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
@@ -6276,270 +6276,6 @@ public unsafe struct mjvFigure_ {
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public fixed int yaxispixel[2];
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public fixed float xaxisdata[2];
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public fixed float yaxisdata[2];
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}
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[StructLayout(LayoutKind.Sequential)]
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public unsafe struct model {
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public int nv;
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public int nu;
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public int na;
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public int nbody;
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public int nbvh;
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public int nbvhstatic;
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public int njnt;
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public int ngeom;
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public int nsite;
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public int ncam;
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public int nlight;
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public int nmesh;
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public int nskin;
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public int nflex;
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public int nflexvert;
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public int nflextexcoord;
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public int nskinvert;
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public int nskinface;
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public int nskinbone;
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public int nskinbonevert;
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public int nmat;
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public int neq;
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public int ntendon;
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public int ntree;
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public int nwrap;
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public int nsensor;
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public int nnames;
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public int npaths;
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public int nsensordata;
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public int narena;
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public mjOption_ opt;
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public mjVisual_ vis;
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public mjStatistic_ stat;
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public int* body_parentid;
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public int* body_rootid;
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public int* body_weldid;
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public int* body_mocapid;
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public int* body_jntnum;
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public int* body_jntadr;
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public int* body_dofnum;
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public int* body_dofadr;
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public int* body_geomnum;
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public int* body_geomadr;
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public double* body_iquat;
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public double* body_mass;
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public double* body_inertia;
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public int* body_bvhadr;
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public int* body_bvhnum;
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public int* bvh_depth;
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public int* bvh_child;
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public int* bvh_nodeid;
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public double* bvh_aabb;
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public int* jnt_type;
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public int* jnt_bodyid;
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public int* jnt_group;
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public int* geom_type;
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public int* geom_bodyid;
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public int* geom_contype;
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public int* geom_conaffinity;
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public int* geom_dataid;
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public int* geom_matid;
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public int* geom_group;
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public double* geom_size;
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public double* geom_aabb;
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public double* geom_rbound;
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public float* geom_rgba;
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public int* site_type;
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public int* site_bodyid;
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public int* site_matid;
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public int* site_group;
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public double* site_size;
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public float* site_rgba;
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public int* cam_orthographic;
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public double* cam_fovy;
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public double* cam_ipd;
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public int* cam_resolution;
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public float* cam_sensorsize;
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public float* cam_intrinsic;
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public byte* light_directional;
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public byte* light_castshadow;
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public float* light_bulbradius;
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public float* light_intensity;
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public float* light_range;
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public byte* light_active;
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public float* light_attenuation;
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public float* light_cutoff;
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public float* light_exponent;
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public float* light_ambient;
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public float* light_diffuse;
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public float* light_specular;
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public byte* flex_flatskin;
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public int* flex_dim;
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public int* flex_matid;
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public int* flex_group;
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public int* flex_interp;
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public int* flex_nodeadr;
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public int* flex_nodenum;
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public int* flex_nodebodyid;
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public int* flex_vertadr;
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public int* flex_vertnum;
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public int* flex_elem;
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public int* flex_elemtexcoord;
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public int* flex_elemlayer;
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public int* flex_elemadr;
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public int* flex_elemnum;
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public int* flex_elemdataadr;
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public int* flex_shell;
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public int* flex_shellnum;
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public int* flex_shelldataadr;
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public int* flex_texcoordadr;
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public int* flex_bvhadr;
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public int* flex_bvhnum;
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public byte* flex_centered;
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public double* flex_node;
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public double* flex_radius;
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public float* flex_rgba;
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public float* flex_texcoord;
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public int* hfield_pathadr;
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public int* mesh_bvhadr;
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public int* mesh_bvhnum;
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public int* mesh_texcoordadr;
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public int* mesh_graphadr;
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public int* mesh_pathadr;
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public int* skin_matid;
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public int* skin_group;
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public float* skin_rgba;
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public float* skin_inflate;
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public int* skin_vertadr;
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public int* skin_vertnum;
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public int* skin_texcoordadr;
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public int* skin_faceadr;
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public int* skin_facenum;
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public int* skin_boneadr;
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public int* skin_bonenum;
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public float* skin_vert;
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public int* skin_face;
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public int* skin_bonevertadr;
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public int* skin_bonevertnum;
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public float* skin_bonebindpos;
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public float* skin_bonebindquat;
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public int* skin_bonebodyid;
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public int* skin_bonevertid;
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public float* skin_bonevertweight;
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public int* skin_pathadr;
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public int* tex_pathadr;
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public int* mat_texid;
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public byte* mat_texuniform;
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public float* mat_texrepeat;
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public float* mat_emission;
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public float* mat_specular;
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public float* mat_shininess;
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public float* mat_reflectance;
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public float* mat_metallic;
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public float* mat_roughness;
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public float* mat_rgba;
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public int* eq_type;
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public int* eq_obj1id;
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public int* eq_obj2id;
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public int* eq_objtype;
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public double* eq_data;
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public int* tendon_num;
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public int* tendon_matid;
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public int* tendon_group;
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public byte* tendon_limited;
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public byte* tendon_actfrclimited;
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public double* tendon_width;
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public double* tendon_range;
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public double* tendon_actfrcrange;
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public double* tendon_stiffness;
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public double* tendon_damping;
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public double* tendon_frictionloss;
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public double* tendon_lengthspring;
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public float* tendon_rgba;
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public int* actuator_trntype;
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public int* actuator_dyntype;
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public int* actuator_trnid;
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public int* actuator_actadr;
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public int* actuator_actnum;
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public int* actuator_group;
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public byte* actuator_ctrllimited;
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public byte* actuator_actlimited;
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public double* actuator_ctrlrange;
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public double* actuator_actrange;
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public double* actuator_cranklength;
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public int* sensor_type;
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public int* sensor_objid;
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public int* sensor_adr;
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public int* name_bodyadr;
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public int* name_jntadr;
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public int* name_geomadr;
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public int* name_siteadr;
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public int* name_camadr;
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public int* name_lightadr;
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public int* name_eqadr;
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public int* name_tendonadr;
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public int* name_actuatoradr;
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public char* names;
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public char* paths;
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}
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[StructLayout(LayoutKind.Sequential)]
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public unsafe struct data {
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public mjWarningStat_ warning0;
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public mjWarningStat_ warning1;
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public mjWarningStat_ warning2;
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public mjWarningStat_ warning3;
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public mjWarningStat_ warning4;
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public mjWarningStat_ warning5;
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public mjWarningStat_ warning6;
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public mjWarningStat_ warning7;
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public int nefc;
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public int ncon;
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public int nisland;
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public double time;
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public double* act;
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public double* ctrl;
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public double* xfrc_applied;
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public byte* eq_active;
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public double* sensordata;
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public double* xpos;
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public double* xquat;
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public double* xmat;
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public double* xipos;
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public double* ximat;
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public double* xanchor;
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public double* xaxis;
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public double* geom_xpos;
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public double* geom_xmat;
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public double* site_xpos;
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public double* site_xmat;
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public double* cam_xpos;
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public double* cam_xmat;
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public double* light_xpos;
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public double* light_xdir;
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public double* subtree_com;
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public int* ten_wrapadr;
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public int* ten_wrapnum;
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public int* wrap_obj;
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public double* ten_length;
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public double* wrap_xpos;
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public double* bvh_aabb_dyn;
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public byte* bvh_active;
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public int* island_dofadr;
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public int* dof_island;
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public int* efc_island;
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public int* tendon_efcadr;
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public double* flexvert_xpos;
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public mjContact_* contact;
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public double* efc_force;
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public void* arena;
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}
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[StructLayout(LayoutKind.Sequential)]
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public unsafe struct mjvSceneState_ {
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public int nbuffer;
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public void* buffer;
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public int maxgeom;
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public mjvScene_ scratch;
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public model model;
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public data data;
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}public struct mjuiItem_ {}public struct mjfItemEnable {}
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// ----------------------------Function declarations----------------------------
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@@ -6979,15 +6715,9 @@ public static unsafe extern void mjv_alignToCamera(double* res, double* vec, dou
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_moveCameraFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_movePerturb(mjModel_* m, mjData_* d, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_movePerturbFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_moveModel(mjModel_* m, int action, double reldx, double reldy, double* roomup, mjvScene_* scn);
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@@ -7030,24 +6760,9 @@ public static unsafe extern void mjv_freeScene(mjvScene_* scn);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_updateScene(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mjv_updateSceneFromState(mjvSceneState_* scnstate, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_copyModel(mjModel_* dest, mjModel_* src);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_defaultSceneState(mjvSceneState_* scnstate);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_makeSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate, int maxgeom);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_freeSceneState(mjvSceneState_* scnstate);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvOption_* opt, mjvSceneState_* scnstate);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);
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