Kyle Bayes
090c25988a
PiperOrigin-RevId: 510422950 Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
95 lines
2.2 KiB
ReStructuredText
95 lines
2.2 KiB
ReStructuredText
.. _API:
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=========
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Functions
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=========
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The main header `mujoco.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a very large
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number of functions. However the functions that most users are likely to need are a small fraction. For example,
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:ref:`simulate.cc <saSimulate>` which is as elaborate as a MuJoCo application is likely to get, calls around 40 of these
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functions, while ``basic.cc`` calls around 20. The rest are explosed just in case someone has a use for them. This
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includes us as users of MuJoCo -- we do our own work with the public library instead of relying on internal builds.
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.. include:: functions.rst
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.. _Macros:
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Macros
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^^^^^^
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.. _mjMARKSTACK:
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mjMARKSTACK
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~~~~~~~~~~~
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.. code-block:: C
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#define mjMARKSTACK int _mark = d->pstack;
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This macro is helpful when using the MuJoCo stack in custom computations. It works together with the next macro and the
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:ref:`mj_stackAlloc` function, and assumes that mjData\* d is defined. The use pattern is this:
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::
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mjMARKSTACK
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mjtNum* temp = mj_stackAlloc(d, 100);
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// ... use temp as needed
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mjFREESTACK
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.. _mjFREESTACK:
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mjFREESTACK
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~~~~~~~~~~~
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.. code-block:: C
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#define mjFREESTACK d->pstack = _mark;
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Reset the MuJoCo stack pointer to the variable \_mark, normally saved by mjMARKSTACK.
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.. _mjDISABLED:
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mjDISABLED
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~~~~~~~~~~
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.. code-block:: C
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#define mjDISABLED(x) (m->opt.disableflags & (x))
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Check if a given standard feature has been disabled via the physics options, assuming mjModel\* m is defined. x is of
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type :ref:`mjtDisableBit`.
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.. _mjENABLED:
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mjENABLED
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~~~~~~~~~
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.. code-block:: C
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#define mjENABLED(x) (m->opt.enableflags & (x))
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Check if a given optional feature has been enabled via the physics options, assuming mjModel\* m is defined. x is of
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type :ref:`mjtEnableBit`.
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.. _mjMAX:
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mjMAX
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~~~~~
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.. code-block:: C
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#define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
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Return maximum value. To avoid repeated evaluation with mjtNum types, use the function :ref:`mju_max`.
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.. _mjMIN:
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mjMIN
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~~~~~
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.. code-block:: C
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#define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
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Return minimum value. To avoid repeated evaluation with mjtNum types, use the function :ref:`mju_min`.
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