Haroon Qureshi
cb9a9c159c
All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers. PiperOrigin-RevId: 855163273 Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
201 lines
8.0 KiB
C
201 lines
8.0 KiB
C
// Copyright 2022 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_INCLUDE_MJPLUGIN_H_
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#define MUJOCO_INCLUDE_MJPLUGIN_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjspec.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mjvisualize.h>
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//---------------------------------- Resource Provider ---------------------------------------------
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struct mjResource_ {
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char* name; // name of resource (filename, etc)
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void* data; // opaque data pointer
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char timestamp[512]; // timestamp of the resource
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const struct mjpResourceProvider* provider; // pointer to the provider
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};
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typedef struct mjResource_ mjResource;
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// callback for opening a resource, returns zero on failure
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typedef int (*mjfOpenResource)(mjResource* resource);
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// callback for reading a resource
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// return number of bytes stored in buffer, return -1 if error
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typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
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// callback for closing a resource (responsible for freeing any allocated memory)
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typedef void (*mjfCloseResource)(mjResource* resource);
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// callback for checking if the current resource was modified from the time
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// specified by the timestamp
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// returns 0 if the resource's timestamp matches the provided timestamp
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// returns > 0 if the resource is younger than the given timestamp
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// returns < 0 if the resource is older than the given timestamp
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typedef int (*mjfResourceModified)(const mjResource* resource, const char* timestamp);
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// struct describing a single resource provider
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struct mjpResourceProvider {
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const char* prefix; // prefix for match against a resource name
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mjfOpenResource open; // opening callback
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mjfReadResource read; // reading callback
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mjfCloseResource close; // closing callback
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mjfResourceModified modified; // resource modified callback (optional)
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void* data; // opaque data pointer (resource invariant)
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};
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typedef struct mjpResourceProvider mjpResourceProvider;
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//---------------------------------- Decoder -------------------------------------------------------
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// function pointer types
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// return an mjSpec representing the decoded resource.
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typedef mjSpec* (*mjfDecode)(mjResource* resource, const mjVFS* vfs);
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// return true if the given resource can be decoded.
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typedef int (*mjfCanDecode)(const mjResource* resource);
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// the struct defining the decoder plugin's interface
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struct mjpDecoder {
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const char* content_type;
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const char* extension;
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// user-facing functions
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mjfCanDecode can_decode; // quickly check if this decoder can handle the resource
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mjfDecode decode; // main decoding function
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// the caller takes ownership of the spec returned by decode and is responsible
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// for cleaning it up
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};
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typedef struct mjpDecoder mjpDecoder;
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//---------------------------------- Plugins -------------------------------------------------------
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typedef enum mjtPluginCapabilityBit_ {
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mjPLUGIN_ACTUATOR = 1<<0, // actuator forces
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mjPLUGIN_SENSOR = 1<<1, // sensor measurements
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mjPLUGIN_PASSIVE = 1<<2, // passive forces
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mjPLUGIN_SDF = 1<<3, // signed distance fields
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} mjtPluginCapabilityBit;
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struct mjpPlugin_ {
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const char* name; // globally unique name identifying the plugin
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int nattribute; // number of configuration attributes
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const char* const* attributes; // name of configuration attributes
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int capabilityflags; // plugin capabilities: bitfield of mjtPluginCapabilityBit
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int needstage; // sensor computation stage (mjtStage)
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// number of mjtNums needed to store the state of a plugin instance (required)
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int (*nstate)(const mjModel* m, int instance);
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// dimension of the specified sensor's output (required only for sensor plugins)
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int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
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// called when a new mjData is being created (required), returns 0 on success or -1 on failure
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int (*init)(const mjModel* m, mjData* d, int instance);
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// called when an mjData is being freed (optional)
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void (*destroy)(mjData* d, int instance);
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// called when an mjData is being copied (optional)
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void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
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// called when an mjData is being reset (required)
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void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
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// called when the plugin needs to update its outputs (required)
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void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
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// called when time integration occurs (optional)
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void (*advance)(const mjModel* m, mjData* d, int instance);
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// called by mjv_updateScene (optional)
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void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
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// methods specific to actuators (optional)
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// updates the actuator plugin's entries in act_dot
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// called after native act_dot is computed and before the compute callback
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void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
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// methods specific to signed distance fields (optional)
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// signed distance from the surface
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mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
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// gradient of distance with respect to local coordinates
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void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
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// called during compilation for marching cubes
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mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
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// convert attributes and provide defaults if not present
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void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
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// bounding box of implicit surface
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void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
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};
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typedef struct mjpPlugin_ mjpPlugin;
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struct mjSDF_ {
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const mjpPlugin** plugin;
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int* id;
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mjtSDFType type;
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mjtNum* relpos;
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mjtNum* relmat;
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mjtGeom* geomtype;
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};
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typedef struct mjSDF_ mjSDF;
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#if defined(__has_attribute)
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#if __has_attribute(constructor)
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#define mjPLUGIN_LIB_INIT __attribute__((constructor)) static void _mjplugin_init(void)
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#endif // __has_attribute(constructor)
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#elif defined(_MSC_VER)
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#ifndef mjDLLMAIN
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#define mjDLLMAIN DllMain
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#endif
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#if !defined(mjEXTERNC)
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#if defined(__cplusplus)
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#define mjEXTERNC extern "C"
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#else
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#define mjEXTERNC
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#endif // defined(__cplusplus)
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#endif // !defined(mjEXTERNC)
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// NOLINTBEGIN(runtime/int)
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#define mjPLUGIN_LIB_INIT \
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static void _mjplugin_dllmain(void); \
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mjEXTERNC int __stdcall mjDLLMAIN(void* hinst, unsigned long reason, void* reserved) { \
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if (reason == 1) { \
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_mjplugin_dllmain(); \
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} \
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return 1; \
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} \
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static void _mjplugin_dllmain(void)
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// NOLINTEND(runtime/int)
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#endif // defined(_MSC_VER)
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// function pointer type for mj_loadAllPluginLibraries callback
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typedef void (*mjfPluginLibraryLoadCallback)(const char* filename, int first, int count);
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#endif // MUJOCO_INCLUDE_MJPLUGIN_H_
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