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Add annotations for length of a given array in mj* structs

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This PR added necessary annotations, following what we did for mjData
and mjModel for length of the given array.

This is useful because my parser used to generate Swift interface:
https://github.com/liuliu/swift-mujoco/blob/main/Sources/codegen/main.swift#L297
such that the access to underlying array is bound-checked.

Please let me know if this makes sense. After this change, I can
successfully generate all mj* struct interfaces in Swift without problem
(with notable exception of mjui): https://github.com/liuliu/swift-mujoco/tree/main/Sources
This commit is contained in:
Liu Liu
2022-05-21 19:08:21 -04:00
parent 89d95ad3c7
commit f0bb7467a3
2 changed files with 13 additions and 13 deletions
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include/mujoco/mjrender.h
+5 -5
View File
@@ -108,7 +108,7 @@ struct mjrContext_ { // custom OpenGL context
// texture objects and info // texture objects and info
int ntexture; // number of allocated textures int ntexture; // number of allocated textures
int textureType[100]; // type of texture (mjtTexture) int textureType[100]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[100]; // texture names unsigned int texture[100]; // texture names
// displaylist starting positions // displaylist starting positions
@@ -129,10 +129,10 @@ struct mjrContext_ { // custom OpenGL context
// skin VBOs // skin VBOs
int nskin; // number of skins int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info // character info
int charWidth[127]; // character widths: normal and shadow int charWidth[127]; // character widths: normal and shadow
include/mujoco/mjvisualize.h
+8 -8
View File
@@ -268,20 +268,20 @@ struct mjvScene_ { // abstract scene passed to OpenGL renderer
// abstract geoms // abstract geoms
int maxgeom; // size of allocated geom buffer int maxgeom; // size of allocated geom buffer
int ngeom; // number of geoms currently in buffer int ngeom; // number of geoms currently in buffer
mjvGeom* geoms; // buffer for geoms mjvGeom* geoms; // buffer for geoms (ngeom)
int* geomorder; // buffer for ordering geoms by distance to camera int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
// skin data // skin data
int nskin; // number of skins int nskin; // number of skins
int* skinfacenum; // number of faces in skin int* skinfacenum; // number of faces in skin (nskin)
int* skinvertadr; // address of skin vertices int* skinvertadr; // address of skin vertices (nskin)
int* skinvertnum; // number of vertices in skin int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data float* skinvert; // skin vertex data (nskin)
float* skinnormal; // skin normal data float* skinnormal; // skin normal data (nskin)
// OpenGL lights // OpenGL lights
int nlight; // number of lights currently in buffer int nlight; // number of lights currently in buffer
mjvLight lights[mjMAXLIGHT]; // buffer for lights mjvLight lights[mjMAXLIGHT]; // buffer for lights (nlight)
// OpenGL cameras // OpenGL cameras
mjvGLCamera camera[2]; // left and right camera mjvGLCamera camera[2]; // left and right camera