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Improve order and clarify declarations of arena variables in mjdata.h

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PiperOrigin-RevId: 554419319
Change-Id: I83b83c56be4b74060f4a108c35ce481b8f354c5e
This commit is contained in:
Yuval Tassa
2023-08-07 03:06:26 -07:00
committed by Copybara-Service
parent 4a519b9dd8
commit f0f535ed04
4 changed files with 87 additions and 79 deletions
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doc/includes/references.h
+20 -16
View File
@@ -167,13 +167,13 @@ struct mjData_ {
mjtNum time; // simulation time
mjtNum energy[2]; // potential, kinetic energy
//-------------------------------- end of info header
//-------------------- end of info header
// buffers
void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
void* arena; // arena+stack buffer (nstack*sizeof(mjtNum) bytes)
//-------------------------------- main inputs and outputs of the computation
//-------------------- main inputs and outputs of the computation
// state
mjtNum* qpos; // position (nq x 1)
@@ -205,7 +205,7 @@ struct mjData_ {
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
//-------------------------------- POSITION dependent
//-------------------- POSITION dependent
// computed by mj_fwdPosition/mj_kinematics
mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
@@ -256,7 +256,7 @@ struct mjData_ {
// computed by mj_collisionTree
mjtByte* bvh_active; // volume has been added to collisions (nbvh x 1)
//-------------------------------- POSITION, VELOCITY dependent
//-------------------- POSITION, VELOCITY dependent
// computed by mj_fwdVelocity
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
@@ -272,10 +272,6 @@ struct mjData_ {
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_passive; // passive force (nv x 1)
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
@@ -298,7 +294,7 @@ struct mjData_ {
// computed by mj_implicit/mju_factorLUSparse
mjtNum* qLU; // sparse LU of (qM - dt*qDeriv) (nD x 1)
//-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
//-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdActuation
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
@@ -320,7 +316,7 @@ struct mjData_ {
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
//-------------------------------- ARENA-ALLOCATED ARRAYS
//-------------------- arena-allocated: POSITION dependent
// computed by mj_collision
mjContact* contact; // list of all detected contacts (ncon x 1)
@@ -346,16 +342,24 @@ struct mjData_ {
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
// computed by mj_projectConstraint (dual solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// computed by mj_projectConstraint
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
};
typedef struct mjData_ mjData;
typedef enum mjtDisableBit_ { // disable default feature bitflags
include/mujoco/mjdata.h
+20 -16
View File
@@ -194,13 +194,13 @@ struct mjData_ {
mjtNum time; // simulation time
mjtNum energy[2]; // potential, kinetic energy
//-------------------------------- end of info header
//-------------------- end of info header
// buffers
void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
void* arena; // arena+stack buffer (nstack*sizeof(mjtNum) bytes)
//-------------------------------- main inputs and outputs of the computation
//-------------------- main inputs and outputs of the computation
// state
mjtNum* qpos; // position (nq x 1)
@@ -232,7 +232,7 @@ struct mjData_ {
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
//-------------------------------- POSITION dependent
//-------------------- POSITION dependent
// computed by mj_fwdPosition/mj_kinematics
mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
@@ -283,7 +283,7 @@ struct mjData_ {
// computed by mj_collisionTree
mjtByte* bvh_active; // volume has been added to collisions (nbvh x 1)
//-------------------------------- POSITION, VELOCITY dependent
//-------------------- POSITION, VELOCITY dependent
// computed by mj_fwdVelocity
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
@@ -299,10 +299,6 @@ struct mjData_ {
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_passive; // passive force (nv x 1)
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
@@ -325,7 +321,7 @@ struct mjData_ {
// computed by mj_implicit/mju_factorLUSparse
mjtNum* qLU; // sparse LU of (qM - dt*qDeriv) (nD x 1)
//-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
//-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdActuation
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
@@ -347,7 +343,7 @@ struct mjData_ {
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
//-------------------------------- ARENA-ALLOCATED ARRAYS
//-------------------- arena-allocated: POSITION dependent
// computed by mj_collision
mjContact* contact; // list of all detected contacts (ncon x 1)
@@ -373,16 +369,24 @@ struct mjData_ {
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
// computed by mj_projectConstraint (dual solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// computed by mj_projectConstraint
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
};
typedef struct mjData_ mjData;
introspect/structs.py
+42 -42
View File
@@ -3997,20 +3997,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='passive force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_vel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='velocity in constraint space: J*qvel (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_aref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='reference pseudo-acceleration (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='subtree_linvel',
type=PointerType(
@@ -4298,6 +4284,48 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='inverse constraint mass (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in AR (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse AR (nefc x nefc)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="J*inv(M)*J' + R (nefc x nefc)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_vel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='velocity in constraint space: J*qvel (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_aref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='reference pseudo-acceleration (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_b',
type=PointerType(
@@ -4319,34 +4347,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='constraint state (mjtConstraintState) (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in AR (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse AR (nefc x nefc)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="J*inv(M)*J' + R (nefc x nefc)", # pylint: disable=line-too-long
),
),
)),
('mjvPerturb',
unity/Runtime/Bindings/MjBindings.cs
+5 -5
View File
@@ -1664,8 +1664,6 @@ public unsafe struct mjData_ {
public double* cdof_dot;
public double* qfrc_bias;
public double* qfrc_passive;
public double* efc_vel;
public double* efc_aref;
public double* subtree_linvel;
public double* subtree_angmom;
public double* qH;
@@ -1707,13 +1705,15 @@ public unsafe struct mjData_ {
public double* efc_KBIP;
public double* efc_D;
public double* efc_R;
public double* efc_b;
public double* efc_force;
public int* efc_state;
public int* efc_AR_rownnz;
public int* efc_AR_rowadr;
public int* efc_AR_colind;
public double* efc_AR;
public double* efc_vel;
public double* efc_aref;
public double* efc_b;
public double* efc_force;
public int* efc_state;
}
[StructLayout(LayoutKind.Sequential)]