Extract memory allocation functions and core utilities
PiperOrigin-RevId: 801745499 Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
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Yuval Tassa
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Copybara-Service
Copybara-Service
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5d598a49a2
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b9900db00e
@@ -47,77 +47,6 @@ MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigne
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// copy current state to the k-th model keyframe
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MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
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//-------------------------- sparse chains ---------------------------------------------------------
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// merge dof chains for two bodies
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int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2);
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// merge dof chains for two simple bodies
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int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
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// get body chain
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int mj_bodyChain(const mjModel* m, int body, int* chain);
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//-------------------------- Jacobians -------------------------------------------------------------
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// compute 3/6-by-nv Jacobian of global point attached to given body
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MJAPI void mj_jac(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
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// compute body frame Jacobian
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MJAPI void mj_jacBody(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int body);
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// compute body center-of-mass Jacobian
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MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int body);
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// compute subtree center-of-mass Jacobian
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MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
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// compute geom Jacobian
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MJAPI void mj_jacGeom(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int geom);
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// compute site Jacobian
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MJAPI void mj_jacSite(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int site);
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// compute translation Jacobian of point, and rotation Jacobian of axis
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MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d,
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mjtNum* jacPoint, mjtNum* jacAxis,
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const mjtNum point[3], const mjtNum axis[3], int body);
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// compute 3/6-by-nv sparse Jacobian of global point attached to given body
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void mj_jacSparse(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
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int NV, const int* chain);
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// sparse Jacobian difference for simple body contacts
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void mj_jacSparseSimple(const mjModel* m, const mjData* d,
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mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
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int body, int flg_second, int NV, int start);
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// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
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MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
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int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
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mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
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mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr);
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// dense or sparse weighted sum of multiple body Jacobians at same point
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int mj_jacSum(const mjModel* m, mjData* d, int* chain,
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int n, const int* body, const mjtNum* weight,
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const mjtNum point[3], mjtNum* jac, int flg_rot);
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// compute 3/6-by-nv Jacobian time derivative of global point attached to given body
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MJAPI void mj_jacDot(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
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// compute subtree angular momentum matrix
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MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
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//-------------------------- inertia functions -----------------------------------------------------
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// convert sparse inertia matrix M into full matrix
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@@ -146,26 +75,12 @@ MJAPI void mj_applyFT(const mjModel* m, mjData* d,
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void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc);
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//-------------------------- coordinate transformation ---------------------------------------------
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// compute object 6D velocity in object-centered frame, world/local orientation
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MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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// compute object 6D acceleration in object-centered frame, world/local orientation
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MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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//-------------------------- miscellaneous ---------------------------------------------------------
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// returns the smallest distance between two geoms
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MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
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mjtNum distmax, mjtNum fromto[6]);
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// extract 6D force:torque for one contact, in contact frame
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MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
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// compute velocity by finite-differencing two positions
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MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
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const mjtNum* qpos1, const mjtNum* qpos2);
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@@ -176,11 +91,6 @@ MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, m
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// normalize all quaternions in qpos-type vector
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MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
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// map from body local to global Cartesian coordinates
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MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
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const mjtNum pos[3], const mjtNum quat[4],
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int body, mjtByte sameframe);
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// return 1 if actuator i is disabled, 0 otherwise
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MJAPI int mj_actuatorDisabled(const mjModel* m, int i);
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@@ -190,9 +100,6 @@ MJAPI mjtNum mj_getTotalmass(const mjModel* m);
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// scale body masses and inertias to achieve specified total mass
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MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
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// high-level warning function: count warnings in mjData, print only the first time
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MJAPI void mj_warning(mjData* d, int warning, int info);
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// version number
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MJAPI int mj_version(void);
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