Yuval Tassa
4787c8094c
https://www.youtube.com/watch?v=PdSdrqhSiZA The new geom attribute surfacevel (6 numbers: linear and angular velocity in the geom's local frame, angular about the geom frame origin) specifies the velocity of the geom's surface material relative to the geom frame. The relative surface velocity of the two geoms is added to the tangential contact rows of efc_vel in mj_referenceConstraint, so friction drives touching bodies toward the motion of the surface: objects on a conveyor are transported at belt speed, turntables impart omega x r with torsional spin-up for condim >= 4, and surface velocities compose with each other and with body motion. The component along the contact normal is projected out: probe experiments showed that velocity-space emission chatters mass-independently and ingestion merely deepens penetration; normal-direction effects belong to force-space features. surfacevel is interpreted in the geom frame as authored: for mesh geoms, whose compiled frame absorbs the mesh centering and principal-axes transform, the compiler re-expresses the authored value in the compiled frame. No special interaction with sleeping: objects being transported do not fall asleep because they are moving; objects at rest on an active surface may sleep like any other resting object. Includes showcase models (model/surfacevel/): a luggage carousel whose ring is a spinning square-profile supertorus fed by a cascade of belts with matched spinning end rollers, bags dropping in and circulating indefinitely; and a treadmill with a passive humanoid. PiperOrigin-RevId: 948647785 Change-Id: I0c6559a91cc7ece1237eb8ac2e51986e7342d962
607 lines
26 KiB
C
607 lines
26 KiB
C
// Copyright 2026 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_MJSPECMACRO_H_
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#define MUJOCO_MJSPECMACRO_H_
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//-------------------------------- mjsElement ------------------------------------------------------
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#define MJSELEMENT_FIELDS \
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X( mjtObj, elemtype, 1 ) \
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X( uint64_t, signature, 1 )
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//-------------------------------- mjsCompiler -----------------------------------------------------
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#define MJSCOMPILER_FIELDS \
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X(mjtBool, autolimits, 1) \
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X(double, boundmass, 1) \
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X(double, boundinertia, 1) \
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X(double, settotalmass, 1) \
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X(mjtBool, balanceinertia, 1) \
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X(mjtBool, fitaabb, 1) \
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X(mjtBool, degree, 1) \
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XVEC(char, eulerseq, 3) \
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X(mjtBool, discardvisual, 1) \
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X(mjtBool, usethread, 1) \
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X(mjtBool, fusestatic, 1) \
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X(mjtInertiaFromGeom, inertiafromgeom, 1) \
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XVEC(int, inertiagrouprange, 2) \
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X(mjtBool, saveinertial, 1) \
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X(mjtBool, alignfree, 1) \
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X(mjtConflict, conflict, 1) \
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X(mjLROpt, LRopt, 1) \
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X(mjString*, meshdir, 1) \
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X(mjString*, texturedir, 1) \
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X(uint64_t, authored, 1)
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//-------------------------------- mjSpec ----------------------------------------------------------
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#define MJSPEC_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, modelname, 1 ) \
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X( mjsCompiler, compiler, 1 ) \
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X( mjtBool, strippath, 1 ) \
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X( mjOption, option, 1 ) \
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X( mjVisual, visual, 1 ) \
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X( mjStatistic, stat, 1 ) \
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X( mjtSize, memory, 1 ) \
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X( int, nemax, 1 ) \
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X( int, nuserdata, 1 ) \
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X( int, nuser_body, 1 ) \
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X( int, nuser_jnt, 1 ) \
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X( int, nuser_geom, 1 ) \
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X( int, nuser_site, 1 ) \
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X( int, nuser_cam, 1 ) \
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X( int, nuser_tendon, 1 ) \
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X( int, nuser_actuator, 1 ) \
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X( int, nuser_sensor, 1 ) \
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X( int, nkey, 1 ) \
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X( int, njmax, 1 ) \
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X( int, nconmax, 1 ) \
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X( mjtSize, nstack, 1 ) \
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X( mjString*, comment, 1 ) \
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X( mjString*, modelfiledir, 1 ) \
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X( mjtBool, hasImplicitPluginElem, 1 )
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//-------------------------------- mjsOrientation --------------------------------------------------
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#define MJSORIENTATION_FIELDS \
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X ( mjtOrientation, type, 1 ) \
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XVEC( double, axisangle, 4 ) \
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XVEC( double, xyaxes, 6 ) \
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XVEC( double, zaxis, 3 ) \
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XVEC( double, euler, 3 )
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//-------------------------------- mjsPlugin -------------------------------------------------------
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#define MJSPLUGIN_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, name, 1 ) \
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X( mjString*, plugin_name, 1 ) \
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X( mjtBool, active, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsBody ---------------------------------------------------------
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#define MJSBODY_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, childclass, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( double, mass, 1 ) \
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XVEC( double, ipos, 3 ) \
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XVEC( double, iquat, 4 ) \
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XVEC( double, inertia, 3 ) \
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X ( mjsOrientation, ialt, 1 ) \
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XVEC( double, fullinertia, 6 ) \
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X ( mjtBool, mocap, 1 ) \
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X ( double, gravcomp, 1 ) \
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X ( mjtSleepPolicy, sleep, 1 ) \
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X ( mjtByte, simple, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjtBool, explicitinertial, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsFrame --------------------------------------------------------
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#define MJSFRAME_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, childclass, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsJoint --------------------------------------------------------
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#define MJSJOINT_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtJoint, type, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, axis, 3 ) \
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X ( double, ref, 1 ) \
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X ( mjtAlignFree, align, 1 ) \
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XVEC( double, stiffness, mjNPOLY+1 ) \
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X ( double, springref, 1 ) \
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XVEC( double, springdamper, 2 ) \
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X ( mjtLimited, limited, 1 ) \
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XVEC( double, range, 2 ) \
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X ( double, margin, 1 ) \
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XVEC( mjtNum, solref_limit, mjNREF ) \
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XVEC( mjtNum, solimp_limit, mjNIMP ) \
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X ( mjtLimited, actfrclimited, 1 ) \
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XVEC( double, actfrcrange, 2 ) \
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X ( double, armature, 1 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, frictionloss, 1 ) \
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XVEC( mjtNum, solref_friction, mjNREF ) \
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XVEC( mjtNum, solimp_friction, mjNIMP ) \
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X ( int, group, 1 ) \
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X ( mjtBool, actgravcomp, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsGeom ---------------------------------------------------------
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#define MJSGEOM_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtGeom, type, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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XVEC( double, fromto, 6 ) \
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XVEC( double, size, 3 ) \
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X ( int, contype, 1 ) \
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X ( int, conaffinity, 1 ) \
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X ( int, condim, 1 ) \
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X ( int, priority, 1 ) \
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XVEC( double, friction, 3 ) \
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X ( double, solmix, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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XVEC( double, surfacevel, 6 ) \
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X ( double, mass, 1 ) \
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X ( double, density, 1 ) \
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X ( mjtGeomInertia, typeinertia, 1 ) \
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X ( mjtNum, fluid_ellipsoid, 1 ) \
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XVEC( mjtNum, fluid_coefs, 5 ) \
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X ( mjString*, material, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( int, group, 1 ) \
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X ( mjString*, hfieldname, 1 ) \
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X ( mjString*, meshname, 1 ) \
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X ( double, fitscale, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSite ---------------------------------------------------------
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#define MJSSITE_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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XVEC( double, fromto, 6 ) \
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XVEC( double, size, 3 ) \
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X ( mjtGeom, type, 1 ) \
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X ( mjString*, material, 1 ) \
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X ( int, group, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsCamera -------------------------------------------------------
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#define MJSCAMERA_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( mjtCamLight, mode, 1 ) \
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X ( mjString*, targetbody, 1 ) \
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X ( mjtProjection, proj, 1 ) \
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XVEC( int, resolution, 2 ) \
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X ( int, output, 1 ) \
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X ( double, fovy, 1 ) \
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X ( double, ipd, 1 ) \
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XVEC( float, intrinsic, 4 ) \
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XVEC( float, sensor_size, 2 ) \
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XVEC( float, focal_length, 2 ) \
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XVEC( float, focal_pixel, 2 ) \
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XVEC( float, principal_length, 2 ) \
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XVEC( float, principal_pixel, 2 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsLight --------------------------------------------------------
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#define MJSLIGHT_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, dir, 3 ) \
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X ( mjtCamLight, mode, 1 ) \
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X ( mjString*, targetbody, 1 ) \
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X ( mjtBool, active, 1 ) \
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X ( mjtLightType, type, 1 ) \
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X ( mjString*, texture, 1 ) \
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X ( mjtBool, castshadow, 1 ) \
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X ( float, bulbradius, 1 ) \
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X ( float, intensity, 1 ) \
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X ( float, range, 1 ) \
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XVEC( float, attenuation, 3 ) \
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X ( float, cutoff, 1 ) \
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X ( float, exponent, 1 ) \
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XVEC( float, ambient, 3 ) \
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XVEC( float, diffuse, 3 ) \
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XVEC( float, specular, 3 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsFlex ---------------------------------------------------------
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#define MJSFLEX_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( int, contype, 1 ) \
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X ( int, conaffinity, 1 ) \
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X ( int, condim, 1 ) \
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X ( int, priority, 1 ) \
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XVEC( double, friction, 3 ) \
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X ( double, solmix, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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X ( int, dim, 1 ) \
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X ( double, radius, 1 ) \
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XVEC( double, size, 3 ) \
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X ( mjtBool, internal, 1 ) \
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X ( mjtBool, flatskin, 1 ) \
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X ( mjtFlexSelf, selfcollide, 1 ) \
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X ( int, passive, 1 ) \
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X ( int, activelayers, 1 ) \
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X ( int, group, 1 ) \
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X ( double, edgestiffness, 1 ) \
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X ( double, edgedamping, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjString*, material, 1 ) \
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X ( double, young, 1 ) \
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X ( double, poisson, 1 ) \
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X ( double, damping, 1 ) \
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X ( double, thickness, 1 ) \
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X ( int, elastic2d, 1 ) \
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XVEC( int, cellcount, 3 ) \
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X ( int, order, 1 ) \
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X ( mjStringVec*, nodebody, 1 ) \
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X ( mjStringVec*, vertbody, 1 ) \
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X ( mjDoubleVec*, node, 1 ) \
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X ( mjDoubleVec*, vert, 1 ) \
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X ( mjIntVec*, elem, 1 ) \
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X ( mjFloatVec*, texcoord, 1 ) \
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X ( mjIntVec*, elemtexcoord, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsMesh ---------------------------------------------------------
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#define MJSMESH_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( double, refpos, 3 ) \
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XVEC( double, refquat, 4 ) \
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XVEC( double, scale, 3 ) \
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X ( mjtMeshInertia, inertia, 1 ) \
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X ( mjtBool, smoothnormal, 1 ) \
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X ( mjtBool, needsdf, 1 ) \
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X ( int, maxhullvert, 1 ) \
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X ( mjFloatVec*, uservert, 1 ) \
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X ( mjFloatVec*, usernormal, 1 ) \
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X ( mjFloatVec*, usertexcoord, 1 ) \
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X ( mjIntVec*, userface, 1 ) \
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X ( mjIntVec*, userfacenormal, 1 ) \
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X ( mjIntVec*, userfacetexcoord, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, material, 1 ) \
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X ( int, octree_maxdepth, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsHField -------------------------------------------------------
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#define MJSHFIELD_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( double, size, 4 ) \
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X ( int, nrow, 1 ) \
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X ( int, ncol, 1 ) \
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X ( mjFloatVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSkin ---------------------------------------------------------
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#define MJSSKIN_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, file, 1 ) \
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X ( mjString*, material, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( float, inflate, 1 ) \
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X ( int, group, 1 ) \
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X ( mjFloatVec*, vert, 1 ) \
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X ( mjFloatVec*, texcoord, 1 ) \
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X ( mjIntVec*, face, 1 ) \
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X ( mjStringVec*, bodyname, 1 ) \
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X ( mjFloatVec*, bindpos, 1 ) \
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X ( mjFloatVec*, bindquat, 1 ) \
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X ( mjIntVecVec*, vertid, 1 ) \
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X ( mjFloatVecVec*, vertweight, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsTexture ------------------------------------------------------
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#define MJSTEXTURE_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtTexture, type, 1 ) \
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X ( mjtColorSpace, colorspace, 1 ) \
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X ( mjtBuiltin, builtin, 1 ) \
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X ( mjtMark, mark, 1 ) \
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XVEC( double, rgb1, 3 ) \
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XVEC( double, rgb2, 3 ) \
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XVEC( double, markrgb, 3 ) \
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X ( double, random, 1 ) \
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X ( int, height, 1 ) \
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X ( int, width, 1 ) \
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X ( int, nchannel, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( int, gridsize, 2 ) \
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XVEC( char, gridlayout, 12 ) \
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X ( mjStringVec*, cubefiles, 1 ) \
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X ( mjByteVec*, data, 1 ) \
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X ( mjtBool, hflip, 1 ) \
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X ( mjtBool, vflip, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsMaterial -----------------------------------------------------
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#define MJSMATERIAL_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjStringVec*, textures, 1 ) \
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X ( mjtBool, texuniform, 1 ) \
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XVEC( float, texrepeat, 2 ) \
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X ( float, emission, 1 ) \
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X ( float, specular, 1 ) \
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X ( float, shininess, 1 ) \
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X ( float, reflectance, 1 ) \
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X ( float, metallic, 1 ) \
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X ( float, roughness, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsPair ---------------------------------------------------------
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#define MJSPAIR_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, geomname1, 1 ) \
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X ( mjString*, geomname2, 1 ) \
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X ( int, condim, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solreffriction, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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XVEC( double, friction, 5 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsExclude ------------------------------------------------------
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#define MJSEXCLUDE_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, bodyname1, 1 ) \
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X( mjString*, bodyname2, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsEquality -----------------------------------------------------
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#define MJSEQUALITY_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtEq, type, 1 ) \
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XVEC( double, data, mjNEQDATA ) \
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X ( mjtBool, active, 1 ) \
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X ( mjString*, name1, 1 ) \
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X ( mjString*, name2, 1 ) \
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X ( mjtObj, objtype, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsTendon -------------------------------------------------------
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#define MJSTENDON_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, stiffness, mjNPOLY+1 ) \
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XVEC( double, springlength, 2 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, frictionloss, 1 ) \
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XVEC( mjtNum, solref_friction, mjNREF ) \
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XVEC( mjtNum, solimp_friction, mjNIMP ) \
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X ( double, armature, 1 ) \
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X ( mjtLimited, limited, 1 ) \
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X ( mjtLimited, actfrclimited, 1 ) \
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XVEC( double, range, 2 ) \
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XVEC( double, actfrcrange, 2 ) \
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X ( double, margin, 1 ) \
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XVEC( mjtNum, solref_limit, mjNREF ) \
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XVEC( mjtNum, solimp_limit, mjNIMP ) \
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X ( mjString*, material, 1 ) \
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X ( double, width, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( int, group, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsWrap ---------------------------------------------------------
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#define MJSWRAP_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjtWrap, type, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsActuator -----------------------------------------------------
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#define MJSACTUATOR_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtGain, gaintype, 1 ) \
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XVEC( double, gainprm, mjNGAIN ) \
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X ( mjtBias, biastype, 1 ) \
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XVEC( double, biasprm, mjNGAIN ) \
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X ( mjtDyn, dyntype, 1 ) \
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XVEC( double, dynprm, mjNDYN ) \
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X ( int, actdim, 1 ) \
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X ( mjtBool, actearly, 1 ) \
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X ( mjtTrn, trntype, 1 ) \
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XVEC( double, gear, 6 ) \
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X ( mjString*, target, 1 ) \
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X ( mjString*, refsite, 1 ) \
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X ( mjString*, slidersite, 1 ) \
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X ( double, cranklength, 1 ) \
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XVEC( double, lengthrange, 2 ) \
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X ( double, inheritrange, 1 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, armature, 1 ) \
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X ( mjtLimited, ctrllimited, 1 ) \
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XVEC( double, ctrlrange, 2 ) \
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X ( mjtLimited, forcelimited, 1 ) \
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XVEC( double, forcerange, 2 ) \
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X ( mjtLimited, actlimited, 1 ) \
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XVEC( double, actrange, 2 ) \
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X ( int, group, 1 ) \
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X ( int, nsample, 1 ) \
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X ( int, interp, 1 ) \
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X ( double, delay, 1 ) \
|
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X ( mjDoubleVec*, userdata, 1 ) \
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|
X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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|
|
|
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//-------------------------------- mjsSensor -------------------------------------------------------
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|
|
|
#define MJSSENSOR_FIELDS \
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X ( mjsElement*, element, 1 ) \
|
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X ( mjtSensor, type, 1 ) \
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|
X ( mjtObj, objtype, 1 ) \
|
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X ( mjString*, objname, 1 ) \
|
|
X ( mjtObj, reftype, 1 ) \
|
|
X ( mjString*, refname, 1 ) \
|
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XVEC( int, intprm, mjNSENS ) \
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|
X ( mjtDataType, datatype, 1 ) \
|
|
X ( mjtStage, needstage, 1 ) \
|
|
X ( int, dim, 1 ) \
|
|
X ( double, cutoff, 1 ) \
|
|
X ( double, noise, 1 ) \
|
|
X ( int, nsample, 1 ) \
|
|
X ( int, interp, 1 ) \
|
|
X ( double, delay, 1 ) \
|
|
XVEC( double, interval, 2 ) \
|
|
X ( mjDoubleVec*, userdata, 1 ) \
|
|
X ( mjsPlugin, plugin, 1 ) \
|
|
X ( mjString*, info, 1 )
|
|
|
|
|
|
//-------------------------------- mjsNumeric ------------------------------------------------------
|
|
|
|
#define MJSNUMERIC_FIELDS \
|
|
X( mjsElement*, element, 1 ) \
|
|
X( mjDoubleVec*, data, 1 ) \
|
|
X( int, size, 1 ) \
|
|
X( mjString*, info, 1 )
|
|
|
|
|
|
//-------------------------------- mjsText ---------------------------------------------------------
|
|
|
|
#define MJSTEXT_FIELDS \
|
|
X( mjsElement*, element, 1 ) \
|
|
X( mjString*, data, 1 ) \
|
|
X( mjString*, info, 1 )
|
|
|
|
|
|
//-------------------------------- mjsTuple --------------------------------------------------------
|
|
|
|
#define MJSTUPLE_FIELDS \
|
|
X( mjsElement*, element, 1 ) \
|
|
X( mjIntVec*, objtype, 1 ) \
|
|
X( mjStringVec*, objname, 1 ) \
|
|
X( mjDoubleVec*, objprm, 1 ) \
|
|
X( mjString*, info, 1 )
|
|
|
|
|
|
//-------------------------------- mjsKey ----------------------------------------------------------
|
|
|
|
#define MJSKEY_FIELDS \
|
|
X( mjsElement*, element, 1 ) \
|
|
X( double, time, 1 ) \
|
|
X( mjDoubleVec*, qpos, 1 ) \
|
|
X( mjDoubleVec*, qvel, 1 ) \
|
|
X( mjDoubleVec*, act, 1 ) \
|
|
X( mjDoubleVec*, mpos, 1 ) \
|
|
X( mjDoubleVec*, mquat, 1 ) \
|
|
X( mjDoubleVec*, ctrl, 1 ) \
|
|
X( mjString*, info, 1 )
|
|
|
|
|
|
//-------------------------------- mjsDefault ------------------------------------------------------
|
|
|
|
#define MJSDEFAULT_FIELDS \
|
|
X( mjsElement*, element, 1 ) \
|
|
X( mjsJoint*, joint, 1 ) \
|
|
X( mjsGeom*, geom, 1 ) \
|
|
X( mjsSite*, site, 1 ) \
|
|
X( mjsCamera*, camera, 1 ) \
|
|
X( mjsLight*, light, 1 ) \
|
|
X( mjsFlex*, flex, 1 ) \
|
|
X( mjsMesh*, mesh, 1 ) \
|
|
X( mjsMaterial*, material, 1 ) \
|
|
X( mjsPair*, pair, 1 ) \
|
|
X( mjsEquality*, equality, 1 ) \
|
|
X( mjsTendon*, tendon, 1 ) \
|
|
X( mjsActuator*, actuator, 1 )
|
|
|
|
|
|
#endif // MUJOCO_MJSPECMACRO_H_
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