntendon ) \
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XMJV( nwrap ) \
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XMJV( nsensor ) \
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X ( nnumeric ) \
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X ( nnumericdata ) \
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X ( ntext ) \
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X ( ntextdata ) \
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X ( ntuple ) \
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X ( ntupledata ) \
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X ( nkey ) \
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X ( nmocap ) \
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X ( nplugin ) \
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X ( npluginattr ) \
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X ( nuser_body ) \
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X ( nuser_jnt ) \
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X ( nuser_geom ) \
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X ( nuser_site ) \
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X ( nuser_cam ) \
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X ( nuser_tendon ) \
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X ( nuser_actuator ) \
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X ( nuser_sensor ) \
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XMJV( nnames ) \
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X ( nnames_map ) \
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X ( nM ) \
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X ( nD ) \
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X ( nB ) \
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X ( nemax ) \
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X ( njmax ) \
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X ( nconmax ) \
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X ( nstack ) \
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X ( nuserdata ) \
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XMJV( nsensordata ) \
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X ( npluginstate ) \
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X ( nbuffer )
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// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
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@@ -151,305 +151,307 @@
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// pointer fields of mjModel
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// XMJV means that the field is required to construct mjvScene
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// (by default we define XMJV to be the same as X)
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#define MJMODEL_POINTERS \
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X( mjtNum, qpos0, nq, 1 ) \
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X( mjtNum, qpos_spring, nq, 1 ) \
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X( int, body_parentid, nbody, 1 ) \
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X( int, body_rootid, nbody, 1 ) \
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X( int, body_weldid, nbody, 1 ) \
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X( int, body_mocapid, nbody, 1 ) \
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X( int, body_jntnum, nbody, 1 ) \
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X( int, body_jntadr, nbody, 1 ) \
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X( int, body_dofnum, nbody, 1 ) \
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X( int, body_dofadr, nbody, 1 ) \
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X( int, body_geomnum, nbody, 1 ) \
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X( int, body_geomadr, nbody, 1 ) \
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X( mjtByte, body_simple, nbody, 1 ) \
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X( mjtByte, body_sameframe, nbody, 1 ) \
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X( mjtNum, body_pos, nbody, 3 ) \
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X( mjtNum, body_quat, nbody, 4 ) \
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X( mjtNum, body_ipos, nbody, 3 ) \
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X( mjtNum, body_iquat, nbody, 4 ) \
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X( mjtNum, body_mass, nbody, 1 ) \
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X( mjtNum, body_subtreemass, nbody, 1 ) \
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X( mjtNum, body_inertia, nbody, 3 ) \
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X( mjtNum, body_invweight0, nbody, 2 ) \
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X( mjtNum, body_gravcomp, nbody, 1 ) \
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X( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
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X( int, body_plugin, nbody, 1 ) \
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X( int, body_bvhadr, nbody, 1 ) \
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X( int, body_bvhnum, nbody, 1 ) \
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X( int, bvh_depth, nbvh, 1 ) \
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X( int, bvh_child, nbvh, 2 ) \
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X( int, bvh_geomid, nbvh, 1 ) \
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X( mjtNum, bvh_aabb, nbvh, 6 ) \
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X( int, jnt_type, njnt, 1 ) \
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X( int, jnt_qposadr, njnt, 1 ) \
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X( int, jnt_dofadr, njnt, 1 ) \
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X( int, jnt_bodyid, njnt, 1 ) \
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X( int, jnt_group, njnt, 1 ) \
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X( mjtByte, jnt_limited, njnt, 1 ) \
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X( mjtNum, jnt_solref, njnt, mjNREF ) \
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X( mjtNum, jnt_solimp, njnt, mjNIMP ) \
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X( mjtNum, jnt_pos, njnt, 3 ) \
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X( mjtNum, jnt_axis, njnt, 3 ) \
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X( mjtNum, jnt_stiffness, njnt, 1 ) \
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X( mjtNum, jnt_range, njnt, 2 ) \
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X( mjtNum, jnt_margin, njnt, 1 ) \
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X( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) ) \
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X( int, dof_bodyid, nv, 1 ) \
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X( int, dof_jntid, nv, 1 ) \
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X( int, dof_parentid, nv, 1 ) \
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X( int, dof_Madr, nv, 1 ) \
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X( int, dof_simplenum, nv, 1 ) \
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X( mjtNum, dof_solref, nv, mjNREF ) \
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X( mjtNum, dof_solimp, nv, mjNIMP ) \
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X( mjtNum, dof_frictionloss, nv, 1 ) \
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X( mjtNum, dof_armature, nv, 1 ) \
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X( mjtNum, dof_damping, nv, 1 ) \
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X( mjtNum, dof_invweight0, nv, 1 ) \
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X( mjtNum, dof_M0, nv, 1 ) \
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X( int, geom_type, ngeom, 1 ) \
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X( int, geom_contype, ngeom, 1 ) \
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X( int, geom_conaffinity, ngeom, 1 ) \
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X( int, geom_condim, ngeom, 1 ) \
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X( int, geom_bodyid, ngeom, 1 ) \
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X( int, geom_dataid, ngeom, 1 ) \
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X( int, geom_matid, ngeom, 1 ) \
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X( int, geom_group, ngeom, 1 ) \
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X( int, geom_priority, ngeom, 1 ) \
|
||||
X( mjtByte, geom_sameframe, ngeom, 1 ) \
|
||||
X( mjtNum, geom_solmix, ngeom, 1 ) \
|
||||
X( mjtNum, geom_solref, ngeom, mjNREF ) \
|
||||
X( mjtNum, geom_solimp, ngeom, mjNIMP ) \
|
||||
X( mjtNum, geom_size, ngeom, 3 ) \
|
||||
X( mjtNum, geom_aabb, ngeom, 6 ) \
|
||||
X( mjtNum, geom_rbound, ngeom, 1 ) \
|
||||
X( mjtNum, geom_pos, ngeom, 3 ) \
|
||||
X( mjtNum, geom_quat, ngeom, 4 ) \
|
||||
X( mjtNum, geom_friction, ngeom, 3 ) \
|
||||
X( mjtNum, geom_margin, ngeom, 1 ) \
|
||||
X( mjtNum, geom_gap, ngeom, 1 ) \
|
||||
X( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
|
||||
X( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
|
||||
X( float, geom_rgba, ngeom, 4 ) \
|
||||
X( int, site_type, nsite, 1 ) \
|
||||
X( int, site_bodyid, nsite, 1 ) \
|
||||
X( int, site_matid, nsite, 1 ) \
|
||||
X( int, site_group, nsite, 1 ) \
|
||||
X( mjtByte, site_sameframe, nsite, 1 ) \
|
||||
X( mjtNum, site_size, nsite, 3 ) \
|
||||
X( mjtNum, site_pos, nsite, 3 ) \
|
||||
X( mjtNum, site_quat, nsite, 4 ) \
|
||||
X( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
|
||||
X( float, site_rgba, nsite, 4 ) \
|
||||
X( int, cam_mode, ncam, 1 ) \
|
||||
X( int, cam_bodyid, ncam, 1 ) \
|
||||
X( int, cam_targetbodyid, ncam, 1 ) \
|
||||
X( mjtNum, cam_pos, ncam, 3 ) \
|
||||
X( mjtNum, cam_quat, ncam, 4 ) \
|
||||
X( mjtNum, cam_poscom0, ncam, 3 ) \
|
||||
X( mjtNum, cam_pos0, ncam, 3 ) \
|
||||
X( mjtNum, cam_mat0, ncam, 9 ) \
|
||||
X( mjtNum, cam_fovy, ncam, 1 ) \
|
||||
X( mjtNum, cam_ipd, ncam, 1 ) \
|
||||
X( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
|
||||
X( int, light_mode, nlight, 1 ) \
|
||||
X( int, light_bodyid, nlight, 1 ) \
|
||||
X( int, light_targetbodyid, nlight, 1 ) \
|
||||
X( mjtByte, light_directional, nlight, 1 ) \
|
||||
X( mjtByte, light_castshadow, nlight, 1 ) \
|
||||
X( mjtByte, light_active, nlight, 1 ) \
|
||||
X( mjtNum, light_pos, nlight, 3 ) \
|
||||
X( mjtNum, light_dir, nlight, 3 ) \
|
||||
X( mjtNum, light_poscom0, nlight, 3 ) \
|
||||
X( mjtNum, light_pos0, nlight, 3 ) \
|
||||
X( mjtNum, light_dir0, nlight, 3 ) \
|
||||
X( float, light_attenuation, nlight, 3 ) \
|
||||
X( float, light_cutoff, nlight, 1 ) \
|
||||
X( float, light_exponent, nlight, 1 ) \
|
||||
X( float, light_ambient, nlight, 3 ) \
|
||||
X( float, light_diffuse, nlight, 3 ) \
|
||||
X( float, light_specular, nlight, 3 ) \
|
||||
X( int, mesh_vertadr, nmesh, 1 ) \
|
||||
X( int, mesh_vertnum, nmesh, 1 ) \
|
||||
X( int, mesh_normaladr, nmesh, 1 ) \
|
||||
X( int, mesh_normalnum, nmesh, 1 ) \
|
||||
X( int, mesh_texcoordadr, nmesh, 1 ) \
|
||||
X( int, mesh_texcoordnum, nmesh, 1 ) \
|
||||
X( int, mesh_faceadr, nmesh, 1 ) \
|
||||
X( int, mesh_facenum, nmesh, 1 ) \
|
||||
X( int, mesh_graphadr, nmesh, 1 ) \
|
||||
X( float, mesh_vert, nmeshvert, 3 ) \
|
||||
X( float, mesh_normal, nmeshnormal, 3 ) \
|
||||
X( float, mesh_texcoord, nmeshtexcoord, 2 ) \
|
||||
X( int, mesh_face, nmeshface, 3 ) \
|
||||
X( int, mesh_facenormal, nmeshface, 3 ) \
|
||||
X( int, mesh_facetexcoord, nmeshface, 3 ) \
|
||||
X( int, mesh_graph, nmeshgraph, 1 ) \
|
||||
X( int, skin_matid, nskin, 1 ) \
|
||||
X( int, skin_group, nskin, 1 ) \
|
||||
X( float, skin_rgba, nskin, 4 ) \
|
||||
X( float, skin_inflate, nskin, 1 ) \
|
||||
X( int, skin_vertadr, nskin, 1 ) \
|
||||
X( int, skin_vertnum, nskin, 1 ) \
|
||||
X( int, skin_texcoordadr, nskin, 1 ) \
|
||||
X( int, skin_faceadr, nskin, 1 ) \
|
||||
X( int, skin_facenum, nskin, 1 ) \
|
||||
X( int, skin_boneadr, nskin, 1 ) \
|
||||
X( int, skin_bonenum, nskin, 1 ) \
|
||||
X( float, skin_vert, nskinvert, 3 ) \
|
||||
X( float, skin_texcoord, nskintexvert, 2 ) \
|
||||
X( int, skin_face, nskinface, 3 ) \
|
||||
X( int, skin_bonevertadr, nskinbone, 1 ) \
|
||||
X( int, skin_bonevertnum, nskinbone, 1 ) \
|
||||
X( float, skin_bonebindpos, nskinbone, 3 ) \
|
||||
X( float, skin_bonebindquat, nskinbone, 4 ) \
|
||||
X( int, skin_bonebodyid, nskinbone, 1 ) \
|
||||
X( int, skin_bonevertid, nskinbonevert, 1 ) \
|
||||
X( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
||||
X( mjtNum, hfield_size, nhfield, 4 ) \
|
||||
X( int, hfield_nrow, nhfield, 1 ) \
|
||||
X( int, hfield_ncol, nhfield, 1 ) \
|
||||
X( int, hfield_adr, nhfield, 1 ) \
|
||||
X( float, hfield_data, nhfielddata, 1 ) \
|
||||
X( int, tex_type, ntex, 1 ) \
|
||||
X( int, tex_height, ntex, 1 ) \
|
||||
X( int, tex_width, ntex, 1 ) \
|
||||
X( int, tex_adr, ntex, 1 ) \
|
||||
X( mjtByte, tex_rgb, ntexdata, 1 ) \
|
||||
X( int, mat_texid, nmat, 1 ) \
|
||||
X( mjtByte, mat_texuniform, nmat, 1 ) \
|
||||
X( float, mat_texrepeat, nmat, 2 ) \
|
||||
X( float, mat_emission, nmat, 1 ) \
|
||||
X( float, mat_specular, nmat, 1 ) \
|
||||
X( float, mat_shininess, nmat, 1 ) \
|
||||
X( float, mat_reflectance, nmat, 1 ) \
|
||||
X( float, mat_rgba, nmat, 4 ) \
|
||||
X( int, pair_dim, npair, 1 ) \
|
||||
X( int, pair_geom1, npair, 1 ) \
|
||||
X( int, pair_geom2, npair, 1 ) \
|
||||
X( int, pair_signature, npair, 1 ) \
|
||||
X( mjtNum, pair_solref, npair, mjNREF ) \
|
||||
X( mjtNum, pair_solimp, npair, mjNIMP ) \
|
||||
X( mjtNum, pair_margin, npair, 1 ) \
|
||||
X( mjtNum, pair_gap, npair, 1 ) \
|
||||
X( mjtNum, pair_friction, npair, 5 ) \
|
||||
X( int, exclude_signature, nexclude, 1 ) \
|
||||
X( int, eq_type, neq, 1 ) \
|
||||
X( int, eq_obj1id, neq, 1 ) \
|
||||
X( int, eq_obj2id, neq, 1 ) \
|
||||
X( mjtByte, eq_active, neq, 1 ) \
|
||||
X( mjtNum, eq_solref, neq, mjNREF ) \
|
||||
X( mjtNum, eq_solimp, neq, mjNIMP ) \
|
||||
X( mjtNum, eq_data, neq, mjNEQDATA ) \
|
||||
X( int, tendon_adr, ntendon, 1 ) \
|
||||
X( int, tendon_num, ntendon, 1 ) \
|
||||
X( int, tendon_matid, ntendon, 1 ) \
|
||||
X( int, tendon_group, ntendon, 1 ) \
|
||||
X( mjtByte, tendon_limited, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_width, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
|
||||
X( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
|
||||
X( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
|
||||
X( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
|
||||
X( mjtNum, tendon_range, ntendon, 2 ) \
|
||||
X( mjtNum, tendon_margin, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_damping, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_lengthspring, ntendon, 2 ) \
|
||||
X( mjtNum, tendon_length0, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_invweight0, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
|
||||
X( float, tendon_rgba, ntendon, 4 ) \
|
||||
X( int, wrap_type, nwrap, 1 ) \
|
||||
X( int, wrap_objid, nwrap, 1 ) \
|
||||
X( mjtNum, wrap_prm, nwrap, 1 ) \
|
||||
X( int, actuator_trntype, nu, 1 ) \
|
||||
X( int, actuator_dyntype, nu, 1 ) \
|
||||
X( int, actuator_gaintype, nu, 1 ) \
|
||||
X( int, actuator_biastype, nu, 1 ) \
|
||||
X( int, actuator_trnid, nu, 2 ) \
|
||||
X( int, actuator_actadr, nu, 1 ) \
|
||||
X( int, actuator_actnum, nu, 1 ) \
|
||||
X( int, actuator_group, nu, 1 ) \
|
||||
X( mjtByte, actuator_ctrllimited, nu, 1 ) \
|
||||
X( mjtByte, actuator_forcelimited, nu, 1 ) \
|
||||
X( mjtByte, actuator_actlimited, nu, 1 ) \
|
||||
X( mjtNum, actuator_dynprm, nu, mjNDYN ) \
|
||||
X( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
|
||||
X( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
|
||||
X( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_forcerange, nu, 2 ) \
|
||||
X( mjtNum, actuator_actrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_gear, nu, 6 ) \
|
||||
X( mjtNum, actuator_cranklength, nu, 1 ) \
|
||||
X( mjtNum, actuator_acc0, nu, 1 ) \
|
||||
X( mjtNum, actuator_length0, nu, 1 ) \
|
||||
X( mjtNum, actuator_lengthrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
|
||||
X( int, actuator_plugin, nu, 1 ) \
|
||||
X( int, sensor_type, nsensor, 1 ) \
|
||||
X( int, sensor_datatype, nsensor, 1 ) \
|
||||
X( int, sensor_needstage, nsensor, 1 ) \
|
||||
X( int, sensor_objtype, nsensor, 1 ) \
|
||||
X( int, sensor_objid, nsensor, 1 ) \
|
||||
X( int, sensor_reftype, nsensor, 1 ) \
|
||||
X( int, sensor_refid, nsensor, 1 ) \
|
||||
X( int, sensor_dim, nsensor, 1 ) \
|
||||
X( int, sensor_adr, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_noise, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
|
||||
X( int, sensor_plugin, nsensor, 1 ) \
|
||||
X( int, plugin, nplugin, 1 ) \
|
||||
X( int, plugin_stateadr, nplugin, 1 ) \
|
||||
X( int, plugin_statenum, nplugin, 1 ) \
|
||||
X( char, plugin_attr, npluginattr, 1 ) \
|
||||
X( int, plugin_attradr, nplugin, 1 ) \
|
||||
X( int, numeric_adr, nnumeric, 1 ) \
|
||||
X( int, numeric_size, nnumeric, 1 ) \
|
||||
X( mjtNum, numeric_data, nnumericdata, 1 ) \
|
||||
X( int, text_adr, ntext, 1 ) \
|
||||
X( int, text_size, ntext, 1 ) \
|
||||
X( char, text_data, ntextdata, 1 ) \
|
||||
X( int, tuple_adr, ntuple, 1 ) \
|
||||
X( int, tuple_size, ntuple, 1 ) \
|
||||
X( int, tuple_objtype, ntupledata, 1 ) \
|
||||
X( int, tuple_objid, ntupledata, 1 ) \
|
||||
X( mjtNum, tuple_objprm, ntupledata, 1 ) \
|
||||
X( mjtNum, key_time, nkey, 1 ) \
|
||||
X( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
|
||||
X( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
|
||||
X( mjtNum, key_act, nkey, MJ_M(na) ) \
|
||||
X( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
|
||||
X( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
|
||||
X( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
|
||||
X( int, name_bodyadr, nbody, 1 ) \
|
||||
X( int, name_jntadr, njnt, 1 ) \
|
||||
X( int, name_geomadr, ngeom, 1 ) \
|
||||
X( int, name_siteadr, nsite, 1 ) \
|
||||
X( int, name_camadr, ncam, 1 ) \
|
||||
X( int, name_lightadr, nlight, 1 ) \
|
||||
X( int, name_meshadr, nmesh, 1 ) \
|
||||
X( int, name_skinadr, nskin, 1 ) \
|
||||
X( int, name_hfieldadr, nhfield, 1 ) \
|
||||
X( int, name_texadr, ntex, 1 ) \
|
||||
X( int, name_matadr, nmat, 1 ) \
|
||||
X( int, name_pairadr, npair, 1 ) \
|
||||
X( int, name_excludeadr, nexclude, 1 ) \
|
||||
X( int, name_eqadr, neq, 1 ) \
|
||||
X( int, name_tendonadr, ntendon, 1 ) \
|
||||
X( int, name_actuatoradr, nu, 1 ) \
|
||||
X( int, name_sensoradr, nsensor, 1 ) \
|
||||
X( int, name_numericadr, nnumeric, 1 ) \
|
||||
X( int, name_textadr, ntext, 1 ) \
|
||||
X( int, name_tupleadr, ntuple, 1 ) \
|
||||
X( int, name_keyadr, nkey, 1 ) \
|
||||
X( int, name_pluginadr, nplugin, 1 ) \
|
||||
X( char, names, nnames, 1 ) \
|
||||
X( int, names_map, nnames_map, 1 ) \
|
||||
X ( mjtNum, qpos0, nq, 1 ) \
|
||||
X ( mjtNum, qpos_spring, nq, 1 ) \
|
||||
XMJV( int, body_parentid, nbody, 1 ) \
|
||||
XMJV( int, body_rootid, nbody, 1 ) \
|
||||
XMJV( int, body_weldid, nbody, 1 ) \
|
||||
XMJV( int, body_mocapid, nbody, 1 ) \
|
||||
XMJV( int, body_jntnum, nbody, 1 ) \
|
||||
XMJV( int, body_jntadr, nbody, 1 ) \
|
||||
X ( int, body_dofnum, nbody, 1 ) \
|
||||
X ( int, body_dofadr, nbody, 1 ) \
|
||||
XMJV( int, body_geomnum, nbody, 1 ) \
|
||||
XMJV( int, body_geomadr, nbody, 1 ) \
|
||||
X ( mjtByte, body_simple, nbody, 1 ) \
|
||||
X ( mjtByte, body_sameframe, nbody, 1 ) \
|
||||
X ( mjtNum, body_pos, nbody, 3 ) \
|
||||
X ( mjtNum, body_quat, nbody, 4 ) \
|
||||
X ( mjtNum, body_ipos, nbody, 3 ) \
|
||||
XMJV( mjtNum, body_iquat, nbody, 4 ) \
|
||||
XMJV( mjtNum, body_mass, nbody, 1 ) \
|
||||
X ( mjtNum, body_subtreemass, nbody, 1 ) \
|
||||
XMJV( mjtNum, body_inertia, nbody, 3 ) \
|
||||
X ( mjtNum, body_invweight0, nbody, 2 ) \
|
||||
X ( mjtNum, body_gravcomp, nbody, 1 ) \
|
||||
X ( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
|
||||
X ( int, body_plugin, nbody, 1 ) \
|
||||
XMJV( int, body_bvhadr, nbody, 1 ) \
|
||||
XMJV( int, body_bvhnum, nbody, 1 ) \
|
||||
XMJV( int, bvh_depth, nbvh, 1 ) \
|
||||
XMJV( int, bvh_child, nbvh, 2 ) \
|
||||
XMJV( int, bvh_geomid, nbvh, 1 ) \
|
||||
XMJV( mjtNum, bvh_aabb, nbvh, 6 ) \
|
||||
XMJV( int, jnt_type, njnt, 1 ) \
|
||||
X ( int, jnt_qposadr, njnt, 1 ) \
|
||||
X ( int, jnt_dofadr, njnt, 1 ) \
|
||||
XMJV( int, jnt_bodyid, njnt, 1 ) \
|
||||
XMJV( int, jnt_group, njnt, 1 ) \
|
||||
X ( mjtByte, jnt_limited, njnt, 1 ) \
|
||||
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
|
||||
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
|
||||
X ( mjtNum, jnt_pos, njnt, 3 ) \
|
||||
X ( mjtNum, jnt_axis, njnt, 3 ) \
|
||||
X ( mjtNum, jnt_stiffness, njnt, 1 ) \
|
||||
X ( mjtNum, jnt_range, njnt, 2 ) \
|
||||
X ( mjtNum, jnt_margin, njnt, 1 ) \
|
||||
X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) ) \
|
||||
X ( int, dof_bodyid, nv, 1 ) \
|
||||
X ( int, dof_jntid, nv, 1 ) \
|
||||
X ( int, dof_parentid, nv, 1 ) \
|
||||
X ( int, dof_Madr, nv, 1 ) \
|
||||
X ( int, dof_simplenum, nv, 1 ) \
|
||||
X ( mjtNum, dof_solref, nv, mjNREF ) \
|
||||
X ( mjtNum, dof_solimp, nv, mjNIMP ) \
|
||||
X ( mjtNum, dof_frictionloss, nv, 1 ) \
|
||||
X ( mjtNum, dof_armature, nv, 1 ) \
|
||||
X ( mjtNum, dof_damping, nv, 1 ) \
|
||||
X ( mjtNum, dof_invweight0, nv, 1 ) \
|
||||
X ( mjtNum, dof_M0, nv, 1 ) \
|
||||
XMJV( int, geom_type, ngeom, 1 ) \
|
||||
X ( int, geom_contype, ngeom, 1 ) \
|
||||
X ( int, geom_conaffinity, ngeom, 1 ) \
|
||||
X ( int, geom_condim, ngeom, 1 ) \
|
||||
XMJV( int, geom_bodyid, ngeom, 1 ) \
|
||||
XMJV( int, geom_dataid, ngeom, 1 ) \
|
||||
XMJV( int, geom_matid, ngeom, 1 ) \
|
||||
XMJV( int, geom_group, ngeom, 1 ) \
|
||||
X ( int, geom_priority, ngeom, 1 ) \
|
||||
X ( mjtByte, geom_sameframe, ngeom, 1 ) \
|
||||
X ( mjtNum, geom_solmix, ngeom, 1 ) \
|
||||
X ( mjtNum, geom_solref, ngeom, mjNREF ) \
|
||||
X ( mjtNum, geom_solimp, ngeom, mjNIMP ) \
|
||||
XMJV( mjtNum, geom_size, ngeom, 3 ) \
|
||||
XMJV( mjtNum, geom_aabb, ngeom, 6 ) \
|
||||
XMJV( mjtNum, geom_rbound, ngeom, 1 ) \
|
||||
X ( mjtNum, geom_pos, ngeom, 3 ) \
|
||||
X ( mjtNum, geom_quat, ngeom, 4 ) \
|
||||
X ( mjtNum, geom_friction, ngeom, 3 ) \
|
||||
X ( mjtNum, geom_margin, ngeom, 1 ) \
|
||||
X ( mjtNum, geom_gap, ngeom, 1 ) \
|
||||
X ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
|
||||
X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
|
||||
XMJV( float, geom_rgba, ngeom, 4 ) \
|
||||
XMJV( int, site_type, nsite, 1 ) \
|
||||
XMJV( int, site_bodyid, nsite, 1 ) \
|
||||
XMJV( int, site_matid, nsite, 1 ) \
|
||||
XMJV( int, site_group, nsite, 1 ) \
|
||||
X ( mjtByte, site_sameframe, nsite, 1 ) \
|
||||
XMJV( mjtNum, site_size, nsite, 3 ) \
|
||||
X ( mjtNum, site_pos, nsite, 3 ) \
|
||||
X ( mjtNum, site_quat, nsite, 4 ) \
|
||||
X ( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
|
||||
XMJV( float, site_rgba, nsite, 4 ) \
|
||||
X ( int, cam_mode, ncam, 1 ) \
|
||||
X ( int, cam_bodyid, ncam, 1 ) \
|
||||
X ( int, cam_targetbodyid, ncam, 1 ) \
|
||||
X ( mjtNum, cam_pos, ncam, 3 ) \
|
||||
X ( mjtNum, cam_quat, ncam, 4 ) \
|
||||
X ( mjtNum, cam_poscom0, ncam, 3 ) \
|
||||
X ( mjtNum, cam_pos0, ncam, 3 ) \
|
||||
X ( mjtNum, cam_mat0, ncam, 9 ) \
|
||||
XMJV( mjtNum, cam_fovy, ncam, 1 ) \
|
||||
XMJV( mjtNum, cam_ipd, ncam, 1 ) \
|
||||
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
|
||||
X ( int, light_mode, nlight, 1 ) \
|
||||
X ( int, light_bodyid, nlight, 1 ) \
|
||||
X ( int, light_targetbodyid, nlight, 1 ) \
|
||||
XMJV( mjtByte, light_directional, nlight, 1 ) \
|
||||
XMJV( mjtByte, light_castshadow, nlight, 1 ) \
|
||||
XMJV( mjtByte, light_active, nlight, 1 ) \
|
||||
X ( mjtNum, light_pos, nlight, 3 ) \
|
||||
X ( mjtNum, light_dir, nlight, 3 ) \
|
||||
X ( mjtNum, light_poscom0, nlight, 3 ) \
|
||||
X ( mjtNum, light_pos0, nlight, 3 ) \
|
||||
X ( mjtNum, light_dir0, nlight, 3 ) \
|
||||
XMJV( float, light_attenuation, nlight, 3 ) \
|
||||
XMJV( float, light_cutoff, nlight, 1 ) \
|
||||
XMJV( float, light_exponent, nlight, 1 ) \
|
||||
XMJV( float, light_ambient, nlight, 3 ) \
|
||||
XMJV( float, light_diffuse, nlight, 3 ) \
|
||||
XMJV( float, light_specular, nlight, 3 ) \
|
||||
X ( int, mesh_vertadr, nmesh, 1 ) \
|
||||
X ( int, mesh_vertnum, nmesh, 1 ) \
|
||||
X ( int, mesh_normaladr, nmesh, 1 ) \
|
||||
X ( int, mesh_normalnum, nmesh, 1 ) \
|
||||
XMJV( int, mesh_texcoordadr, nmesh, 1 ) \
|
||||
X ( int, mesh_texcoordnum, nmesh, 1 ) \
|
||||
X ( int, mesh_faceadr, nmesh, 1 ) \
|
||||
X ( int, mesh_facenum, nmesh, 1 ) \
|
||||
XMJV( int, mesh_graphadr, nmesh, 1 ) \
|
||||
X ( float, mesh_vert, nmeshvert, 3 ) \
|
||||
X ( float, mesh_normal, nmeshnormal, 3 ) \
|
||||
X ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
|
||||
X ( int, mesh_face, nmeshface, 3 ) \
|
||||
X ( int, mesh_facenormal, nmeshface, 3 ) \
|
||||
X ( int, mesh_facetexcoord, nmeshface, 3 ) \
|
||||
X ( int, mesh_graph, nmeshgraph, 1 ) \
|
||||
XMJV( int, skin_matid, nskin, 1 ) \
|
||||
XMJV( int, skin_group, nskin, 1 ) \
|
||||
XMJV( float, skin_rgba, nskin, 4 ) \
|
||||
XMJV( float, skin_inflate, nskin, 1 ) \
|
||||
XMJV( int, skin_vertadr, nskin, 1 ) \
|
||||
XMJV( int, skin_vertnum, nskin, 1 ) \
|
||||
XMJV( int, skin_texcoordadr, nskin, 1 ) \
|
||||
XMJV( int, skin_faceadr, nskin, 1 ) \
|
||||
XMJV( int, skin_facenum, nskin, 1 ) \
|
||||
XMJV( int, skin_boneadr, nskin, 1 ) \
|
||||
XMJV( int, skin_bonenum, nskin, 1 ) \
|
||||
XMJV( float, skin_vert, nskinvert, 3 ) \
|
||||
X ( float, skin_texcoord, nskintexvert, 2 ) \
|
||||
XMJV( int, skin_face, nskinface, 3 ) \
|
||||
XMJV( int, skin_bonevertadr, nskinbone, 1 ) \
|
||||
XMJV( int, skin_bonevertnum, nskinbone, 1 ) \
|
||||
XMJV( float, skin_bonebindpos, nskinbone, 3 ) \
|
||||
XMJV( float, skin_bonebindquat, nskinbone, 4 ) \
|
||||
XMJV( int, skin_bonebodyid, nskinbone, 1 ) \
|
||||
XMJV( int, skin_bonevertid, nskinbonevert, 1 ) \
|
||||
XMJV( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
||||
X ( mjtNum, hfield_size, nhfield, 4 ) \
|
||||
X ( int, hfield_nrow, nhfield, 1 ) \
|
||||
X ( int, hfield_ncol, nhfield, 1 ) \
|
||||
X ( int, hfield_adr, nhfield, 1 ) \
|
||||
X ( float, hfield_data, nhfielddata, 1 ) \
|
||||
X ( int, tex_type, ntex, 1 ) \
|
||||
X ( int, tex_height, ntex, 1 ) \
|
||||
X ( int, tex_width, ntex, 1 ) \
|
||||
X ( int, tex_adr, ntex, 1 ) \
|
||||
X ( mjtByte, tex_rgb, ntexdata, 1 ) \
|
||||
XMJV( int, mat_texid, nmat, 1 ) \
|
||||
XMJV( mjtByte, mat_texuniform, nmat, 1 ) \
|
||||
XMJV( float, mat_texrepeat, nmat, 2 ) \
|
||||
XMJV( float, mat_emission, nmat, 1 ) \
|
||||
XMJV( float, mat_specular, nmat, 1 ) \
|
||||
XMJV( float, mat_shininess, nmat, 1 ) \
|
||||
XMJV( float, mat_reflectance, nmat, 1 ) \
|
||||
XMJV( float, mat_rgba, nmat, 4 ) \
|
||||
X ( int, pair_dim, npair, 1 ) \
|
||||
X ( int, pair_geom1, npair, 1 ) \
|
||||
X ( int, pair_geom2, npair, 1 ) \
|
||||
X ( int, pair_signature, npair, 1 ) \
|
||||
X ( mjtNum, pair_solref, npair, mjNREF ) \
|
||||
X ( mjtNum, pair_solimp, npair, mjNIMP ) \
|
||||
X ( mjtNum, pair_margin, npair, 1 ) \
|
||||
X ( mjtNum, pair_gap, npair, 1 ) \
|
||||
X ( mjtNum, pair_friction, npair, 5 ) \
|
||||
X ( int, exclude_signature, nexclude, 1 ) \
|
||||
XMJV( int, eq_type, neq, 1 ) \
|
||||
XMJV( int, eq_obj1id, neq, 1 ) \
|
||||
XMJV( int, eq_obj2id, neq, 1 ) \
|
||||
XMJV( mjtByte, eq_active, neq, 1 ) \
|
||||
X ( mjtNum, eq_solref, neq, mjNREF ) \
|
||||
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
|
||||
XMJV( mjtNum, eq_data, neq, mjNEQDATA ) \
|
||||
X ( int, tendon_adr, ntendon, 1 ) \
|
||||
XMJV( int, tendon_num, ntendon, 1 ) \
|
||||
XMJV( int, tendon_matid, ntendon, 1 ) \
|
||||
XMJV( int, tendon_group, ntendon, 1 ) \
|
||||
XMJV( mjtByte, tendon_limited, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_width, ntendon, 1 ) \
|
||||
X ( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
|
||||
X ( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
|
||||
X ( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
|
||||
X ( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
|
||||
XMJV( mjtNum, tendon_range, ntendon, 2 ) \
|
||||
X ( mjtNum, tendon_margin, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_damping, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_lengthspring, ntendon, 2 ) \
|
||||
X ( mjtNum, tendon_length0, ntendon, 1 ) \
|
||||
X ( mjtNum, tendon_invweight0, ntendon, 1 ) \
|
||||
X ( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
|
||||
XMJV( float, tendon_rgba, ntendon, 4 ) \
|
||||
X ( int, wrap_type, nwrap, 1 ) \
|
||||
X ( int, wrap_objid, nwrap, 1 ) \
|
||||
X ( mjtNum, wrap_prm, nwrap, 1 ) \
|
||||
XMJV( int, actuator_trntype, nu, 1 ) \
|
||||
XMJV( int, actuator_dyntype, nu, 1 ) \
|
||||
X ( int, actuator_gaintype, nu, 1 ) \
|
||||
X ( int, actuator_biastype, nu, 1 ) \
|
||||
XMJV( int, actuator_trnid, nu, 2 ) \
|
||||
XMJV( int, actuator_actadr, nu, 1 ) \
|
||||
XMJV( int, actuator_actnum, nu, 1 ) \
|
||||
XMJV( int, actuator_group, nu, 1 ) \
|
||||
XMJV( mjtByte, actuator_ctrllimited, nu, 1 ) \
|
||||
X ( mjtByte, actuator_forcelimited, nu, 1 ) \
|
||||
XMJV( mjtByte, actuator_actlimited, nu, 1 ) \
|
||||
X ( mjtNum, actuator_dynprm, nu, mjNDYN ) \
|
||||
X ( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
|
||||
X ( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
|
||||
XMJV( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_forcerange, nu, 2 ) \
|
||||
XMJV( mjtNum, actuator_actrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_gear, nu, 6 ) \
|
||||
XMJV( mjtNum, actuator_cranklength, nu, 1 ) \
|
||||
X ( mjtNum, actuator_acc0, nu, 1 ) \
|
||||
X ( mjtNum, actuator_length0, nu, 1 ) \
|
||||
X ( mjtNum, actuator_lengthrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
|
||||
X ( int, actuator_plugin, nu, 1 ) \
|
||||
XMJV( int, sensor_type, nsensor, 1 ) \
|
||||
X ( int, sensor_datatype, nsensor, 1 ) \
|
||||
X ( int, sensor_needstage, nsensor, 1 ) \
|
||||
X ( int, sensor_objtype, nsensor, 1 ) \
|
||||
XMJV( int, sensor_objid, nsensor, 1 ) \
|
||||
X ( int, sensor_reftype, nsensor, 1 ) \
|
||||
X ( int, sensor_refid, nsensor, 1 ) \
|
||||
X ( int, sensor_dim, nsensor, 1 ) \
|
||||
XMJV( int, sensor_adr, nsensor, 1 ) \
|
||||
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
||||
X ( mjtNum, sensor_noise, nsensor, 1 ) \
|
||||
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
|
||||
X ( int, sensor_plugin, nsensor, 1 ) \
|
||||
X ( int, plugin, nplugin, 1 ) \
|
||||
X ( int, plugin_stateadr, nplugin, 1 ) \
|
||||
X ( int, plugin_statenum, nplugin, 1 ) \
|
||||
X ( char, plugin_attr, npluginattr, 1 ) \
|
||||
X ( int, plugin_attradr, nplugin, 1 ) \
|
||||
X ( int, numeric_adr, nnumeric, 1 ) \
|
||||
X ( int, numeric_size, nnumeric, 1 ) \
|
||||
X ( mjtNum, numeric_data, nnumericdata, 1 ) \
|
||||
X ( int, text_adr, ntext, 1 ) \
|
||||
X ( int, text_size, ntext, 1 ) \
|
||||
X ( char, text_data, ntextdata, 1 ) \
|
||||
X ( int, tuple_adr, ntuple, 1 ) \
|
||||
X ( int, tuple_size, ntuple, 1 ) \
|
||||
X ( int, tuple_objtype, ntupledata, 1 ) \
|
||||
X ( int, tuple_objid, ntupledata, 1 ) \
|
||||
X ( mjtNum, tuple_objprm, ntupledata, 1 ) \
|
||||
X ( mjtNum, key_time, nkey, 1 ) \
|
||||
X ( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
|
||||
X ( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
|
||||
X ( mjtNum, key_act, nkey, MJ_M(na) ) \
|
||||
X ( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
|
||||
X ( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
|
||||
X ( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
|
||||
XMJV( int, name_bodyadr, nbody, 1 ) \
|
||||
XMJV( int, name_jntadr, njnt, 1 ) \
|
||||
XMJV( int, name_geomadr, ngeom, 1 ) \
|
||||
XMJV( int, name_siteadr, nsite, 1 ) \
|
||||
XMJV( int, name_camadr, ncam, 1 ) \
|
||||
XMJV( int, name_lightadr, nlight, 1 ) \
|
||||
X ( int, name_meshadr, nmesh, 1 ) \
|
||||
X ( int, name_skinadr, nskin, 1 ) \
|
||||
X ( int, name_hfieldadr, nhfield, 1 ) \
|
||||
X ( int, name_texadr, ntex, 1 ) \
|
||||
X ( int, name_matadr, nmat, 1 ) \
|
||||
X ( int, name_pairadr, npair, 1 ) \
|
||||
X ( int, name_excludeadr, nexclude, 1 ) \
|
||||
XMJV( int, name_eqadr, neq, 1 ) \
|
||||
XMJV( int, name_tendonadr, ntendon, 1 ) \
|
||||
XMJV( int, name_actuatoradr, nu, 1 ) \
|
||||
X ( int, name_sensoradr, nsensor, 1 ) \
|
||||
X ( int, name_numericadr, nnumeric, 1 ) \
|
||||
X ( int, name_textadr, ntext, 1 ) \
|
||||
X ( int, name_tupleadr, ntuple, 1 ) \
|
||||
X ( int, name_keyadr, nkey, 1 ) \
|
||||
X ( int, name_pluginadr, nplugin, 1 ) \
|
||||
XMJV( char, names, nnames, 1 ) \
|
||||
X ( int, names_map, nnames_map, 1 ) \
|
||||
|
||||
//-------------------------------- mjData ----------------------------------------------------------
|
||||
|
||||
@@ -459,85 +461,87 @@
|
||||
|
||||
|
||||
// pointer fields of mjData
|
||||
#define MJDATA_POINTERS \
|
||||
X( mjtNum, qpos, nq, 1 ) \
|
||||
X( mjtNum, qvel, nv, 1 ) \
|
||||
X( mjtNum, act, na, 1 ) \
|
||||
X( mjtNum, qacc_warmstart, nv, 1 ) \
|
||||
X( mjtNum, plugin_state, npluginstate, 1 ) \
|
||||
X( mjtNum, ctrl, nu, 1 ) \
|
||||
X( mjtNum, qfrc_applied, nv, 1 ) \
|
||||
X( mjtNum, xfrc_applied, nbody, 6 ) \
|
||||
X( mjtNum, mocap_pos, nmocap, 3 ) \
|
||||
X( mjtNum, mocap_quat, nmocap, 4 ) \
|
||||
X( mjtNum, qacc, nv, 1 ) \
|
||||
X( mjtNum, act_dot, na, 1 ) \
|
||||
X( mjtNum, userdata, nuserdata, 1 ) \
|
||||
X( mjtNum, sensordata, nsensordata, 1 ) \
|
||||
X( int, plugin, nplugin, 1 ) \
|
||||
X( uintptr_t, plugin_data, nplugin, 1 ) \
|
||||
X( mjtNum, xpos, nbody, 3 ) \
|
||||
X( mjtNum, xquat, nbody, 4 ) \
|
||||
X( mjtNum, xmat, nbody, 9 ) \
|
||||
X( mjtNum, xipos, nbody, 3 ) \
|
||||
X( mjtNum, ximat, nbody, 9 ) \
|
||||
X( mjtNum, xanchor, njnt, 3 ) \
|
||||
X( mjtNum, xaxis, njnt, 3 ) \
|
||||
X( mjtNum, geom_xpos, ngeom, 3 ) \
|
||||
X( mjtNum, geom_xmat, ngeom, 9 ) \
|
||||
X( mjtNum, site_xpos, nsite, 3 ) \
|
||||
X( mjtNum, site_xmat, nsite, 9 ) \
|
||||
X( mjtNum, cam_xpos, ncam, 3 ) \
|
||||
X( mjtNum, cam_xmat, ncam, 9 ) \
|
||||
X( mjtNum, light_xpos, nlight, 3 ) \
|
||||
X( mjtNum, light_xdir, nlight, 3 ) \
|
||||
X( mjtNum, subtree_com, nbody, 3 ) \
|
||||
X( mjtNum, cdof, nv, 6 ) \
|
||||
X( mjtNum, cinert, nbody, 10 ) \
|
||||
X( int, ten_wrapadr, ntendon, 1 ) \
|
||||
X( int, ten_wrapnum, ntendon, 1 ) \
|
||||
X( int, ten_J_rownnz, ntendon, 1 ) \
|
||||
X( int, ten_J_rowadr, ntendon, 1 ) \
|
||||
X( int, ten_J_colind, ntendon, MJ_M(nv) ) \
|
||||
X( mjtNum, ten_length, ntendon, 1 ) \
|
||||
X( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
|
||||
X( int, wrap_obj, nwrap, 2 ) \
|
||||
X( mjtNum, wrap_xpos, nwrap, 6 ) \
|
||||
X( mjtNum, actuator_length, nu, 1 ) \
|
||||
X( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
|
||||
X( mjtNum, crb, nbody, 10 ) \
|
||||
X( mjtNum, qM, nM, 1 ) \
|
||||
X( mjtNum, qLD, nM, 1 ) \
|
||||
X( mjtNum, qLDiagInv, nv, 1 ) \
|
||||
X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
|
||||
X( mjtByte, bvh_active, nbvh, 1 ) \
|
||||
X( mjtNum, ten_velocity, ntendon, 1 ) \
|
||||
X( mjtNum, actuator_velocity, nu, 1 ) \
|
||||
X( mjtNum, cvel, nbody, 6 ) \
|
||||
X( mjtNum, cdof_dot, nv, 6 ) \
|
||||
X( mjtNum, qfrc_bias, nv, 1 ) \
|
||||
X( mjtNum, qfrc_passive, nv, 1 ) \
|
||||
X( mjtNum, subtree_linvel, nbody, 3 ) \
|
||||
X( mjtNum, subtree_angmom, nbody, 3 ) \
|
||||
X( mjtNum, qH, nM, 1 ) \
|
||||
X( mjtNum, qHDiagInv, nv, 1 ) \
|
||||
X( int, D_rownnz, nv, 1 ) \
|
||||
X( int, D_rowadr, nv, 1 ) \
|
||||
X( int, D_colind, nD, 1 ) \
|
||||
X( int, B_rownnz, nbody, 1 ) \
|
||||
X( int, B_rowadr, nbody, 1 ) \
|
||||
X( int, B_colind, nB, 1 ) \
|
||||
X( mjtNum, qDeriv, nD, 1 ) \
|
||||
X( mjtNum, qLU, nD, 1 ) \
|
||||
X( mjtNum, actuator_force, nu, 1 ) \
|
||||
X( mjtNum, qfrc_actuator, nv, 1 ) \
|
||||
X( mjtNum, qfrc_smooth, nv, 1 ) \
|
||||
X( mjtNum, qacc_smooth, nv, 1 ) \
|
||||
X( mjtNum, qfrc_constraint, nv, 1 ) \
|
||||
X( mjtNum, qfrc_inverse, nv, 1 ) \
|
||||
X( mjtNum, cacc, nbody, 6 ) \
|
||||
X( mjtNum, cfrc_int, nbody, 6 ) \
|
||||
X( mjtNum, cfrc_ext, nbody, 6 )
|
||||
// XMJV means that the field is required to construct mjvScene
|
||||
// (by default we define XMJV to be the same as X)
|
||||
#define MJDATA_POINTERS \
|
||||
X ( mjtNum, qpos, nq, 1 ) \
|
||||
X ( mjtNum, qvel, nv, 1 ) \
|
||||
XMJV( mjtNum, act, na, 1 ) \
|
||||
X ( mjtNum, qacc_warmstart, nv, 1 ) \
|
||||
X ( mjtNum, plugin_state, npluginstate, 1 ) \
|
||||
XMJV( mjtNum, ctrl, nu, 1 ) \
|
||||
X ( mjtNum, qfrc_applied, nv, 1 ) \
|
||||
XMJV( mjtNum, xfrc_applied, nbody, 6 ) \
|
||||
X ( mjtNum, mocap_pos, nmocap, 3 ) \
|
||||
X ( mjtNum, mocap_quat, nmocap, 4 ) \
|
||||
X ( mjtNum, qacc, nv, 1 ) \
|
||||
X ( mjtNum, act_dot, na, 1 ) \
|
||||
X ( mjtNum, userdata, nuserdata, 1 ) \
|
||||
XMJV( mjtNum, sensordata, nsensordata, 1 ) \
|
||||
X ( int, plugin, nplugin, 1 ) \
|
||||
X ( uintptr_t, plugin_data, nplugin, 1 ) \
|
||||
XMJV( mjtNum, xpos, nbody, 3 ) \
|
||||
XMJV( mjtNum, xquat, nbody, 4 ) \
|
||||
XMJV( mjtNum, xmat, nbody, 9 ) \
|
||||
XMJV( mjtNum, xipos, nbody, 3 ) \
|
||||
XMJV( mjtNum, ximat, nbody, 9 ) \
|
||||
XMJV( mjtNum, xanchor, njnt, 3 ) \
|
||||
XMJV( mjtNum, xaxis, njnt, 3 ) \
|
||||
XMJV( mjtNum, geom_xpos, ngeom, 3 ) \
|
||||
XMJV( mjtNum, geom_xmat, ngeom, 9 ) \
|
||||
XMJV( mjtNum, site_xpos, nsite, 3 ) \
|
||||
XMJV( mjtNum, site_xmat, nsite, 9 ) \
|
||||
XMJV( mjtNum, cam_xpos, ncam, 3 ) \
|
||||
XMJV( mjtNum, cam_xmat, ncam, 9 ) \
|
||||
XMJV( mjtNum, light_xpos, nlight, 3 ) \
|
||||
XMJV( mjtNum, light_xdir, nlight, 3 ) \
|
||||
XMJV( mjtNum, subtree_com, nbody, 3 ) \
|
||||
X ( mjtNum, cdof, nv, 6 ) \
|
||||
X ( mjtNum, cinert, nbody, 10 ) \
|
||||
XMJV( int, ten_wrapadr, ntendon, 1 ) \
|
||||
XMJV( int, ten_wrapnum, ntendon, 1 ) \
|
||||
X ( int, ten_J_rownnz, ntendon, 1 ) \
|
||||
X ( int, ten_J_rowadr, ntendon, 1 ) \
|
||||
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
|
||||
X ( mjtNum, ten_length, ntendon, 1 ) \
|
||||
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
|
||||
XMJV( int, wrap_obj, nwrap, 2 ) \
|
||||
XMJV( mjtNum, wrap_xpos, nwrap, 6 ) \
|
||||
X ( mjtNum, actuator_length, nu, 1 ) \
|
||||
X ( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
|
||||
X ( mjtNum, crb, nbody, 10 ) \
|
||||
X ( mjtNum, qM, nM, 1 ) \
|
||||
X ( mjtNum, qLD, nM, 1 ) \
|
||||
X ( mjtNum, qLDiagInv, nv, 1 ) \
|
||||
X ( mjtNum, qLDiagSqrtInv, nv, 1 ) \
|
||||
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
|
||||
X ( mjtNum, ten_velocity, ntendon, 1 ) \
|
||||
X ( mjtNum, actuator_velocity, nu, 1 ) \
|
||||
X ( mjtNum, cvel, nbody, 6 ) \
|
||||
X ( mjtNum, cdof_dot, nv, 6 ) \
|
||||
X ( mjtNum, qfrc_bias, nv, 1 ) \
|
||||
X ( mjtNum, qfrc_passive, nv, 1 ) \
|
||||
X ( mjtNum, subtree_linvel, nbody, 3 ) \
|
||||
X ( mjtNum, subtree_angmom, nbody, 3 ) \
|
||||
X ( mjtNum, qH, nM, 1 ) \
|
||||
X ( mjtNum, qHDiagInv, nv, 1 ) \
|
||||
X ( int, D_rownnz, nv, 1 ) \
|
||||
X ( int, D_rowadr, nv, 1 ) \
|
||||
X ( int, D_colind, nD, 1 ) \
|
||||
X ( int, B_rownnz, nbody, 1 ) \
|
||||
X ( int, B_rowadr, nbody, 1 ) \
|
||||
X ( int, B_colind, nB, 1 ) \
|
||||
X ( mjtNum, qDeriv, nD, 1 ) \
|
||||
X ( mjtNum, qLU, nD, 1 ) \
|
||||
X ( mjtNum, actuator_force, nu, 1 ) \
|
||||
X ( mjtNum, qfrc_actuator, nv, 1 ) \
|
||||
X ( mjtNum, qfrc_smooth, nv, 1 ) \
|
||||
X ( mjtNum, qacc_smooth, nv, 1 ) \
|
||||
X ( mjtNum, qfrc_constraint, nv, 1 ) \
|
||||
X ( mjtNum, qfrc_inverse, nv, 1 ) \
|
||||
X ( mjtNum, cacc, nbody, 6 ) \
|
||||
X ( mjtNum, cfrc_int, nbody, 6 ) \
|
||||
X ( mjtNum, cfrc_ext, nbody, 6 )
|
||||
|
||||
|
||||
// macro for annotating that an array size in an X macro is a member of mjData
|
||||
@@ -623,4 +627,9 @@
|
||||
X( mjtNum, energy, 2, 1 )
|
||||
|
||||
|
||||
// alias XMJV to be the same as X
|
||||
// to obtain only X macros for fields that are relevant for mjvScene creation,
|
||||
// redefine X to expand to nothing, and XMJV to do what's required
|
||||
#define XMJV X
|
||||
|
||||
#endif // MUJOCO_MJXMACRO_H_
|
||||
|
||||
@@ -546,10 +546,20 @@ MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum fo
|
||||
MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
|
||||
const mjvScene* scn, mjvCamera* cam);
|
||||
|
||||
// Move camera with mouse given a scene state; action is mjtMouse.
|
||||
MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
|
||||
mjtNum reldx, mjtNum reldy,
|
||||
const mjvScene* scn, mjvCamera* cam);
|
||||
|
||||
// Move perturb object with mouse; action is mjtMouse.
|
||||
MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
|
||||
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
|
||||
|
||||
// Move perturb object with mouse given a scene state; action is mjtMouse.
|
||||
MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
|
||||
mjtNum reldx, mjtNum reldy,
|
||||
const mjvScene* scn, mjvPerturb* pert);
|
||||
|
||||
// Move model with mouse; action is mjtMouse.
|
||||
MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
|
||||
const mjtNum roomup[3], mjvScene* scn);
|
||||
@@ -606,6 +616,24 @@ MJAPI void mjv_freeScene(mjvScene* scn);
|
||||
MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
|
||||
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
|
||||
|
||||
// Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
|
||||
MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
|
||||
const mjvPerturb* pert, mjvCamera* cam, int catmask,
|
||||
mjvScene* scn);
|
||||
|
||||
// Set default scene state.
|
||||
MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);
|
||||
|
||||
// Allocate resources and initialize a scene state object.
|
||||
MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
|
||||
mjvSceneState* scnstate, int maxgeom);
|
||||
|
||||
// Free scene state.
|
||||
MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
|
||||
|
||||
// Update a scene state from model and data.
|
||||
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
|
||||
|
||||
// Add geoms from selected categories.
|
||||
MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
|
||||
const mjvPerturb* pert, int catmask, mjvScene* scn);
|
||||
@@ -637,6 +665,9 @@ MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext*
|
||||
// Free resources in custom OpenGL context, set to default.
|
||||
MJAPI void mjr_freeContext(mjrContext* con);
|
||||
|
||||
// Resize offscreen buffers.
|
||||
MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con);
|
||||
|
||||
// Upload texture to GPU, overwriting previous upload if any.
|
||||
MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user