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Change user_api handle types.

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PiperOrigin-RevId: 640978033
Change-Id: I53496671ac823b50e6f90ceee15bf3b314b06db8
This commit is contained in:
Alessio Quaglino
2024-06-06 12:05:17 -07:00
committed by Copybara-Service
parent 9a140bad14
commit f6084b4328
7 changed files with 427 additions and 424 deletions
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src/user/user_api.h
+175 -160
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@@ -25,21 +25,36 @@
// this is a C-API
#ifdef __cplusplus
#include <string>
#include <vector>
extern "C" {
#endif
#define mjNAN NAN // used to mark undefined fields
//---------------------------------- handles to internal objects -----------------------------------
//---------------------------------- C/C++ handles to strings and arrays ---------------------------
typedef struct mjString_* mjString;
typedef struct mjStringVec_* mjStringVec;
typedef struct mjIntVec_* mjIntVec;
typedef struct mjIntVecVec_* mjIntVecVec;
typedef struct mjFloatVec_* mjFloatVec;
typedef struct mjFloatVecVec_* mjFloatVecVec;
typedef struct mjDoubleVec_* mjDoubleVec;
#ifdef __cplusplus
// C++, defined to be compatible with corresponding std types
using mjString = std::string;
using mjStringVec = std::vector<std::string>;
using mjIntVec = std::vector<int>;
using mjIntVecVec = std::vector<std::vector<int>>;
using mjFloatVec = std::vector<float>;
using mjFloatVecVec = std::vector<std::vector<float>>;
using mjDoubleVec = std::vector<double>;
#else
// C, opaque pointers
typedef struct mjString_ mjString;
typedef struct mjStringVec_ mjStringVec;
typedef struct mjIntVec_ mjIntVec;
typedef struct mjIntVecVec_ mjIntVecVec;
typedef struct mjFloatVec_ mjFloatVec;
typedef struct mjFloatVecVec_ mjFloatVecVec;
typedef struct mjDoubleVec_ mjDoubleVec;
#endif
//---------------------------------- enum types (mjt) ----------------------------------------------
@@ -98,7 +113,7 @@ typedef struct mjElement_ { // element type, do not modify
typedef struct mjSpec_ { // model specification
mjElement* element; // element type
mjString modelname; // model name
mjString* modelname; // model name
// compiler settings
mjtByte autolimits; // infer "limited" attribute based on range
@@ -110,8 +125,8 @@ typedef struct mjSpec_ { // model specification
mjtByte fitaabb; // meshfit to aabb instead of inertia box
mjtByte degree; // angles in radians or degrees
char euler[3]; // sequence for euler rotations
mjString meshdir; // mesh and hfield directory
mjString texturedir; // texture directory
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
mjtByte discardvisual; // discard visual geoms in parser
mjtByte convexhull; // compute mesh convex hulls
mjtByte usethread; // use multiple threads to speed up compiler
@@ -144,8 +159,8 @@ typedef struct mjSpec_ { // model specification
size_t nstack; // (deprecated) number of mjtNums in mjData stack
// global data
mjString comment; // comment at top of XML
mjString modelfiledir; // path to model file
mjString* comment; // comment at top of XML
mjString* modelfiledir; // path to model file
// other
mjtByte hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
@@ -163,18 +178,18 @@ typedef struct mjsOrientation_ { // alternative orientation specifiers
typedef struct mjsPlugin_ { // plugin specification
mjElement* instance; // element type
mjString name; // name
mjString instance_name; // instance name
mjString* name; // name
mjString* instance_name; // instance name
int plugin_slot; // global registered slot number of the plugin
mjtByte active; // is the plugin active
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsPlugin;
typedef struct mjsBody_ { // body specification
mjElement* element; // element type
mjString name; // name
mjString childclass; // childclass name
mjString* name; // name
mjString* childclass; // childclass name
// body frame
double pos[3]; // frame position
@@ -192,28 +207,28 @@ typedef struct mjsBody_ { // body specification
// other
mjtByte mocap; // is this a mocap body
double gravcomp; // gravity compensation
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
mjsPlugin plugin; // passive force plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsBody;
typedef struct mjsFrame_ { // frame specification
mjElement* element; // element type
mjString name; // name
mjString childclass; // childclass name
mjString* name; // name
mjString* childclass; // childclass name
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsFrame;
typedef struct mjsJoint_ { // joint specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
mjtJoint type; // joint type
// kinematics
@@ -245,15 +260,15 @@ typedef struct mjsJoint_ { // joint specification
// other
int group; // group
mjtByte actgravcomp; // is gravcomp force applied via actuators
mjDoubleVec userdata; // user data
mjString info; // message appended to compiler errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsJoint;
typedef struct mjsGeom_ { // geom specification
mjElement* element; // element type
mjString name; // name
mjString classname; // classname
mjString* name; // name
mjString* classname; // classname
mjtGeom type; // geom type
// frame, size
@@ -285,24 +300,24 @@ typedef struct mjsGeom_ { // geom specification
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual
mjString material; // name of material
mjString* material; // name of material
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjString hfieldname; // heightfield attached to geom
mjString meshname; // mesh attached to geom
mjString* hfieldname; // heightfield attached to geom
mjString* meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sdf plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsGeom;
typedef struct mjsSite_ { // site specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// frame, size
double pos[3]; // position
@@ -313,27 +328,27 @@ typedef struct mjsSite_ { // site specification
// visual
mjtGeom type; // geom type
mjString material; // name of material
mjString* material; // name of material
int group; // group
float rgba[4]; // rgba when material is omitted
// other
mjDoubleVec userdata; // user data
mjString info; // message appended to compiler errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsSite;
typedef struct mjsCamera_ { // camera specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// extrinsics
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for tracking/targeting
mjString* targetbody; // target body for tracking/targeting
// intrinsics
double fovy; // y-field of view
@@ -347,21 +362,21 @@ typedef struct mjsCamera_ { // camera specification
float principal_pixel[2]; // principal point (pixel)
// other
mjDoubleVec userdata; // user data
mjString info; // message appended to compiler errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsCamera;
typedef struct mjsLight_ { // light specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// frame
double pos[3]; // position
double dir[3]; // direction
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for targeting
mjString* targetbody; // target body for targeting
// intrinsics
mjtByte active; // is light active
@@ -376,14 +391,14 @@ typedef struct mjsLight_ { // light specification
float specular[3]; // specular color
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errorsx
} mjsLight;
typedef struct mjsFlex_ {
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// contact properties
int contype; // contact type
@@ -408,85 +423,85 @@ typedef struct mjsFlex_ {
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
float rgba[4]; // rgba when material is omitted
mjString material; // name of material used for rendering
mjString* material; // name of material used for rendering
// mesh properties
mjStringVec vertbody; // vertex body names
mjDoubleVec vert; // vertex positions
mjIntVec elem; // element vertex ids
mjFloatVec texcoord; // vertex texture coordinates
mjStringVec* vertbody; // vertex body names
mjDoubleVec* vert; // vertex positions
mjIntVec* elem; // element vertex ids
mjFloatVec* texcoord; // vertex texture coordinates
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsFlex;
typedef struct mjsMesh_ { // mesh specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString content_type; // content type of file
mjString file; // mesh file
mjString* name; // name
mjString* classname; // class name
mjString* content_type; // content type of file
mjString* file; // mesh file
double refpos[3]; // reference position
double refquat[4]; // reference orientation
double scale[3]; // rescale mesh
mjtByte smoothnormal; // do not exclude large-angle faces from normals
mjFloatVec uservert; // user vertex data
mjFloatVec usernormal; // user normal data
mjFloatVec usertexcoord; // user texcoord data
mjIntVec userface; // user vertex indices
mjIntVec userfacenormal; // user normal indices
mjIntVec userfacetexcoord; // user texcoord indices
mjFloatVec* uservert; // user vertex data
mjFloatVec* usernormal; // user normal data
mjFloatVec* usertexcoord; // user texcoord data
mjIntVec* userface; // user vertex indices
mjIntVec* userfacenormal; // user normal indices
mjIntVec* userfacetexcoord; // user texcoord indices
mjsPlugin plugin; // sdf plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsMesh;
typedef struct mjsHField_ { // height field specification
mjElement* element; // element type
mjString name; // name
mjString content_type; // content type of file
mjString file; // file: (nrow, ncol, [elevation data])
mjString* name; // name
mjString* content_type; // content type of file
mjString* file; // file: (nrow, ncol, [elevation data])
double size[4]; // hfield size (ignore referencing geom size)
int nrow; // number of rows
int ncol; // number of columns
mjFloatVec userdata; // user-provided elevation data
mjString info; // message appended to compiler errors
mjFloatVec* userdata; // user-provided elevation data
mjString* info; // message appended to compiler errors
} mjsHField;
typedef struct mjsSkin_ { // skin specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString file; // skin file
mjString material; // name of material used for rendering
mjString* name; // name
mjString* classname; // class name
mjString* file; // skin file
mjString* material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction
int group; // group for visualization
// mesh
mjFloatVec vert; // vertex positions
mjFloatVec texcoord; // texture coordinates
mjIntVec face; // faces
mjFloatVec* vert; // vertex positions
mjFloatVec* texcoord; // texture coordinates
mjIntVec* face; // faces
// skin
mjStringVec bodyname; // body names
mjFloatVec bindpos; // bind pos
mjFloatVec bindquat; // bind quat
mjIntVecVec vertid; // vertex ids
mjFloatVecVec vertweight; // vertex weights
mjStringVec* bodyname; // body names
mjFloatVec* bindpos; // bind pos
mjFloatVec* bindquat; // bind quat
mjIntVecVec* vertid; // vertex ids
mjFloatVecVec* vertweight; // vertex weights
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsSkin;
typedef struct mjsTexture_ { // texture specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
mjtTexture type; // texture type
// method 1: builtin
@@ -500,28 +515,28 @@ typedef struct mjsTexture_ { // texture specification
int width; // width in pixels
// method 2: single file
mjString content_type; // content type of file
mjString file; // png file to load; use for all sides of cube
mjString* content_type; // content type of file
mjString* file; // png file to load; use for all sides of cube
int gridsize[2]; // size of grid for composite file; (1,1)-repeat
char gridlayout[13]; // row-major: L,R,F,B,U,D for faces; . for unused
// method 3: separate files
mjStringVec cubefiles; // different file for each side of the cube
mjStringVec* cubefiles; // different file for each side of the cube
// flip options
mjtByte hflip; // horizontal flip
mjtByte vflip; // vertical flip
// other
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsTexture;
typedef struct mjsMaterial_ { // material specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString texture; // name of texture (empty: none)
mjString* name; // name
mjString* classname; // class name
mjString* texture; // name of texture (empty: none)
mjtByte texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
float emission; // emission
@@ -531,16 +546,16 @@ typedef struct mjsMaterial_ { // material specification
float metallic; // metallic
float roughness; // roughness
float rgba[4]; // rgba
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsMaterial;
typedef struct mjsPair_ {
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString geomname1; // name of geom 1
mjString geomname2; // name of geom 2
mjString* name; // name
mjString* classname; // class name
mjString* geomname1; // name of geom 1
mjString* geomname2; // name of geom 2
// optional parameters: computed from geoms if not set by user
int condim; // contact dimensionality
@@ -550,38 +565,38 @@ typedef struct mjsPair_ {
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double friction[5]; // full contact friction
mjString info; // message appended to errors
mjString* info; // message appended to errors
} mjsPair;
typedef struct mjsExclude_ {
mjElement* element; // element type
mjString name; // name
mjString bodyname1; // name of geom 1
mjString bodyname2; // name of geom 2
mjString info; // message appended to errors
mjString* name; // name
mjString* bodyname1; // name of geom 1
mjString* bodyname2; // name of geom 2
mjString* info; // message appended to errors
} mjsExclude;
typedef struct mjsEquality_ { // equality specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
mjString name1; // name of object 1
mjString name2; // name of object 2
mjString* name1; // name of object 1
mjString* name2; // name of object 2
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString info; // message appended to errors
mjString* info; // message appended to errors
} mjsEquality;
typedef struct mjsTendon_ { // tendon specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// stiffness, damping, friction
double stiffness; // stiffness coefficient
@@ -599,27 +614,27 @@ typedef struct mjsTendon_ { // tendon specification
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
// visual
mjString material; // name of material for rendering
mjString* material; // name of material for rendering
double width; // width for rendering
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjDoubleVec userdata; // user data
mjString info; // message appended to errors
mjDoubleVec* userdata; // user data
mjString* info; // message appended to errors
} mjsTendon;
typedef struct mjsWrap_ { // wrapping object specification
mjElement* element; // element type
mjString info; // message appended to errors
mjString* info; // message appended to errors
} mjsWrap;
typedef struct mjsActuator_ { // actuator specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// gain, bias
mjtGain gaintype; // gain type
@@ -637,9 +652,9 @@ typedef struct mjsActuator_ { // actuator specification
// transmission
mjtTrn trntype; // transmission type
double gear[6]; // length and transmitted force scaling
mjString target; // name of transmission target
mjString refsite; // reference site, for site transmission
mjString slidersite; // site defining cylinder, for slider-crank
mjString* target; // name of transmission target
mjString* refsite; // reference site, for site transmission
mjString* slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
@@ -654,23 +669,23 @@ typedef struct mjsActuator_ { // actuator specification
// other
int group; // group
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // actuator plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsActuator;
typedef struct mjsSensor_ { // sensor specification
mjElement* element; // element type
mjString name; // name
mjString classname; // class name
mjString* name; // name
mjString* classname; // class name
// sensor defintion
mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object
mjString objname; // name of sensorized object
mjString* objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString refname; // name of referenced object
mjString* refname; // name of referenced object
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
@@ -682,56 +697,56 @@ typedef struct mjsSensor_ { // sensor specification
double noise; // noise stdev
// other
mjDoubleVec userdata; // user data
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sensor plugin
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsSensor;
typedef struct mjsNumeric_ { // custom numeric field specification
mjElement* element; // element type
mjString name; // name
mjDoubleVec data; // initialization data
mjString* name; // name
mjDoubleVec* data; // initialization data
int size; // array size, can be bigger than data size
mjString info; // message appended to compiler errors
mjString* info; // message appended to compiler errors
} mjsNumeric;
typedef struct mjsText_ { // custom text specification
mjElement* element; // element type
mjString name; // name
mjString data; // text string
mjString info; // message appended to compiler errors
mjString* name; // name
mjString* data; // text string
mjString* info; // message appended to compiler errors
} mjsText;
typedef struct mjsTuple_ { // tuple specification
mjElement* element; // element type
mjString name; // name
mjIntVec objtype; // object types
mjStringVec objname; // object names
mjDoubleVec objprm; // object parameters
mjString info; // message appended to compiler errors
mjString* name; // name
mjIntVec* objtype; // object types
mjStringVec* objname; // object names
mjDoubleVec* objprm; // object parameters
mjString* info; // message appended to compiler errors
} mjsTuple;
typedef struct mjsKey_ { // keyframe specification
mjElement* element; // element type
mjString name; // name
mjString* name; // name
double time; // time
mjDoubleVec qpos; // qpos
mjDoubleVec qvel; // qvel
mjDoubleVec act; // act
mjDoubleVec mpos; // mocap pos
mjDoubleVec mquat; // mocap quat
mjDoubleVec ctrl; // ctrl
mjString info; // message appended to compiler errors
mjDoubleVec* qpos; // qpos
mjDoubleVec* qvel; // qvel
mjDoubleVec* act; // act
mjDoubleVec* mpos; // mocap pos
mjDoubleVec* mquat; // mocap quat
mjDoubleVec* ctrl; // ctrl
mjString* info; // message appended to compiler errors
} mjsKey;
typedef struct mjsDefault_ { // default specification
mjElement* element; // element type
mjString name; // class name
mjString* name; // class name
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
@@ -932,31 +947,31 @@ MJAPI mjElement* mjs_nextChild(mjsBody* body, mjElement* child);
//---------------------------------- Attribute setters ---------------------------------------------
// Copy text to string.
MJAPI void mjs_setString(mjString dest, const char* text);
MJAPI void mjs_setString(mjString* dest, const char* text);
// Split text to entries and copy to string vector.
MJAPI void mjs_setStringVec(mjStringVec dest, const char* text);
MJAPI void mjs_setStringVec(mjStringVec* dest, const char* text);
// Set entry in string vector.
MJAPI mjtByte mjs_setInStringVec(mjStringVec dest, int i, const char* text);
MJAPI mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
// Append text entry to string vector.
MJAPI void mjs_appendString(mjStringVec dest, const char* text);
MJAPI void mjs_appendString(mjStringVec* dest, const char* text);
// Copy int array to vector.
MJAPI void mjs_setInt(mjIntVec dest, const int* array, int size);
MJAPI void mjs_setInt(mjIntVec* dest, const int* array, int size);
// Append int array to vector of arrays.
MJAPI void mjs_appendIntVec(mjIntVecVec dest, const int* array, int size);
MJAPI void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
// Copy float array to vector.
MJAPI void mjs_setFloat(mjFloatVec dest, const float* array, int size);
MJAPI void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
// Append float array to vector of arrays.
MJAPI void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
MJAPI void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
// Copy double array to vector.
MJAPI void mjs_setDouble(mjDoubleVec dest, const double* array, int size);
MJAPI void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
// Set plugin attributes.
MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
@@ -965,10 +980,10 @@ MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
//---------------------------------- Attribute getters ---------------------------------------------
// Get string contents.
MJAPI const char* mjs_getString(mjString source);
MJAPI const char* mjs_getString(const mjString* source);
// Get double array contents and optionally its size.
MJAPI const double* mjs_getDouble(mjDoubleVec source, int* size);
MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
//---------------------------------- Other utilities -----------------------------------------------
@@ -1079,7 +1094,7 @@ MJAPI void mj_setCacheSize(mjCache cache, size_t size);
MJAPI mjCache mj_globalCache(void);
#ifdef __cplusplus
}
} // extern "C"
#endif
#endif // MUJOCO_SRC_USER_USER_API_H_