Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
44 lines
1.7 KiB
C
44 lines
1.7 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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#include "engine/engine_callback.h"
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//-------------------------------- utility macros --------------------------------------------------
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// mark and free stack
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#define mjMARKSTACK int _mark = d->pstack;
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#define mjFREESTACK d->pstack = _mark;
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// check bitflag
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#define mjDISABLED(x) (m->opt.disableflags & (x))
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#define mjENABLED(x) (m->opt.enableflags & (x))
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// max and min macros
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#define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
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#define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
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//-------------------------- timer macros ----------------------------------------------------------
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#define TM_START mjtNum _tm = (mjcb_time ? mjcb_time() : 0);
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#define TM_RESTART _tm = (mjcb_time ? mjcb_time() : 0);
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#define TM_END(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm); d->timer[i].number++;}
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#define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
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#define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}
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#endif // MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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