Replace mjv_sceneState and related code with mjv_copy{Model,Data}
PiperOrigin-RevId: 760662776 Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8268c6d1ff
commit
ced630181d
@@ -406,292 +406,4 @@ struct mjvFigure_ { // abstract 2D figure passed to OpenGL rendere
|
||||
};
|
||||
typedef struct mjvFigure_ mjvFigure;
|
||||
|
||||
|
||||
//---------------------------------- mjvSceneState -------------------------------------------------
|
||||
|
||||
struct mjvSceneState_ {
|
||||
int nbuffer; // size of the buffer in bytes
|
||||
void* buffer; // heap-allocated memory for all arrays in this struct
|
||||
int maxgeom; // maximum number of mjvGeom supported by this state object
|
||||
mjvScene scratch; // scratch space for vis geoms inserted by the user and plugins
|
||||
|
||||
// fields in mjModel that are necessary to re-render a scene
|
||||
struct {
|
||||
int nv;
|
||||
int nu;
|
||||
int na;
|
||||
int nbody;
|
||||
int nbvh;
|
||||
int nbvhstatic;
|
||||
int njnt;
|
||||
int ngeom;
|
||||
int nsite;
|
||||
int ncam;
|
||||
int nlight;
|
||||
int nmesh;
|
||||
int nskin;
|
||||
int nflex;
|
||||
int nflexvert;
|
||||
int nflextexcoord;
|
||||
int nskinvert;
|
||||
int nskinface;
|
||||
int nskinbone;
|
||||
int nskinbonevert;
|
||||
int nmat;
|
||||
int neq;
|
||||
int ntendon;
|
||||
int ntree;
|
||||
int nwrap;
|
||||
int nsensor;
|
||||
int nnames;
|
||||
int npaths;
|
||||
int nsensordata;
|
||||
int narena;
|
||||
|
||||
mjOption opt;
|
||||
mjVisual vis;
|
||||
mjStatistic stat;
|
||||
|
||||
int* body_parentid;
|
||||
int* body_rootid;
|
||||
int* body_weldid;
|
||||
int* body_mocapid;
|
||||
int* body_jntnum;
|
||||
int* body_jntadr;
|
||||
int* body_dofnum;
|
||||
int* body_dofadr;
|
||||
int* body_geomnum;
|
||||
int* body_geomadr;
|
||||
mjtNum* body_iquat;
|
||||
mjtNum* body_mass;
|
||||
mjtNum* body_inertia;
|
||||
int* body_bvhadr;
|
||||
int* body_bvhnum;
|
||||
|
||||
int* bvh_depth;
|
||||
int* bvh_child;
|
||||
int* bvh_nodeid;
|
||||
mjtNum* bvh_aabb;
|
||||
|
||||
int* jnt_type;
|
||||
int* jnt_bodyid;
|
||||
int* jnt_group;
|
||||
|
||||
int* geom_type;
|
||||
int* geom_bodyid;
|
||||
int* geom_contype;
|
||||
int* geom_conaffinity;
|
||||
int* geom_dataid;
|
||||
int* geom_matid;
|
||||
int* geom_group;
|
||||
mjtNum* geom_size;
|
||||
mjtNum* geom_aabb;
|
||||
mjtNum* geom_rbound;
|
||||
float* geom_rgba;
|
||||
|
||||
int* site_type;
|
||||
int* site_bodyid;
|
||||
int* site_matid;
|
||||
int* site_group;
|
||||
mjtNum* site_size;
|
||||
float* site_rgba;
|
||||
|
||||
int* cam_orthographic;
|
||||
mjtNum* cam_fovy;
|
||||
mjtNum* cam_ipd;
|
||||
int* cam_resolution;
|
||||
float* cam_sensorsize;
|
||||
float* cam_intrinsic;
|
||||
|
||||
mjtByte* light_directional;
|
||||
mjtByte* light_castshadow;
|
||||
float* light_bulbradius;
|
||||
float* light_intensity;
|
||||
float* light_range;
|
||||
mjtByte* light_active;
|
||||
float* light_attenuation;
|
||||
float* light_cutoff;
|
||||
float* light_exponent;
|
||||
float* light_ambient;
|
||||
float* light_diffuse;
|
||||
float* light_specular;
|
||||
|
||||
mjtByte* flex_flatskin;
|
||||
int* flex_dim;
|
||||
int* flex_matid;
|
||||
int* flex_group;
|
||||
int* flex_interp;
|
||||
int* flex_nodeadr;
|
||||
int* flex_nodenum;
|
||||
int* flex_nodebodyid;
|
||||
int* flex_vertadr;
|
||||
int* flex_vertnum;
|
||||
int* flex_elem;
|
||||
int* flex_elemtexcoord;
|
||||
int* flex_elemlayer;
|
||||
int* flex_elemadr;
|
||||
int* flex_elemnum;
|
||||
int* flex_elemdataadr;
|
||||
int* flex_shell;
|
||||
int* flex_shellnum;
|
||||
int* flex_shelldataadr;
|
||||
int* flex_texcoordadr;
|
||||
int* flex_bvhadr;
|
||||
int* flex_bvhnum;
|
||||
mjtByte* flex_centered;
|
||||
mjtNum* flex_node;
|
||||
mjtNum* flex_radius;
|
||||
float* flex_rgba;
|
||||
float* flex_texcoord;
|
||||
|
||||
int* hfield_pathadr;
|
||||
|
||||
int* mesh_bvhadr;
|
||||
int* mesh_bvhnum;
|
||||
int* mesh_texcoordadr;
|
||||
int* mesh_graphadr;
|
||||
int* mesh_pathadr;
|
||||
|
||||
int* skin_matid;
|
||||
int* skin_group;
|
||||
float* skin_rgba;
|
||||
float* skin_inflate;
|
||||
int* skin_vertadr;
|
||||
int* skin_vertnum;
|
||||
int* skin_texcoordadr;
|
||||
int* skin_faceadr;
|
||||
int* skin_facenum;
|
||||
int* skin_boneadr;
|
||||
int* skin_bonenum;
|
||||
float* skin_vert;
|
||||
int* skin_face;
|
||||
int* skin_bonevertadr;
|
||||
int* skin_bonevertnum;
|
||||
float* skin_bonebindpos;
|
||||
float* skin_bonebindquat;
|
||||
int* skin_bonebodyid;
|
||||
int* skin_bonevertid;
|
||||
float* skin_bonevertweight;
|
||||
int* skin_pathadr;
|
||||
|
||||
int* tex_pathadr;
|
||||
|
||||
int* mat_texid;
|
||||
mjtByte* mat_texuniform;
|
||||
float* mat_texrepeat;
|
||||
float* mat_emission;
|
||||
float* mat_specular;
|
||||
float* mat_shininess;
|
||||
float* mat_reflectance;
|
||||
float* mat_metallic;
|
||||
float* mat_roughness;
|
||||
float* mat_rgba;
|
||||
|
||||
int* eq_type;
|
||||
int* eq_obj1id;
|
||||
int* eq_obj2id;
|
||||
int* eq_objtype;
|
||||
mjtNum* eq_data;
|
||||
|
||||
int* tendon_num;
|
||||
int* tendon_matid;
|
||||
int* tendon_group;
|
||||
mjtByte* tendon_limited;
|
||||
mjtByte* tendon_actfrclimited;
|
||||
mjtNum* tendon_width;
|
||||
mjtNum* tendon_range;
|
||||
mjtNum* tendon_actfrcrange;
|
||||
mjtNum* tendon_stiffness;
|
||||
mjtNum* tendon_damping;
|
||||
mjtNum* tendon_frictionloss;
|
||||
mjtNum* tendon_lengthspring;
|
||||
float* tendon_rgba;
|
||||
|
||||
int* actuator_trntype;
|
||||
int* actuator_dyntype;
|
||||
int* actuator_trnid;
|
||||
int* actuator_actadr;
|
||||
int* actuator_actnum;
|
||||
int* actuator_group;
|
||||
mjtByte* actuator_ctrllimited;
|
||||
mjtByte* actuator_actlimited;
|
||||
mjtNum* actuator_ctrlrange;
|
||||
mjtNum* actuator_actrange;
|
||||
mjtNum* actuator_cranklength;
|
||||
|
||||
int* sensor_type;
|
||||
int* sensor_objid;
|
||||
int* sensor_adr;
|
||||
|
||||
int* name_bodyadr;
|
||||
int* name_jntadr;
|
||||
int* name_geomadr;
|
||||
int* name_siteadr;
|
||||
int* name_camadr;
|
||||
int* name_lightadr;
|
||||
int* name_eqadr;
|
||||
int* name_tendonadr;
|
||||
int* name_actuatoradr;
|
||||
char* names;
|
||||
char* paths;
|
||||
} model;
|
||||
|
||||
// fields in mjData that are necessary to re-render a scene
|
||||
struct {
|
||||
mjWarningStat warning[mjNWARNING];
|
||||
|
||||
int nefc;
|
||||
int ncon;
|
||||
int nisland;
|
||||
|
||||
mjtNum time;
|
||||
|
||||
mjtNum* act;
|
||||
|
||||
mjtNum* ctrl;
|
||||
mjtNum* xfrc_applied;
|
||||
mjtByte* eq_active;
|
||||
|
||||
mjtNum* sensordata;
|
||||
|
||||
mjtNum* xpos;
|
||||
mjtNum* xquat;
|
||||
mjtNum* xmat;
|
||||
mjtNum* xipos;
|
||||
mjtNum* ximat;
|
||||
mjtNum* xanchor;
|
||||
mjtNum* xaxis;
|
||||
mjtNum* geom_xpos;
|
||||
mjtNum* geom_xmat;
|
||||
mjtNum* site_xpos;
|
||||
mjtNum* site_xmat;
|
||||
mjtNum* cam_xpos;
|
||||
mjtNum* cam_xmat;
|
||||
mjtNum* light_xpos;
|
||||
mjtNum* light_xdir;
|
||||
|
||||
mjtNum* subtree_com;
|
||||
|
||||
int* ten_wrapadr;
|
||||
int* ten_wrapnum;
|
||||
int* wrap_obj;
|
||||
mjtNum* ten_length;
|
||||
mjtNum* wrap_xpos;
|
||||
|
||||
mjtNum* bvh_aabb_dyn;
|
||||
mjtByte* bvh_active;
|
||||
int* island_dofadr;
|
||||
int* dof_island;
|
||||
int* efc_island;
|
||||
int* tendon_efcadr;
|
||||
|
||||
mjtNum* flexvert_xpos;
|
||||
|
||||
mjContact* contact;
|
||||
mjtNum* efc_force;
|
||||
void* arena;
|
||||
} data;
|
||||
};
|
||||
typedef struct mjvSceneState_ mjvSceneState;
|
||||
|
||||
#endif // MUJOCO_MJVISUALIZE_H_
|
||||
|
||||
+284
-290
@@ -66,92 +66,92 @@
|
||||
//-------------------------------- mjModel ---------------------------------------------------------
|
||||
|
||||
// int fields of mjModel
|
||||
#define MJMODEL_INTS \
|
||||
X ( nq ) \
|
||||
XMJV( nv ) \
|
||||
XMJV( nu ) \
|
||||
XMJV( na ) \
|
||||
XMJV( nbody ) \
|
||||
XMJV( nbvh ) \
|
||||
XMJV( nbvhstatic ) \
|
||||
X ( nbvhdynamic ) \
|
||||
XMJV( njnt ) \
|
||||
XMJV( ngeom ) \
|
||||
XMJV( nsite ) \
|
||||
XMJV( ncam ) \
|
||||
XMJV( nlight ) \
|
||||
XMJV( nflex ) \
|
||||
X ( nflexnode ) \
|
||||
XMJV( nflexvert ) \
|
||||
X ( nflexedge ) \
|
||||
X ( nflexelem ) \
|
||||
X ( nflexelemdata ) \
|
||||
X ( nflexelemedge ) \
|
||||
X ( nflexshelldata ) \
|
||||
X ( nflexevpair ) \
|
||||
XMJV( nflextexcoord ) \
|
||||
XMJV( nmesh ) \
|
||||
X ( nmeshvert ) \
|
||||
X ( nmeshnormal ) \
|
||||
X ( nmeshtexcoord ) \
|
||||
X ( nmeshface ) \
|
||||
X ( nmeshgraph ) \
|
||||
X ( nmeshpoly ) \
|
||||
X ( nmeshpolyvert ) \
|
||||
X ( nmeshpolymap ) \
|
||||
XMJV( nskin ) \
|
||||
XMJV( nskinvert ) \
|
||||
X ( nskintexvert ) \
|
||||
XMJV( nskinface ) \
|
||||
XMJV( nskinbone ) \
|
||||
XMJV( nskinbonevert ) \
|
||||
X ( nhfield ) \
|
||||
X ( nhfielddata ) \
|
||||
X ( ntex ) \
|
||||
X ( ntexdata ) \
|
||||
XMJV( nmat ) \
|
||||
X ( npair ) \
|
||||
X ( nexclude ) \
|
||||
XMJV( neq ) \
|
||||
XMJV( ntendon ) \
|
||||
XMJV( nwrap ) \
|
||||
XMJV( nsensor ) \
|
||||
X ( nnumeric ) \
|
||||
X ( nnumericdata ) \
|
||||
X ( ntext ) \
|
||||
X ( ntextdata ) \
|
||||
X ( ntuple ) \
|
||||
X ( ntupledata ) \
|
||||
X ( nkey ) \
|
||||
X ( nmocap ) \
|
||||
X ( nplugin ) \
|
||||
X ( npluginattr ) \
|
||||
X ( nuser_body ) \
|
||||
X ( nuser_jnt ) \
|
||||
X ( nuser_geom ) \
|
||||
X ( nuser_site ) \
|
||||
X ( nuser_cam ) \
|
||||
X ( nuser_tendon ) \
|
||||
X ( nuser_actuator ) \
|
||||
X ( nuser_sensor ) \
|
||||
XMJV( nnames ) \
|
||||
XMJV( npaths ) \
|
||||
X ( nnames_map ) \
|
||||
X ( nM ) \
|
||||
X ( nB ) \
|
||||
X ( nC ) \
|
||||
X ( nD ) \
|
||||
X ( nJmom ) \
|
||||
XMJV( ntree ) \
|
||||
X ( ngravcomp ) \
|
||||
X ( nemax ) \
|
||||
X ( njmax ) \
|
||||
X ( nconmax ) \
|
||||
X ( nuserdata ) \
|
||||
XMJV( nsensordata ) \
|
||||
X ( npluginstate ) \
|
||||
X ( narena ) \
|
||||
X ( nbuffer )
|
||||
#define MJMODEL_INTS \
|
||||
X( nq ) \
|
||||
X( nv ) \
|
||||
X( nu ) \
|
||||
X( na ) \
|
||||
X( nbody ) \
|
||||
X( nbvh ) \
|
||||
X( nbvhstatic ) \
|
||||
X( nbvhdynamic ) \
|
||||
X( njnt ) \
|
||||
X( ngeom ) \
|
||||
X( nsite ) \
|
||||
X( ncam ) \
|
||||
X( nlight ) \
|
||||
X( nflex ) \
|
||||
X( nflexnode ) \
|
||||
X( nflexvert ) \
|
||||
X( nflexedge ) \
|
||||
X( nflexelem ) \
|
||||
X( nflexelemdata ) \
|
||||
X( nflexelemedge ) \
|
||||
X( nflexshelldata ) \
|
||||
X( nflexevpair ) \
|
||||
X( nflextexcoord ) \
|
||||
X( nmesh ) \
|
||||
X( nmeshvert ) \
|
||||
X( nmeshnormal ) \
|
||||
X( nmeshtexcoord ) \
|
||||
X( nmeshface ) \
|
||||
X( nmeshgraph ) \
|
||||
X( nmeshpoly ) \
|
||||
X( nmeshpolyvert ) \
|
||||
X( nmeshpolymap ) \
|
||||
X( nskin ) \
|
||||
X( nskinvert ) \
|
||||
X( nskintexvert ) \
|
||||
X( nskinface ) \
|
||||
X( nskinbone ) \
|
||||
X( nskinbonevert ) \
|
||||
X( nhfield ) \
|
||||
X( nhfielddata ) \
|
||||
X( ntex ) \
|
||||
X( ntexdata ) \
|
||||
X( nmat ) \
|
||||
X( npair ) \
|
||||
X( nexclude ) \
|
||||
X( neq ) \
|
||||
X( ntendon ) \
|
||||
X( nwrap ) \
|
||||
X( nsensor ) \
|
||||
X( nnumeric ) \
|
||||
X( nnumericdata ) \
|
||||
X( ntext ) \
|
||||
X( ntextdata ) \
|
||||
X( ntuple ) \
|
||||
X( ntupledata ) \
|
||||
X( nkey ) \
|
||||
X( nmocap ) \
|
||||
X( nplugin ) \
|
||||
X( npluginattr ) \
|
||||
X( nuser_body ) \
|
||||
X( nuser_jnt ) \
|
||||
X( nuser_geom ) \
|
||||
X( nuser_site ) \
|
||||
X( nuser_cam ) \
|
||||
X( nuser_tendon ) \
|
||||
X( nuser_actuator ) \
|
||||
X( nuser_sensor ) \
|
||||
X( nnames ) \
|
||||
X( npaths ) \
|
||||
X( nnames_map ) \
|
||||
X( nM ) \
|
||||
X( nB ) \
|
||||
X( nC ) \
|
||||
X( nD ) \
|
||||
X( nJmom ) \
|
||||
X( ntree ) \
|
||||
X( ngravcomp ) \
|
||||
X( nemax ) \
|
||||
X( njmax ) \
|
||||
X( nconmax ) \
|
||||
X( nuserdata ) \
|
||||
X( nsensordata ) \
|
||||
X( npluginstate ) \
|
||||
X( narena ) \
|
||||
X( nbuffer )
|
||||
|
||||
/* nbuffer needs to be the final field */
|
||||
|
||||
@@ -178,31 +178,31 @@
|
||||
|
||||
|
||||
// pointer fields of mjModel
|
||||
// XMJV means that the field is required to construct mjvScene
|
||||
// (by default we define XMJV to be the same as X)
|
||||
// XNV means that the field is not required to construct mjvScene
|
||||
// (by default we define XNV to be the same as X)
|
||||
#define MJMODEL_POINTERS \
|
||||
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 ) \
|
||||
XMJV( int, body_dofnum, nbody, 1 ) \
|
||||
XMJV( int, body_dofadr, nbody, 1 ) \
|
||||
X ( int, body_parentid, nbody, 1 ) \
|
||||
X ( int, body_rootid, nbody, 1 ) \
|
||||
X ( int, body_weldid, nbody, 1 ) \
|
||||
X ( int, body_mocapid, nbody, 1 ) \
|
||||
X ( int, body_jntnum, nbody, 1 ) \
|
||||
X ( int, body_jntadr, nbody, 1 ) \
|
||||
X ( int, body_dofnum, nbody, 1 ) \
|
||||
X ( int, body_dofadr, nbody, 1 ) \
|
||||
X ( int, body_treeid, nbody, 1 ) \
|
||||
XMJV( int, body_geomnum, nbody, 1 ) \
|
||||
XMJV( int, body_geomadr, nbody, 1 ) \
|
||||
X ( int, body_geomnum, nbody, 1 ) \
|
||||
X ( 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_iquat, nbody, 4 ) \
|
||||
X ( mjtNum, body_mass, nbody, 1 ) \
|
||||
X ( mjtNum, body_subtreemass, nbody, 1 ) \
|
||||
XMJV( mjtNum, body_inertia, nbody, 3 ) \
|
||||
X ( mjtNum, body_inertia, nbody, 3 ) \
|
||||
X ( mjtNum, body_invweight0, nbody, 2 ) \
|
||||
X ( mjtNum, body_gravcomp, nbody, 1 ) \
|
||||
X ( mjtNum, body_margin, nbody, 1 ) \
|
||||
@@ -210,17 +210,17 @@
|
||||
X ( int, body_plugin, nbody, 1 ) \
|
||||
X ( int, body_contype, nbody, 1 ) \
|
||||
X ( int, body_conaffinity, 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_nodeid, nbvh, 1 ) \
|
||||
XMJV( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
|
||||
XMJV( int, jnt_type, njnt, 1 ) \
|
||||
X ( int, body_bvhadr, nbody, 1 ) \
|
||||
X ( int, body_bvhnum, nbody, 1 ) \
|
||||
X ( int, bvh_depth, nbvh, 1 ) \
|
||||
X ( int, bvh_child, nbvh, 2 ) \
|
||||
X ( int, bvh_nodeid, nbvh, 1 ) \
|
||||
X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
|
||||
X ( 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 ( int, jnt_bodyid, njnt, 1 ) \
|
||||
X ( int, jnt_group, njnt, 1 ) \
|
||||
X ( mjtByte, jnt_limited, njnt, 1 ) \
|
||||
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
|
||||
X ( mjtByte, jnt_actgravcomp, njnt, 1 ) \
|
||||
@@ -246,23 +246,23 @@
|
||||
X ( mjtNum, dof_damping, nv, 1 ) \
|
||||
X ( mjtNum, dof_invweight0, nv, 1 ) \
|
||||
X ( mjtNum, dof_M0, nv, 1 ) \
|
||||
XMJV( int, geom_type, ngeom, 1 ) \
|
||||
XMJV( int, geom_contype, ngeom, 1 ) \
|
||||
XMJV( int, geom_conaffinity, ngeom, 1 ) \
|
||||
X ( 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_bodyid, ngeom, 1 ) \
|
||||
X ( int, geom_dataid, ngeom, 1 ) \
|
||||
X ( int, geom_matid, ngeom, 1 ) \
|
||||
X ( int, geom_group, ngeom, 1 ) \
|
||||
X ( int, geom_priority, ngeom, 1 ) \
|
||||
X ( int, geom_plugin, 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_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 ) \
|
||||
@@ -270,17 +270,17 @@
|
||||
X ( mjtNum, geom_gap, ngeom, 1 ) \
|
||||
XNV ( 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 ( 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 ) \
|
||||
XMJV( mjtNum, site_size, nsite, 3 ) \
|
||||
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) ) \
|
||||
XMJV( float, site_rgba, nsite, 4 ) \
|
||||
X ( float, site_rgba, nsite, 4 ) \
|
||||
X ( int, cam_mode, ncam, 1 ) \
|
||||
X ( int, cam_bodyid, ncam, 1 ) \
|
||||
X ( int, cam_targetbodyid, ncam, 1 ) \
|
||||
@@ -289,33 +289,33 @@
|
||||
X ( mjtNum, cam_poscom0, ncam, 3 ) \
|
||||
X ( mjtNum, cam_pos0, ncam, 3 ) \
|
||||
X ( mjtNum, cam_mat0, ncam, 9 ) \
|
||||
XMJV( int, cam_orthographic, ncam, 1 ) \
|
||||
XMJV( mjtNum, cam_fovy, ncam, 1 ) \
|
||||
XMJV( mjtNum, cam_ipd, ncam, 1 ) \
|
||||
XMJV( int, cam_resolution, ncam, 2 ) \
|
||||
XMJV( float, cam_sensorsize, ncam, 2 ) \
|
||||
XMJV( float, cam_intrinsic, ncam, 4 ) \
|
||||
X ( int, cam_orthographic, ncam, 1 ) \
|
||||
X ( mjtNum, cam_fovy, ncam, 1 ) \
|
||||
X ( mjtNum, cam_ipd, ncam, 1 ) \
|
||||
X ( int, cam_resolution, ncam, 2 ) \
|
||||
X ( float, cam_sensorsize, ncam, 2 ) \
|
||||
X ( float, cam_intrinsic, ncam, 4 ) \
|
||||
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( float, light_bulbradius, nlight, 1 ) \
|
||||
XMJV( float, light_intensity, nlight, 1 ) \
|
||||
XMJV( float, light_range, nlight, 1 ) \
|
||||
XMJV( mjtByte, light_active, nlight, 1 ) \
|
||||
X ( mjtByte, light_directional, nlight, 1 ) \
|
||||
X ( mjtByte, light_castshadow, nlight, 1 ) \
|
||||
X ( float, light_bulbradius, nlight, 1 ) \
|
||||
X ( float, light_intensity, nlight, 1 ) \
|
||||
X ( float, light_range, 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 ) \
|
||||
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 ( 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, flex_contype, nflex, 1 ) \
|
||||
X ( int, flex_conaffinity, nflex, 1 ) \
|
||||
X ( int, flex_condim, nflex, 1 ) \
|
||||
@@ -329,42 +329,42 @@
|
||||
X ( mjtByte, flex_internal, nflex, 1 ) \
|
||||
X ( int, flex_selfcollide, nflex, 1 ) \
|
||||
X ( int, flex_activelayers, nflex, 1 ) \
|
||||
XMJV( int, flex_dim, nflex, 1 ) \
|
||||
XMJV( int, flex_matid, nflex, 1 ) \
|
||||
XMJV( int, flex_group, nflex, 1 ) \
|
||||
XMJV( int, flex_interp, nflex, 1 ) \
|
||||
XMJV( int, flex_nodeadr, nflex, 1 ) \
|
||||
XMJV( int, flex_nodenum, nflex, 1 ) \
|
||||
XMJV( int, flex_vertadr, nflex, 1 ) \
|
||||
XMJV( int, flex_vertnum, nflex, 1 ) \
|
||||
X ( int, flex_dim, nflex, 1 ) \
|
||||
X ( int, flex_matid, nflex, 1 ) \
|
||||
X ( int, flex_group, nflex, 1 ) \
|
||||
X ( int, flex_interp, nflex, 1 ) \
|
||||
X ( int, flex_nodeadr, nflex, 1 ) \
|
||||
X ( int, flex_nodenum, nflex, 1 ) \
|
||||
X ( int, flex_vertadr, nflex, 1 ) \
|
||||
X ( int, flex_vertnum, nflex, 1 ) \
|
||||
X ( int, flex_edgeadr, nflex, 1 ) \
|
||||
X ( int, flex_edgenum, nflex, 1 ) \
|
||||
XMJV( int, flex_elemadr, nflex, 1 ) \
|
||||
XMJV( int, flex_elemnum, nflex, 1 ) \
|
||||
XMJV( int, flex_elemdataadr, nflex, 1 ) \
|
||||
X ( int, flex_elemadr, nflex, 1 ) \
|
||||
X ( int, flex_elemnum, nflex, 1 ) \
|
||||
X ( int, flex_elemdataadr, nflex, 1 ) \
|
||||
X ( int, flex_elemedgeadr, nflex, 1 ) \
|
||||
XMJV( int, flex_shellnum, nflex, 1 ) \
|
||||
XMJV( int, flex_shelldataadr, nflex, 1 ) \
|
||||
X ( int, flex_shellnum, nflex, 1 ) \
|
||||
X ( int, flex_shelldataadr, nflex, 1 ) \
|
||||
X ( int, flex_evpairadr, nflex, 1 ) \
|
||||
X ( int, flex_evpairnum, nflex, 1 ) \
|
||||
XMJV( int, flex_texcoordadr, nflex, 1 ) \
|
||||
XMJV( int, flex_nodebodyid, nflexnode, 1 ) \
|
||||
X ( int, flex_texcoordadr, nflex, 1 ) \
|
||||
X ( int, flex_nodebodyid, nflexnode, 1 ) \
|
||||
X ( int, flex_vertbodyid, nflexvert, 1 ) \
|
||||
X ( int, flex_edge, nflexedge, 2 ) \
|
||||
X ( int, flex_edgeflap, nflexedge, 2 ) \
|
||||
XMJV( int, flex_elem, nflexelemdata, 1 ) \
|
||||
XMJV( int, flex_elemtexcoord, nflexelemdata, 1 ) \
|
||||
X ( int, flex_elem, nflexelemdata, 1 ) \
|
||||
X ( int, flex_elemtexcoord, nflexelemdata, 1 ) \
|
||||
X ( int, flex_elemedge, nflexelemedge, 1 ) \
|
||||
XMJV( int, flex_elemlayer, nflexelem, 1 ) \
|
||||
XMJV( int, flex_shell, nflexshelldata,1 ) \
|
||||
X ( int, flex_elemlayer, nflexelem, 1 ) \
|
||||
X ( int, flex_shell, nflexshelldata,1 ) \
|
||||
X ( int, flex_evpair, nflexevpair, 2 ) \
|
||||
X ( mjtNum, flex_vert, nflexvert, 3 ) \
|
||||
X ( mjtNum, flex_vert0, nflexvert, 3 ) \
|
||||
XMJV( mjtNum, flex_node, nflexnode, 3 ) \
|
||||
X ( mjtNum, flex_node, nflexnode, 3 ) \
|
||||
X ( mjtNum, flex_node0, nflexnode, 3 ) \
|
||||
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
|
||||
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
|
||||
XMJV( mjtNum, flex_radius, nflex, 1 ) \
|
||||
X ( mjtNum, flex_radius, nflex, 1 ) \
|
||||
X ( mjtNum, flex_stiffness, nflexelem, 21 ) \
|
||||
X ( mjtNum, flex_bending, nflexedge, 16 ) \
|
||||
X ( mjtNum, flex_damping, nflex, 1 ) \
|
||||
@@ -373,23 +373,23 @@
|
||||
X ( mjtByte, flex_edgeequality, nflex, 1 ) \
|
||||
X ( mjtByte, flex_rigid, nflex, 1 ) \
|
||||
X ( mjtByte, flexedge_rigid, nflexedge, 1 ) \
|
||||
XMJV( mjtByte, flex_centered, nflex, 1 ) \
|
||||
XMJV( mjtByte, flex_flatskin, nflex, 1 ) \
|
||||
XMJV( int, flex_bvhadr, nflex, 1 ) \
|
||||
XMJV( int, flex_bvhnum, nflex, 1 ) \
|
||||
XMJV( float, flex_rgba, nflex, 4 ) \
|
||||
XMJV( float, flex_texcoord, nflextexcoord, 2 ) \
|
||||
X ( mjtByte, flex_centered, nflex, 1 ) \
|
||||
X ( mjtByte, flex_flatskin, nflex, 1 ) \
|
||||
X ( int, flex_bvhadr, nflex, 1 ) \
|
||||
X ( int, flex_bvhnum, nflex, 1 ) \
|
||||
X ( float, flex_rgba, nflex, 4 ) \
|
||||
X ( float, flex_texcoord, nflextexcoord, 2 ) \
|
||||
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_texcoordadr, nmesh, 1 ) \
|
||||
X ( int, mesh_texcoordnum, nmesh, 1 ) \
|
||||
X ( int, mesh_faceadr, nmesh, 1 ) \
|
||||
X ( int, mesh_facenum, nmesh, 1 ) \
|
||||
XMJV( int, mesh_bvhadr, nmesh, 1 ) \
|
||||
XMJV( int, mesh_bvhnum, nmesh, 1 ) \
|
||||
XMJV( int, mesh_graphadr, nmesh, 1 ) \
|
||||
X ( int, mesh_bvhadr, nmesh, 1 ) \
|
||||
X ( int, mesh_bvhnum, nmesh, 1 ) \
|
||||
X ( int, mesh_graphadr, nmesh, 1 ) \
|
||||
X ( mjtNum, mesh_scale, nmesh, 3 ) \
|
||||
X ( mjtNum, mesh_pos, nmesh, 3 ) \
|
||||
X ( mjtNum, mesh_quat, nmesh, 4 ) \
|
||||
@@ -400,7 +400,7 @@
|
||||
XNV ( int, mesh_facenormal, nmeshface, 3 ) \
|
||||
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
|
||||
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
|
||||
XMJV( int, mesh_pathadr, nmesh, 1 ) \
|
||||
X ( int, mesh_pathadr, nmesh, 1 ) \
|
||||
XNV ( int, mesh_polynum, nmesh, 1 ) \
|
||||
XNV ( int, mesh_polyadr, nmesh, 1 ) \
|
||||
XNV ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
|
||||
@@ -410,51 +410,51 @@
|
||||
XNV ( int, mesh_polymapadr, nmeshvert, 1 ) \
|
||||
XNV ( int, mesh_polymapnum, nmeshvert, 1 ) \
|
||||
XNV ( int, mesh_polymap, nmeshpolymap, 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 ( 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 ) \
|
||||
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 ) \
|
||||
XMJV( int, skin_pathadr, nskin, 1 ) \
|
||||
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 ( int, skin_pathadr, nskin, 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 ) \
|
||||
XNV ( float, hfield_data, nhfielddata, 1 ) \
|
||||
XMJV( int, hfield_pathadr, nhfield, 1 ) \
|
||||
X ( int, hfield_pathadr, nhfield, 1 ) \
|
||||
X ( int, tex_type, ntex, 1 ) \
|
||||
X ( int, tex_height, ntex, 1 ) \
|
||||
X ( int, tex_width, ntex, 1 ) \
|
||||
X ( int, tex_nchannel, ntex, 1 ) \
|
||||
X ( int, tex_adr, ntex, 1 ) \
|
||||
XNV ( mjtByte, tex_data, ntexdata, 1 ) \
|
||||
XMJV( int, tex_pathadr, ntex, 1 ) \
|
||||
XMJV( int, mat_texid, nmat, mjNTEXROLE ) \
|
||||
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_metallic, nmat, 1 ) \
|
||||
XMJV( float, mat_roughness, nmat, 1 ) \
|
||||
XMJV( float, mat_rgba, nmat, 4 ) \
|
||||
X ( int, tex_pathadr, ntex, 1 ) \
|
||||
X ( int, mat_texid, nmat, mjNTEXROLE ) \
|
||||
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_metallic, nmat, 1 ) \
|
||||
X ( float, mat_roughness, 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 ) \
|
||||
@@ -466,74 +466,74 @@
|
||||
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( int, eq_objtype, neq, 1 ) \
|
||||
X ( int, eq_type, neq, 1 ) \
|
||||
X ( int, eq_obj1id, neq, 1 ) \
|
||||
X ( int, eq_obj2id, neq, 1 ) \
|
||||
X ( int, eq_objtype, neq, 1 ) \
|
||||
X ( mjtByte, eq_active0, neq, 1 ) \
|
||||
X ( mjtNum, eq_solref, neq, mjNREF ) \
|
||||
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
|
||||
XMJV( mjtNum, eq_data, neq, mjNEQDATA ) \
|
||||
X ( 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( mjtByte, tendon_actfrclimited, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_width, 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 ( mjtByte, tendon_actfrclimited, 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 ) \
|
||||
XMJV( mjtNum, tendon_range, ntendon, 2 ) \
|
||||
XMJV( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
|
||||
X ( mjtNum, tendon_range, ntendon, 2 ) \
|
||||
X ( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
|
||||
X ( mjtNum, tendon_margin, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_damping, ntendon, 1 ) \
|
||||
X ( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
||||
X ( mjtNum, tendon_damping, ntendon, 1 ) \
|
||||
X ( mjtNum, tendon_armature, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
||||
XMJV( mjtNum, tendon_lengthspring, ntendon, 2 ) \
|
||||
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) ) \
|
||||
XMJV( float, tendon_rgba, ntendon, 4 ) \
|
||||
X ( 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_trntype, nu, 1 ) \
|
||||
X ( 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 ( 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 ) \
|
||||
XMJV( mjtByte, actuator_actlimited, 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 ( mjtByte, actuator_actearly, nu, 1 ) \
|
||||
XMJV( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_forcerange, nu, 2 ) \
|
||||
XMJV( mjtNum, actuator_actrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_actrange, nu, 2 ) \
|
||||
X ( mjtNum, actuator_gear, nu, 6 ) \
|
||||
XMJV( mjtNum, actuator_cranklength, nu, 1 ) \
|
||||
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 ) \
|
||||
XMJV( int, sensor_type, nsensor, 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 ) \
|
||||
XMJV( int, sensor_objid, 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 ) \
|
||||
XMJV( int, sensor_adr, 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) ) \
|
||||
@@ -561,12 +561,12 @@
|
||||
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_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_flexadr, nflex, 1 ) \
|
||||
X ( int, name_meshadr, nmesh, 1 ) \
|
||||
X ( int, name_skinadr, nskin, 1 ) \
|
||||
@@ -575,18 +575,18 @@
|
||||
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_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 ) \
|
||||
XMJV( char, names, nnames, 1 ) \
|
||||
X ( char, names, nnames, 1 ) \
|
||||
X ( int, names_map, nnames_map, 1 ) \
|
||||
XMJV( char, paths, npaths, 1 ) \
|
||||
X ( char, paths, npaths, 1 ) \
|
||||
|
||||
//-------------------------------- mjData ----------------------------------------------------------
|
||||
|
||||
@@ -596,60 +596,60 @@
|
||||
|
||||
|
||||
// pointer fields of mjData
|
||||
// XMJV means that the field is required to construct mjvScene
|
||||
// (by default we define XMJV to be the same as X)
|
||||
// XNV means that the field is not required to construct mjvScene
|
||||
// (by default we define XNV 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, act, na, 1 ) \
|
||||
X ( mjtNum, qacc_warmstart, nv, 1 ) \
|
||||
X ( mjtNum, plugin_state, npluginstate, 1 ) \
|
||||
XMJV( mjtNum, ctrl, nu, 1 ) \
|
||||
X ( mjtNum, ctrl, nu, 1 ) \
|
||||
X ( mjtNum, qfrc_applied, nv, 1 ) \
|
||||
XMJV( mjtNum, xfrc_applied, nbody, 6 ) \
|
||||
XMJV( mjtByte, eq_active, neq, 1 ) \
|
||||
X ( mjtNum, xfrc_applied, nbody, 6 ) \
|
||||
X ( mjtByte, eq_active, neq, 1 ) \
|
||||
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 ( 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, 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 ) \
|
||||
XMJV( mjtNum, flexvert_xpos, nflexvert, 3 ) \
|
||||
X ( mjtNum, flexvert_xpos, nflexvert, 3 ) \
|
||||
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
|
||||
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
|
||||
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
|
||||
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
|
||||
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
|
||||
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
|
||||
XMJV( int, ten_wrapadr, ntendon, 1 ) \
|
||||
XMJV( int, ten_wrapnum, ntendon, 1 ) \
|
||||
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) ) \
|
||||
XMJV( mjtNum, ten_length, ntendon, 1 ) \
|
||||
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 ( int, wrap_obj, nwrap, 2 ) \
|
||||
X ( mjtNum, wrap_xpos, nwrap, 6 ) \
|
||||
X ( mjtNum, actuator_length, nu, 1 ) \
|
||||
X ( int, moment_rownnz, nu, 1 ) \
|
||||
X ( int, moment_rowadr, nu, 1 ) \
|
||||
@@ -660,8 +660,8 @@
|
||||
XNV ( mjtNum, M, nC, 1 ) \
|
||||
XNV ( mjtNum, qLD, nC, 1 ) \
|
||||
X ( mjtNum, qLDiagInv, nv, 1 ) \
|
||||
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
|
||||
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
|
||||
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
|
||||
X ( mjtByte, bvh_active, nbvh, 1 ) \
|
||||
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
|
||||
X ( mjtNum, ten_velocity, ntendon, 1 ) \
|
||||
X ( mjtNum, actuator_velocity, nu, 1 ) \
|
||||
@@ -834,12 +834,6 @@
|
||||
X( mjtNum, solver_fwdinv, 2, 1 ) \
|
||||
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
|
||||
|
||||
// alias XNV to be the same as X
|
||||
// to obtain only X macros for fields that are relevant for mjvScene creation,
|
||||
// redefine XNV to expand to nothing
|
||||
|
||||
@@ -625,20 +625,10 @@ 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);
|
||||
@@ -695,28 +685,9 @@ 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);
|
||||
|
||||
// Copy mjModel, skip large arrays not required for abstract visualization.
|
||||
MJAPI void mjv_copyModel(mjModel* dest, const mjModel* src);
|
||||
|
||||
// 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, const mjvOption* opt,
|
||||
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);
|
||||
|
||||
Reference in New Issue
Block a user