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Mujoco_WASM/doc/includes/references.h
T
Yuval Tassa 2f1843f4a7 Redesign the dcmotor controller: setpoint inputs, torque-space gains. 
The dcmotor input block is any subset of the canonical list [pos, vel,
ff, voltage], selected with input="pos vel ff voltage" and recorded as
mjtCtrlInput bits in actuator_ctrlspec like pid. Tokens are required in
canonical order: the attribute denotes a set, the block always packs
canonically, and accepting permutations invites reading the string as a
layout choice. The mode flag in gainprm[8] is retired (reserved,
written 0).

Controller gains are now in torque space, as for pid: the controller
commands tau = kp*(q*-l) + kd*(v*-ldot) + ki*x_I + tau_ff over the
present inputs (absent setpoints frozen at zero) and converts to drive
voltage V = R/K * tau + K*ldot. The second term compensates back-EMF,
as the current loop of a real torque-mode driver does (torque commands
are current commands): commanded torque is delivered exactly until a
limit binds, and the torque-speed envelope emerges from the Vmax clamp.
The map uses the nameplate R: thermal resistance growth is not
compensated, so a hot motor under-delivers by R/R(T). A stateless
setpoint dcmotor now matches <pid> exactly, for any K and R; the old
back-EMF droop remains available as the physical behavior of the raw
voltage path. Voltage-space datasheet gains convert by K/R. Controller
inputs require a positive motor constant (the map divides by K), and
controller gains require a controller input.

ff and voltage are distinct inputs, different in kind: ff is a torque
feedforward added to the controller output, uniform with pid's ff
(feedforward in the actuator's output space), while voltage is the raw
terminal voltage of the physical device, injected downstream of the
controller and its Vmax clamp, unclamped (ctrlrange bounds it if
desired). input="voltage" is the default: the plain voltage-commanded
motor, whose behavior is unchanged by this commit. The integrator
always accumulates position error; the old velocity mode's integral
term, ki*(int(u)dt - theta), which tracked the integral of the velocity
command, is retired without replacement, keeping ki mode-independent --
commanded integrated velocity belongs to an integrator activation
state, not to controller gains. slewmax rate-limits the first controller
input -- position setpoint (rad/s), velocity setpoint (rad/s^2) or torque
feedforward (N*m/s), each a real driver feature (reference ramping,
ramped-velocity and ramped-torque input modes); the raw voltage input
is never rate-limited and slewmax requires a controller input.

input="none" selects the empty signature: the actuator owns no controls
at all (nu = 0 is now legal with actuators present) and is purely
passive -- LuGre friction, cogging and back-EMF braking as passive
joint forces. This exists because auxiliary dynamic states (the LuGre
bristle) attach to actuators, not joints. The terminal voltage is
identically zero, i.e. a shorted motor (dynamic braking); motorconst=0
decouples the electrical branch. mjINPUT_NONE is a distinct enum value
because ctrlspec = 0 means "unset, use the type default". History and
delay require an input; the controller voltage override and input read
in mj_fwdActuation are gated on a nonempty block.

The analytic velocity derivative of the controller becomes
dV/dw = -kd*R/K + K, whose second term cancels the back-EMF bias
exactly: the net damping of an unclipped torque-mode motor is -kd, and
of a voltage-mode or passive motor -K^2/R. Viewers label inputs via
mj_actuatorInputName: pos, vel, ff, voltage.

The dcmotor LaTeX design doc is updated accordingly: torque-space
units, the tau->V map and its saturation-generated envelope, the
input-block pipeline figure, and a Passive Operation section.

PiperOrigin-RevId: 965795351
Change-Id: Ibc308ca21bd6bad014e77f950ee08feaad449b73
2026-08-17 00:43:48 -07:00

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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
// Error: C reference not found
// NOLINTBEGIN
typedef struct mjPreContact_ { // contact parameters set by narrowphase collision functions
mjtNum dist;
mjtNum pos[3];
mjtNum normal[3]; // contact normal of the collision
mjtNum tangent[3]; // first tangent direction
} mjPreContact;
typedef struct mjContact_ { // result of collision detection functions
// contact parameters set by narrowphase collision function
mjtNum dist; // distance between nearest points; neg: penetration
mjtNum pos[3]; // position of contact point: midpoint between geoms
mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms
mjtNum includemargin; // margin for force generation
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
mjtNum solref[mjNREF]; // constraint solver reference, normal direction
mjtNum solreffriction[mjNREF]; // constraint solver reference, friction directions
mjtNum solimp[mjNIMP]; // constraint solver impedance
mjtNum adhesion; // adhesive force along the contact normal
// internal storage used by solver
mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
mjtNum H[36]; // cone Hessian, set by mj_constraintUpdate
// contact descriptors set by mj_collideXXX
int dim; // contact space dimensionality: 1, 3, 4 or 6
int geom1; // id of geom 1; deprecated, use geom[0]
int geom2; // id of geom 2; deprecated, use geom[1]
int geom[2]; // geom ids; -1 for flex
int flex[2]; // flex ids; -1 for geom
int elem[2]; // element ids; -1 for geom or flex vertex
int vert[2]; // vertex ids; -1 for geom or flex element
// flag set by mj_setContact or mj_instantiateContact
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
// address computed by mj_instantiateContact
int efc_address; // address in efc; -1: not included
} mjContact;
typedef struct mjWarningStat_ { // warning statistics
int lastinfo; // info from last warning
int number; // how many times was warning raised
} mjWarningStat;
typedef struct mjTimerStat_ { // timer statistics
mjtNum duration; // cumulative duration
int number; // how many times was timer called
} mjTimerStat;
typedef struct mjSolverStat_ { // per-iteration solver statistics
mjtNum improvement; // cost reduction, scaled by 1/trace(M(qpos0))
mjtNum gradient; // gradient norm (primal only, scaled)
mjtNum lineslope; // slope in linesearch
int nactive; // number of active constraints
int nchange; // number of constraint state changes
int neval; // number of cost evaluations in line search
int nupdate; // number of Cholesky updates in line search
} mjSolverStat;
typedef struct mjData_ {
// constant sizes
mjtSize narena; // size of the arena in bytes (inclusive of the stack)
mjtSize nbuffer; // size of main buffer in bytes
int nplugin; // number of plugin instances
// stack pointer
size_t pstack; // first available byte in stack (mutable)
size_t pbase; // value of pstack when mj_markStack was last called (mutable)
// arena pointer
size_t parena; // first available byte in arena
// threading
uintptr_t threadpool; // thread pool pointer
mjtBool threadlock; // disable stack freeing during threaded execution
// memory utilization statistics
mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in solver matrix, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics (mutable)
mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes
int ncon; // number of detected contacts
int ne; // number of equality constraints
int nf; // number of friction constraints
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int efm_active; // implicit effective metric M+K is active (see mjd_effBuild)
int nefmK; // number of non-zeros in effective-stiffness CSR
int nefmdof; // number of 3x3 blocks in the effective-metric preconditioner
int nefmL; // size of the effective-metric block storage (9*nefmdof)
int nY; // number of non-zeros in constraint inverse inertia square root
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
int nidof; // number of dofs in all islands
int ntree_awake; // number of awake trees
int nbody_awake; // number of awake dynamic and static bodies
int nparent_awake; // number of bodies with awake parents
int nv_awake; // number of awake dofs
// flags marking lazily evaluated stages
mjtBool flg_energypos; // has mj_energyPos been called
mjtBool flg_energyvel; // has mj_energyVel been called
mjtBool flg_subtreevel; // has mj_subtreeVel been called
mjtBool flg_rnepost; // has mj_rnePostConstraint been called
// global properties
mjtNum time; // simulation time
mjtNum energy[2]; // potential, kinetic energy
//-------------------- end of info header
// buffers
void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
void* arena; // arena+stack buffer (narena bytes)
//-------------------- main inputs and outputs of the computation
// state
mjtNum* qpos; // position (nq x 1)
mjtNum* qvel; // velocity (nv x 1)
mjtNum* act; // actuator activation (na x 1)
mjtNum* history; // history buffer (nhistory x 1)
mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
mjtNum* plugin_state; // plugin state (npluginstate x 1)
// control
mjtNum* ctrl; // control (nu x 1)
mjtNum* qfrc_applied; // applied generalized force (nv x 1)
mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
mjtBool* eq_active; // enable/disable constraints (neq x 1)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
// dynamics
mjtNum* qacc; // acceleration (nv x 1)
mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
// user data
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
// sensors
mjtNum* sensordata; // sensor data array (nsensordata x 1)
// sleep state
int* tree_asleep; // <0: awake; >=0: index cycle of sleeping trees (ntree x 1)
// plugins
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
//-------------------- POSITION dependent
// computed by mj_fwdPosition/mj_kinematics
mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
mjtNum* xipos; // Cartesian position of body com (nbody x 3)
mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
mjtNum* site_xpos; // Cartesian site position (nsite x 3)
mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
mjtNum* light_xpos; // Cartesian light position (nlight x 3)
mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
// computed by mj_fwdPosition/mj_comPos
mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
mjtNum* cdof; // com-based motion axis of each dof (rot:lin) (nv x 6)
mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
// computed by mj_fwdPosition/mj_flex
mjtNum* flexvert_xpos; // Cartesian flex vertex positions (nflexvert x 3)
mjtNum* flexelem_aabb; // flex element bounding boxes (center, size) (nflexelem x 6)
mjtNum* flexelem_krot; // corotated element stiffness (implicit only) (nflexstiffness x 1)
mjtNum* flexedge_J; // flex edge Jacobian (nJfe x 1)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* flexvert_J; // flex vertex Jacobian (nJfv x 2)
mjtNum* flexvert_length; // flex vertex lengths (nflexvert x 2)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
mjtNum* ten_J; // tendon Jacobian (nJten x 1)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths, one per force output (nout x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nout x 1)
int* moment_rowadr; // row start address in colind array (nout x 1)
int* moment_colind; // column indices in sparse Jacobian (nJmom x 1)
mjtNum* actuator_moment; // actuator moments (nJmom x 1)
// computed by mj_fwdPosition/mj_makeM
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
mjtNum* M; // inertia (sparse) (nC x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collision/mj_collideTree
mjtBool* bvh_active; // was bounding volume checked for collision (nbvh x 1)
// computed by mj_updateSleep
int* tree_awake; // is tree awake; 0: asleep; 1: awake (ntree x 1)
int* body_awake; // body sleep state (mjtSleepState) (nbody x 1)
int* body_awake_ind; // indices of awake and static bodies (nbody x 1)
int* parent_awake_ind; // indices of bodies with awake or static parents (nbody x 1)
int* dof_awake_ind; // indices of awake dofs (nv x 1)
//-------------------- POSITION, VELOCITY dependent
// computed by mj_fwdVelocity
mjtNum* flexedge_velocity; // flex edge velocities (nflexedge x 1)
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
mjtNum* actuator_velocity; // actuator velocities, one per force output (nout x 1)
// computed by mj_fwdVelocity/mj_comVel
mjtNum* cvel; // com-based velocity (rot:lin) (nbody x 6)
mjtNum* cdof_dot; // time-derivative of cdof (rot:lin) (nv x 6)
// computed by mj_fwdVelocity/mj_rne (without acceleration)
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_spring; // passive spring force (nv x 1)
mjtNum* qfrc_damper; // passive damper force (nv x 1)
mjtNum* qfrc_gravcomp; // passive gravity compensation force (nv x 1)
mjtNum* qfrc_fluid; // passive fluid force (nv x 1)
mjtNum* qfrc_adhesion; // passive contact adhesion force (nv x 1)
mjtNum* qfrc_passive; // total passive force (nv x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_implicit/mj_derivative
mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
// computed by mj_implicit/mju_factorLUSparse
mjtNum* qLU; // sparse LU of (M - dt*qDeriv) (nD x 1)
//-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdActuation
mjtNum* actuator_force; // actuator force in actuation space (nout x 1)
mjtNum* qfrc_actuator; // actuator force in joint space (nv x 1)
// computed by mj_fwdAcceleration
mjtNum* qfrc_smooth; // net unconstrained force (nv x 1)
mjtNum* qacc_smooth; // unconstrained acceleration (nv x 1)
// computed by mj_fwdConstraint/mj_inverse
mjtNum* qfrc_constraint; // constraint force (nv x 1)
// computed by mj_inverse
mjtNum* qfrc_inverse; // net external force; should equal:
// qfrc_applied + J'*xfrc_applied + qfrc_actuator (nv x 1)
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
mjtNum* cacc; // com-based acceleration (nbody x 6)
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
//-------------------- arena-allocated: POSITION dependent
// computed by mj_collision
mjContact* contact; // array of all detected contacts (ncon x 1)
// computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
int* efc_id; // id of object of specified type (nefc x 1)
int* efc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nJ x 1)
mjtNum* efc_J; // constraint Jacobian (nJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagA; // diagonal of A matrix, approximate or exact (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
int* tendon_efcadr; // first efc address involving tendon; -1: none (ntendon x 1)
// computed by mj_island (island tree structure)
int* tree_island; // island id of this tree; -1: none (ntree x 1)
int* island_ntree; // number of trees in this island (nisland x 1)
int* island_itreeadr; // island start address in itree vector (nisland x 1)
int* map_itree2tree; // map from itree to tree (ntree x 1)
// computed by mj_island (island dof structure)
int* dof_island; // island id of this dof; -1: none (nv x 1)
int* island_nv; // number of dofs in this island (nisland x 1)
int* island_idofadr; // island start address in idof vector (nisland x 1)
int* island_dofadr; // island start address in dof vector (nisland x 1)
int* map_dof2idof; // map from dof to idof (nv x 1)
int* map_idof2dof; // map from idof to dof; >= nidof: unconstrained (nv x 1)
// computed by mj_island (dofs sorted by island)
mjtNum* ifrc_smooth; // net unconstrained force (nidof x 1)
mjtNum* iacc_smooth; // unconstrained acceleration (nidof x 1)
mjtNum* iacc; // acceleration (nidof x 1)
// computed by mj_island (island constraint structure)
int* efc_island; // island id of this constraint (nefc x 1)
int* island_ne; // number of equality constraints in island (nisland x 1)
int* island_nf; // number of friction constraints in island (nisland x 1)
int* island_nefc; // number of constraints in island (nisland x 1)
int* island_iefcadr; // start address in iefc vector (nisland x 1)
int* map_efc2iefc; // map from efc to iefc (nefc x 1)
int* map_iefc2efc; // map from iefc to efc (nefc x 1)
// computed by mj_island (constraints sorted by island)
int* iefc_type; // constraint type (mjtConstraint) (nefc x 1)
int* iefc_id; // id of object of specified type (nefc x 1)
mjtNum* iefc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* iefc_D; // constraint mass (nefc x 1)
mjtNum* iefc_R; // inverse constraint mass (nefc x 1)
// computed by mj_projectConstraint (PGS solver)
int* efc_Y_rownnz; // number of non-zeros in Y row (nefc x 1)
int* efc_Y_rowadr; // row start address in Y colind array (nefc x 1)
int* efc_Y_colind; // column indices in sparse Y (nY x 1)
mjtNum* efc_Y; // whitened Jacobian Y = J*M^(-1/2) (nY x 1)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in AR colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nA x 1)
mjtNum* efc_AR; // J*inv(M)*J' + R (nA x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
// computed by mj_fwdPosition/mj_invPosition when the implicit effective metric M+K is active
mjtNum* efm_c; // smooth-force shift h*K*qvel (nv x 1)
int* efm_K_rownnz; // effective-stiffness CSR row nonzeros (nv x 1)
int* efm_K_rowadr; // effective-stiffness CSR row addresses (nv x 1)
int* efm_K_colind; // effective-stiffness CSR column indices (nefmK x 1)
mjtNum* efm_K_val; // effective-stiffness CSR values (nefmK x 1)
int* efm_dofid; // block k -> dof address of its vertex triple (nefmdof x 1)
mjtNum* efm_L; // factored 3x3 diagonal blocks of M+K (nefmL x 1)
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* iefc_aref; // reference pseudo-acceleration (nefc x 1)
int* iefc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* iefc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
mjtNum* ifrc_constraint; // constraint force (nidof x 1)
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled the model
} mjData;
typedef struct mjLROpt_ { // options for mj_setLengthRange()
// flags
int mode; // which actuators to process (mjtLRMode)
int useexisting; // use existing length range if available
int uselimit; // use joint and tendon limits if available
// algorithm parameters
mjtNum accel; // target acceleration used to compute force
mjtNum maxforce; // maximum force; 0: no limit
mjtNum timeconst; // time constant for velocity reduction; min 0.01
mjtNum timestep; // simulation timestep; 0: use mjOption.timestep
mjtNum inttotal; // total simulation time interval
mjtNum interval; // evaluation time interval (at the end)
mjtNum tolrange; // convergence tolerance (relative to range)
} mjLROpt;
typedef struct mjCache_ { // asset cache used by the compiler
void* impl_; // internal pointer to cache
} mjCache;
typedef struct mjVFS_ { // virtual file system for loading from memory
void* impl_; // internal pointer to VFS memory
} mjVFS;
typedef struct mjOption_ { // physics options
// timing parameters
mjtNum timestep; // timestep
// solver parameters
mjtNum impratio; // ratio of friction-to-normal contact impedance
mjtNum tolerance; // main solver tolerance
mjtNum ls_tolerance; // CG/Newton linesearch tolerance
mjtNum noslip_tolerance; // noslip solver tolerance
mjtNum ccd_tolerance; // convex collision solver tolerance
// sleep settings
mjtNum sleep_tolerance; // sleep velocity tolerance
// physical constants
mjtNum gravity[3]; // gravitational acceleration
mjtNum wind[3]; // wind (for lift, drag and viscosity)
mjtNum magnetic[3]; // global magnetic flux
mjtNum density; // density of medium
mjtNum viscosity; // viscosity of medium
// override contact solver parameters (if enabled)
mjtNum o_margin; // margin
mjtNum o_solref[mjNREF]; // solref
mjtNum o_solimp[mjNIMP]; // solimp
mjtNum o_friction[5]; // friction
// discrete settings
int integrator; // integration mode (mjtIntegrator)
int cone; // type of friction cone (mjtCone)
int jacobian; // type of Jacobian (mjtJacobian)
int solver; // solver algorithm (mjtSolver)
int iterations; // maximum number of main solver iterations
int ls_iterations; // maximum number of CG/Newton linesearch iterations
int noslip_iterations; // maximum number of noslip solver iterations
int ccd_iterations; // maximum number of convex collision solver iterations
int disableflags; // bit flags for disabling standard features
int enableflags; // bit flags for enabling optional features
int disableactuator; // bit flags for disabling actuators by group id
// sdf collision settings
int sdf_initpoints; // number of starting points for gradient descent
int sdf_iterations; // max number of iterations for gradient descent
} mjOption;
typedef struct mjVisual_ { // visualization options
struct { // global parameters
int cameraid; // initial camera id (-1: free)
int orthographic; // is the free camera orthographic (0: no, 1: yes)
float fovy; // y field-of-view of free camera (orthographic ? length : degree)
float ipd; // inter-pupilary distance for free camera
float azimuth; // initial azimuth of free camera (degrees)
float elevation; // initial elevation of free camera (degrees)
float linewidth; // line width for wireframe and ray rendering
float glow; // glow coefficient for selected body
float realtime; // initial real-time factor (1: real time)
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
int bvactive; // visualize active bounding volumes (0: no, 1: yes)
} global;
struct { // rendering quality
int shadowsize; // size of shadowmap texture
int offsamples; // number of multisamples for offscreen rendering
int numslices; // number of slices for builtin geom drawing
int numstacks; // number of stacks for builtin geom drawing
int numquads; // number of quads for box rendering
} quality;
struct { // head light
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
int active; // is headlight active
} headlight;
struct { // mapping
float stiffness; // mouse perturbation stiffness (space->force)
float stiffnessrot; // mouse perturbation stiffness (space->torque)
float force; // from force units to space units
float torque; // from torque units to space units
float alpha; // scale geom alphas when transparency is enabled
float fogstart; // OpenGL fog starts at fogstart * mjModel.stat.extent
float fogend; // OpenGL fog ends at fogend * mjModel.stat.extent
float znear; // near clipping plane = znear * mjModel.stat.extent
float zfar; // far clipping plane = zfar * mjModel.stat.extent
float haze; // haze ratio
float shadowclip; // directional light: shadowclip * mjModel.stat.extent
float shadowscale; // spot light: shadowscale * light.cutoff
float actuatortendon; // scale tendon width
} map;
struct { // scale of decor elements relative to mean body size
float forcewidth; // width of force arrow
float contactwidth; // contact width
float contactheight; // contact height
float connect; // autoconnect capsule width
float com; // com radius
float camera; // camera object
float light; // light object
float selectpoint; // selection point
float jointlength; // joint length
float jointwidth; // joint width
float actuatorlength; // actuator length
float actuatorwidth; // actuator width
float framelength; // bodyframe axis length
float framewidth; // bodyframe axis width
float constraint; // constraint width
float slidercrank; // slidercrank width
float frustum; // frustum zfar plane
} scale;
struct { // color of decor elements
float fog[4]; // fog
float haze[4]; // haze
float force[4]; // external force
float inertia[4]; // inertia box
float joint[4]; // joint
float actuator[4]; // actuator, neutral
float actuatornegative[4]; // actuator, negative limit
float actuatorpositive[4]; // actuator, positive limit
float com[4]; // center of mass
float camera[4]; // camera object
float light[4]; // light object
float selectpoint[4]; // selection point
float connect[4]; // auto connect
float contactpoint[4]; // contact point
float contactforce[4]; // contact force
float contactfriction[4]; // contact friction force
float contacttorque[4]; // contact torque
float contactgap[4]; // contact point in gap
float rangefinder[4]; // rangefinder ray
float constraint[4]; // constraint
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
float frustum[4]; // camera frustum
float bv[4]; // bounding volume
float bvactive[4]; // active bounding volume
} rgba;
} mjVisual;
typedef struct mjStatistic_ { // model statistics (in qpos0)
mjtNum meaninertia; // mean diagonal inertia
mjtNum meanmass; // mean body mass
mjtNum meansize; // mean body size
mjtNum extent; // spatial extent
mjtNum center[3]; // center of model
} mjStatistic;
typedef struct mjModel_ {
// ------------------------------- sizes
// sizes needed at mjModel construction
mjtSize nq; // number of generalized coordinates = dim(qpos)
mjtSize nv; // number of degrees of freedom = dim(qvel)
mjtSize nu; // number of scalar controls = dim(ctrl)
mjtSize nactuator; // number of actuators
mjtSize nout; // number of force outputs, derived from transmission type
mjtSize na; // number of activation states = dim(act)
mjtSize nbody; // number of bodies
mjtSize nbvh; // number of total bounding volumes in all bodies
mjtSize nbvhstatic; // number of static bounding volumes (aabb stored in mjModel)
mjtSize nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
mjtSize noct; // number of total octree cells in all meshes
mjtSize njnt; // number of joints
mjtSize ntree; // number of kinematic trees under world body
mjtSize nM; // number of non-zeros in sparse inertia matrix
mjtSize nB; // number of non-zeros in sparse body-dof matrix
mjtSize nC; // number of non-zeros in sparse reduced dof-dof matrix
mjtSize nD; // number of non-zeros in sparse dof-dof matrix
mjtSize ngeom; // number of geoms
mjtSize nsite; // number of sites
mjtSize ncam; // number of cameras
mjtSize nlight; // number of lights
mjtSize nflex; // number of flexes
mjtSize nflexnode; // number of dofs in all flexes
mjtSize nflexvert; // number of vertices in all flexes
mjtSize nflexedge; // number of edges in all flexes
mjtSize nflexelem; // number of elements in all flexes
mjtSize nflexelemdata; // number of element vertex ids in all flexes
mjtSize nflexstiffness; // number of stiffness parameters in all flexes
mjtSize nflexbending; // number of bending parameters in all flexes
mjtSize nefm0dof; // number of dofs covered by the constant metric factor
mjtSize nefm0L; // number of non-zeros in the constant metric factor
mjtSize nflexelemedge; // number of element edge ids in all flexes
mjtSize nflexshelldata; // number of shell fragment vertex ids in all flexes
mjtSize nflexevpair; // number of element-vertex pairs in all flexes
mjtSize nflextexcoord; // number of vertices with texture coordinates
mjtSize nJfe; // number of non-zeros in sparse flexedge Jacobian matrix
mjtSize nJfv; // number of non-zeros in sparse flexvert Jacobian matrix
mjtSize nmesh; // number of meshes
mjtSize nmeshvert; // number of vertices in all meshes
mjtSize nmeshnormal; // number of normals in all meshes
mjtSize nmeshtexcoord; // number of texcoords in all meshes
mjtSize nmeshface; // number of triangular faces in all meshes
mjtSize nmeshgraph; // number of ints in mesh auxiliary data
mjtSize nmeshpoly; // number of polygons in all meshes
mjtSize nmeshpolyvert; // number of vertices in all polygons
mjtSize nmeshpolymap; // number of polygons in vertex map
mjtSize nskin; // number of skins
mjtSize nskinvert; // number of vertices in all skins
mjtSize nskintexvert; // number of vertices with texcoords in all skins
mjtSize nskinface; // number of triangular faces in all skins
mjtSize nskinbone; // number of bones in all skins
mjtSize nskinbonevert; // number of vertices in all skin bones
mjtSize nhfield; // number of heightfields
mjtSize nhfielddata; // number of data points in all heightfields
mjtSize ntex; // number of textures
mjtSize ntexdata; // number of bytes in texture rgb data
mjtSize nmat; // number of materials
mjtSize npair; // number of predefined geom pairs
mjtSize nexclude; // number of excluded geom pairs
mjtSize neq; // number of equality constraints
mjtSize ntendon; // number of tendons
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize nwrap; // number of wrap objects in all tendon paths
mjtSize nsensor; // number of sensors
mjtSize nnumeric; // number of numeric custom fields
mjtSize nnumericdata; // number of mjtNums in all numeric fields
mjtSize ntext; // number of text custom fields
mjtSize ntextdata; // number of mjtBytes in all text fields
mjtSize ntuple; // number of tuple custom fields
mjtSize ntupledata; // number of objects in all tuple fields
mjtSize nkey; // number of keyframes
mjtSize nmocap; // number of mocap bodies
mjtSize nplugin; // number of plugin instances
mjtSize npluginattr; // number of chars in all plugin config attributes
mjtSize nuser_body; // number of mjtNums in body_user
mjtSize nuser_jnt; // number of mjtNums in jnt_user
mjtSize nuser_geom; // number of mjtNums in geom_user
mjtSize nuser_site; // number of mjtNums in site_user
mjtSize nuser_cam; // number of mjtNums in cam_user
mjtSize nuser_tendon; // number of mjtNums in tendon_user
mjtSize nuser_actuator; // number of mjtNums in actuator_user
mjtSize nuser_sensor; // number of mjtNums in sensor_user
mjtSize nnames; // number of chars in all names
mjtSize npaths; // number of chars in all paths
// sizes set after mjModel construction
mjtSize nnames_map; // number of slots in the names hash map
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize ngravcomp; // number of bodies with nonzero gravcomp
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
mjtSize nconmax; // number of potential contacts in contact list (legacy)
mjtSize npolygonmax; // maximum number of vertices in a mesh polygon
mjtSize nmeshdegmax; // maximum number of edges adjacent to a mesh vertex
mjtSize nuserdata; // number of mjtNums reserved for the user
mjtSize nsensordata; // number of mjtNums in sensor data vector
mjtSize npluginstate; // number of mjtNums in plugin state vector
mjtSize nhistory; // number of mjtNums in history buffer
// buffer sizes
mjtSize narena; // number of bytes in the mjData arena (inclusive of stack)
mjtSize nbuffer; // number of bytes in buffer
// ------------------------------- flags
mjtBool flg_gravcomp; // whether any body has nonzero gravcomp
mjtBool flg_surfacevel; // whether any geom has nonzero surfacevel
mjtBool flg_adhesion; // whether any geom or pair has nonzero adhesion
// ------------------------------- options and statistics
mjOption opt; // physics options
mjVisual vis; // visualization options
mjStatistic stat; // model statistics
// ------------------------------- buffers
// main buffer
void* buffer; // main buffer; all pointers point in it (nbuffer)
// default generalized coordinates
mjtNum* qpos0; // qpos values at default pose (nq x 1)
mjtNum* qpos_spring; // reference pose for springs (nq x 1)
// bodies
int* body_parentid; // id of body's parent (nbody x 1)
int* body_rootid; // ancestor that is direct child of world (nbody x 1)
int* body_weldid; // top dof-less ancestor; mocap: own root (nbody x 1)
int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
int* body_jntnum; // number of joints for this body (nbody x 1)
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
int* body_treeid; // id of body's kinematic tree; -1: static (nbody x 1)
int* body_geomnum; // number of geoms (nbody x 1)
int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
mjtByte* body_simple; // 1: diag M; 2: diag M, sliders only (nbody x 1)
mjtByte* body_sameframe; // same frame as inertia (mjtSameframe) (nbody x 1)
mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
mjtNum* body_ipos; // local position of center of mass (nbody x 3)
mjtNum* body_iquat; // local orientation of inertia ellipsoid (nbody x 4)
mjtNum* body_mass; // mass (nbody x 1)
mjtNum* body_subtreemass; // mass of subtree starting at this body (nbody x 1)
mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
mjtNum* body_margin; // MAX over all geom margins+gaps (nbody x 1)
mjtNum* body_user; // user data (nbody x nuser_body)
int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
int* body_contype; // OR over all geom contypes (nbody x 1)
int* body_conaffinity; // OR over all geom conaffinities (nbody x 1)
int* body_bvhadr; // address of bvh root (nbody x 1)
int* body_bvhnum; // number of bounding volumes (nbody x 1)
// bounding volume hierarchy
int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
int* bvh_child; // left and right children in tree (nbvh x 2)
int* bvh_nodeid; // geom or elem id of node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // local bounding box (center, size) (nbvhstatic x 6)
// octree spatial partitioning
int* oct_depth; // depth in the octree (noct x 1)
int* oct_child; // children of octree node (noct x 8)
mjtNum* oct_aabb; // octree node bounding box (center, size) (noct x 6)
mjtNum* oct_coeff; // octree interpolation coefficients (noct x 8)
// joints
int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_actuatorid; // actuator contributing damping / armature (njnt x 1)
int* jnt_group; // group for visibility (njnt x 1)
mjtBool* jnt_limited; // does joint have limits (njnt x 1)
mjtBool* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
mjtBool* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
mjtNum* jnt_pos; // local anchor position (njnt x 3)
mjtNum* jnt_axis; // local joint axis (njnt x 3)
mjtNum* jnt_stiffness; // linear stiffness coefficient (njnt x 1)
mjtNum* jnt_stiffnesspoly; // high-order stiffness coefficients (njnt x mjNPOLY)
mjtNum* jnt_range; // joint limits (njnt x 2)
mjtNum* jnt_actfrcrange; // range of total actuator force (njnt x 2)
mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
mjtNum* jnt_user; // user data (njnt x nuser_jnt)
// dofs
int* dof_bodyid; // id of dof's body (nv x 1)
int* dof_jntid; // id of dof's joint (nv x 1)
int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
int* dof_treeid; // id of dof's kinematic tree (nv x 1)
int* dof_Madr; // dof address in M-diagonal (nv x 1)
int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
mjtNum* dof_damping; // linear damping coefficient (nv x 1)
mjtNum* dof_dampingpoly; // high-order damping coefficients (nv x mjNPOLY)
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
mjtNum* dof_length; // linear: 1; angular: approx. length scale (nv x 1)
// trees
int* tree_bodyadr; // start addr of bodies (ntree x 1)
int* tree_bodynum; // number of bodies in tree (ntree x 1)
int* tree_dofadr; // start addr of dofs (ntree x 1)
int* tree_dofnum; // number of dofs in tree (ntree x 1)
int* tree_sleep_policy; // sleep policy (mjtSleepPolicy) (ntree x 1)
// geoms
int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
int* geom_contype; // geom contact type (ngeom x 1)
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
int* geom_bodyid; // id of geom's body (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield; -1: none (ngeom x 1)
int* geom_matid; // material id for rendering; -1: none (ngeom x 1)
int* geom_group; // group for visibility (ngeom x 1)
int* geom_priority; // geom contact priority (ngeom x 1)
int* geom_plugin; // plugin instance id; -1: not in use (ngeom x 1)
mjtByte* geom_sameframe; // same frame as body (mjtSameframe) (ngeom x 1)
mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
mjtNum* geom_size; // geom-specific size parameters (ngeom x 3)
mjtNum* geom_aabb; // bounding box, (center, size) (ngeom x 6)
mjtNum* geom_rbound; // radius of bounding sphere (ngeom x 1)
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // geometric inflation for contact (ngeom x 1)
mjtNum* geom_gap; // additional contact detection buffer (ngeom x 1)
mjtNum* geom_surfacevel; // surface velocity in local frame: lin,ang (ngeom x 6)
mjtNum* geom_adhesion; // adhesive force of contacts (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
// sites
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
int* site_bodyid; // id of site's body (nsite x 1)
int* site_matid; // material id for rendering; -1: none (nsite x 1)
int* site_group; // group for visibility (nsite x 1)
mjtByte* site_sameframe; // same frame as body (mjtSameframe) (nsite x 1)
mjtNum* site_size; // geom size for rendering (nsite x 3)
mjtNum* site_pos; // local position offset rel. to body (nsite x 3)
mjtNum* site_quat; // local orientation offset rel. to body (nsite x 4)
mjtNum* site_user; // user data (nsite x nuser_site)
float* site_rgba; // rgba when material is omitted (nsite x 4)
// cameras
int* cam_mode; // camera tracking mode (mjtCamLight) (ncam x 1)
int* cam_bodyid; // id of camera's body (ncam x 1)
int* cam_targetbodyid; // id of targeted body; -1: none (ncam x 1)
mjtNum* cam_pos; // position rel. to body frame (ncam x 3)
mjtNum* cam_quat; // orientation rel. to body frame (ncam x 4)
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
int* cam_projection; // projection type (mjtProjection) (ncam x 1)
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
int* cam_output; // output types (mjtCamOut bit flags) (ncam x 1)
float* cam_sensorsize; // sensor size: length [width, height] (ncam x 2)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
mjtNum* cam_user; // user data (ncam x nuser_cam)
// lights
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
int* light_bodyid; // id of light's body (nlight x 1)
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
int* light_type; // spot, directional, etc. (mjtLightType) (nlight x 1)
int* light_texid; // texture id for image lights (nlight x 1)
mjtBool* light_castshadow; // does light cast shadows (nlight x 1)
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
float* light_intensity; // intensity, in candela (nlight x 1)
float* light_range; // range of effectiveness (nlight x 1)
mjtBool* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
float* light_attenuation; // OpenGL attenuation (quadratic model) (nlight x 3)
float* light_cutoff; // OpenGL cutoff (nlight x 1)
float* light_softness; // spotlight edge softness (nlight x 1)
float* light_exponent; // OpenGL exponent (nlight x 1)
float* light_ambient; // ambient rgb (alpha=1) (nlight x 3)
float* light_diffuse; // diffuse rgb (alpha=1) (nlight x 3)
float* light_specular; // specular rgb (alpha=1) (nlight x 3)
// flexes: contact properties
int* flex_contype; // flex contact type (nflex x 1)
int* flex_conaffinity; // flex contact affinity (nflex x 1)
int* flex_condim; // contact dimensionality (1, 3, 4, 6) (nflex x 1)
int* flex_priority; // flex contact priority (nflex x 1)
mjtNum* flex_solmix; // mix coef for solref/imp in contact pair (nflex x 1)
mjtNum* flex_solref; // constraint solver reference: contact (nflex x mjNREF)
mjtNum* flex_solimp; // constraint solver impedance: contact (nflex x mjNIMP)
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
mjtNum* flex_margin; // geometric inflation for contact (nflex x 1)
mjtNum* flex_gap; // additional contact detection buffer (nflex x 1)
mjtBool* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
int* flex_passive; // passive collisions enabled (nflex x 1)
// flexes: other properties
int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)
int* flex_matid; // material id for rendering (nflex x 1)
int* flex_group; // group for visibility (nflex x 1)
int* flex_interp; // interpolation (0: vertex, 1: nodes) (nflex x 1)
int* flex_cellnum; // finite cell num per dimension (nflex x 3)
int* flex_nodeadr; // first node address (nflex x 1)
int* flex_nodenum; // number of nodes (nflex x 1)
int* flex_vertadr; // first vertex address (nflex x 1)
int* flex_vertnum; // number of vertices (nflex x 1)
int* flex_edgeadr; // first edge address (nflex x 1)
int* flex_edgenum; // number of edges (nflex x 1)
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_stiffnessadr; // stiffness matrix address (nflex x 1)
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
int* flex_bendingadr; // first bending data address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
int* flex_evpairadr; // first evpair address (nflex x 1)
int* flex_evpairnum; // number of evpairs (nflex x 1)
int* flex_texcoordadr; // address in flex_texcoord; -1: none (nflex x 1)
int* flex_nodebodyid; // node body ids (nflexnode x 1)
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_vertedgeadr; // first edge address (nflexvert x 1)
int* flex_vertedgenum; // number of edges (nflexvert x 1)
int* flex_vertedge; // edge indices (nflexedge x 2)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_edgeflap; // adjacent vertex ids (dim=2 only) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
int* flex_elemtexcoord; // element texture coordinates (dim+1) (nflexelemdata x 1)
int* flex_elemedge; // element edge ids (nflexelemedge x 1)
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
mjtNum* flex_vert; // vertex positions in local body frames (nflexvert x 3)
mjtNum* flex_vert0; // vertex positions in qpos0 on [0, 1]^d (nflexvert x 3)
mjtNum* flex_vertmetric; // inverse of reference shape matrix (nflexvert x 4)
mjtNum* flex_node; // node positions in local body frames (nflexnode x 3)
mjtNum* flex_node0; // Cartesian node positions in qpos0 (nflexnode x 3)
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_size; // vertex bounding box half sizes in qpos0 (nflex x 3)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexstiffness x 1)
mjtNum* flex_bending; // bending stiffness (nflexbending x 1)
int* efm0_dofid; // constant metric factor row->dof address (nefm0dof x 1)
int* efm0_L_rownnz; // constant metric factor row nonzeros (nefm0dof x 1)
int* efm0_L_rowadr; // constant metric factor row addresses (nefm0dof x 1)
int* efm0_L_colind; // constant metric factor column indices (nefm0L x 1)
mjtNum* efm0_L; // factor of M + (dt^2+dt*d)*K_bend (nefm0L x 1)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
int* flex_edgeequality; // 0:none, 1:edges, 2:vertices, 3:strain (nflex x 1)
mjtBool* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtBool* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtBool* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtBool* flex_flatskin; // render flex skin with flat shading (nflex x 1)
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nJfe x 1)
int* flexvert_J_rownnz; // number of non-zeros in Jacobian row (nflexvert x 2)
int* flexvert_J_rowadr; // row start address in colind array (nflexvert x 2)
int* flexvert_J_colind; // column indices in sparse Jacobian (nJfv x 2)
float* flex_rgba; // rgba when material is omitted (nflex x 4)
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)
// meshes
int* mesh_vertadr; // first vertex address (nmesh x 1)
int* mesh_vertnum; // number of vertices (nmesh x 1)
int* mesh_faceadr; // first face address (nmesh x 1)
int* mesh_facenum; // number of faces (nmesh x 1)
int* mesh_bvhadr; // address of bvh root (nmesh x 1)
int* mesh_bvhnum; // number of bvh (nmesh x 1)
int* mesh_octadr; // address of octree root (nmesh x 1)
int* mesh_octnum; // number of octree nodes (nmesh x 1)
int* mesh_normaladr; // first normal address (nmesh x 1)
int* mesh_normalnum; // number of normals (nmesh x 1)
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
int* mesh_extrema; // extremum vertices in 3x3x3 directions (nmesh x 27)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
int* mesh_face; // vertex face data (nmeshface x 3)
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
mjtNum* mesh_scale; // scaling applied to asset vertices (nmesh x 3)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
int* mesh_polynum; // number of polygons per mesh (nmesh x 1)
int* mesh_polyadr; // first polygon address per mesh (nmesh x 1)
mjtNum* mesh_polynormal; // all polygon normals (nmeshpoly x 3)
int* mesh_polyvertadr; // polygon vertex start address (nmeshpoly x 1)
int* mesh_polyvertnum; // number of vertices per polygon (nmeshpoly x 1)
int* mesh_polyvert; // all polygon vertices (nmeshpolyvert x 1)
int* mesh_polymapadr; // first polygon address per vertex (nmeshvert x 1)
int* mesh_polymapnum; // number of polygons per vertex (nmeshvert x 1)
int* mesh_polymap; // vertex to polygon map (nmeshpolymap x 1)
// skins
int* skin_matid; // skin material id; -1: none (nskin x 1)
int* skin_group; // group for visibility (nskin x 1)
float* skin_rgba; // skin rgba (nskin x 4)
float* skin_inflate; // inflate skin in normal direction (nskin x 1)
int* skin_vertadr; // first vertex address (nskin x 1)
int* skin_vertnum; // number of vertices (nskin x 1)
int* skin_texcoordadr; // texcoord data address; -1: no texcoord (nskin x 1)
int* skin_faceadr; // first face address (nskin x 1)
int* skin_facenum; // number of faces (nskin x 1)
int* skin_boneadr; // first bone in skin (nskin x 1)
int* skin_bonenum; // number of bones in skin (nskin x 1)
float* skin_vert; // vertex positions for all skin meshes (nskinvert x 3)
float* skin_texcoord; // vertex texcoords for all skin meshes (nskintexvert x 2)
int* skin_face; // triangle faces for all skin meshes (nskinface x 3)
int* skin_bonevertadr; // first vertex in each bone (nskinbone x 1)
int* skin_bonevertnum; // number of vertices in each bone (nskinbone x 1)
float* skin_bonebindpos; // bind pos of each bone (nskinbone x 3)
float* skin_bonebindquat; // bind quat of each bone (nskinbone x 4)
int* skin_bonebodyid; // body id of each bone (nskinbone x 1)
int* skin_bonevertid; // mesh ids of vertices in each bone (nskinbonevert x 1)
float* skin_bonevertweight; // weights of vertices in each bone (nskinbonevert x 1)
int* skin_pathadr; // address of asset path for skin; -1: none (nskin x 1)
// height fields
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
int* hfield_pathadr; // address of hfield asset path; -1: none (nhfield x 1)
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_nchannel; // number of channels in texture image (ntex x 1)
mjtSize* tex_adr; // start address in tex_data (ntex x 1)
mjtByte* tex_data; // pixel values (ntexdata x 1)
int* tex_pathadr; // address of texture asset path; -1: none (ntex x 1)
// materials
int* mat_texid; // indices of textures; -1: none (nmat x mjNTEXROLE)
mjtBool* mat_texuniform; // make texture cube uniform (nmat x 1)
float* mat_texrepeat; // texture repetition for 2d mapping (nmat x 2)
float* mat_emission; // emission (x rgb) (nmat x 1)
float* mat_specular; // specular (x white) (nmat x 1)
float* mat_shininess; // shininess coef (nmat x 1)
float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
float* mat_metallic; // metallic coef (nmat x 1)
float* mat_roughness; // roughness coef (nmat x 1)
float* mat_rgba; // rgba (nmat x 4)
// predefined geom pairs for collision detection; has precedence over exclude
int* pair_dim; // contact dimensionality (npair x 1)
int* pair_geom1; // id of geom1 (npair x 1)
int* pair_geom2; // id of geom2 (npair x 1)
int* pair_signature; // body1 << 16 + body2 (npair x 1)
mjtNum* pair_solref; // solver reference: contact normal (npair x mjNREF)
mjtNum* pair_solreffriction; // solver reference: contact friction (npair x mjNREF)
mjtNum* pair_solimp; // solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // geometric inflation for contact (npair x 1)
mjtNum* pair_gap; // additional contact detection buffer (npair x 1)
mjtNum* pair_adhesion; // adhesive force of contacts (npair x 1)
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
int* exclude_signature; // body1 << 16 + body2 (nexclude x 1)
// equality constraints
int* eq_type; // constraint type (mjtEq) (neq x 1)
int* eq_obj1id; // id of object 1 (neq x 1)
int* eq_obj2id; // id of object 2 (neq x 1)
int* eq_objtype; // type of both objects (mjtObj) (neq x 1)
mjtBool* eq_active0; // initial enable/disable constraint state (neq x 1)
mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
mjtNum* eq_data; // numeric data for constraint (neq x mjNEQDATA)
// tendons
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_actuatorid; // actuator contributing damping / armature (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtBool* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtBool* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
mjtNum* tendon_range; // tendon length limits (ntendon x 2)
mjtNum* tendon_actfrcrange; // range of total actuator force (ntendon x 2)
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
mjtNum* tendon_stiffness; // linear stiffness coefficient (ntendon x 1)
mjtNum* tendon_stiffnesspoly; // high-order stiffness coefficients (ntendon x mjNPOLY)
mjtNum* tendon_damping; // linear damping coefficient (ntendon x 1)
mjtNum* tendon_dampingpoly; // high-order damping coefficients (ntendon x mjNPOLY)
mjtNum* tendon_armature; // inertia associated with tendon velocity (ntendon x 1)
mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
mjtNum* tendon_lengthspring; // spring resting length range (ntendon x 2)
mjtNum* tendon_length0; // tendon length in qpos0 (ntendon x 1)
mjtNum* tendon_invweight0; // inv. weight in qpos0 (ntendon x 1)
mjtNum* tendon_user; // user data (ntendon x nuser_tendon)
float* tendon_rgba; // rgba when material is omitted (ntendon x 4)
// list of all wrap objects in tendon paths
int* wrap_type; // wrap object type (mjtWrap) (nwrap x 1)
int* wrap_objid; // object id: geom, site, joint (nwrap x 1)
mjtNum* wrap_prm; // divisor, joint coef, or site id (nwrap x 1)
// actuators
int* actuator_trntype; // transmission type (mjtTrn) (nactuator x 1)
int* actuator_dyntype; // dynamics type (mjtDyn) (nactuator x 1)
int* actuator_gaintype; // gain type (mjtGain) (nactuator x 1)
int* actuator_biastype; // bias type (mjtBias) (nactuator x 1)
int* actuator_ctrladr; // address of first control (nactuator x 1)
int* actuator_ctrlnum; // number of controls (nactuator x 1)
int* actuator_ctrlspec; // input signature, scoped by gaintype (nactuator x 1)
int* actuator_outadr; // address of first force output (nactuator x 1)
int* actuator_outnum; // number of force outputs, from trntype (nactuator x 1)
int* actuator_actadr; // first activation address; -1: stateless (nactuator x 1)
int* actuator_actnum; // number of activation variables (nactuator x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nactuator x 2)
mjtNum* actuator_cranklength; // crank length for slider-crank (nactuator x 1)
mjtNum* actuator_dynprm; // dynamics parameters (nactuator x mjNDYN)
mjtNum* actuator_gainprm; // gain parameters (nactuator x mjNGAIN)
mjtNum* actuator_biasprm; // bias parameters (nactuator x mjNBIAS)
mjtBool* actuator_actlimited; // is activation limited (nactuator x 1)
mjtNum* actuator_actrange; // range of activations (nactuator x 2)
mjtBool* actuator_actearly; // step activation before force (nactuator x 1)
int* actuator_history; // history buffer: [nsample, interp] (nactuator x 2)
int* actuator_historyadr; // address in history buffer; -1: none (nactuator x 1)
mjtNum* actuator_delay; // delay time; 0: no delay (nactuator x 1)
mjtNum* actuator_damping; // linear damping coefficient (nactuator x 1)
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nactuator x mjNPOLY)
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nactuator x 1)
int* actuator_group; // group for visibility (nactuator x 1)
mjtNum* actuator_user; // user data (nactuator x nuser_actuator)
int* actuator_plugin; // plugin instance id; -1: not a plugin (nactuator x 1)
mjtBool* actuator_forcelimited;// is force limited (nactuator x 1)
mjtNum* actuator_forcerange; // range of forces (nactuator x 2)
mjtBool* actuator_ctrllimited; // is control limited (nu x 1)
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
mjtNum* actuator_gear; // scale length and transmitted force (nout x 6)
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nout x 1)
mjtNum* actuator_length0; // actuator length in qpos0 (nout x 1)
mjtNum* actuator_lengthrange; // feasible actuator length range (nout x 2)
// sensors
int* sensor_type; // sensor type (mjtSensor) (nsensor x 1)
int* sensor_datatype; // numeric data type (mjtDataType) (nsensor x 1)
int* sensor_needstage; // required compute stage (mjtStage) (nsensor x 1)
int* sensor_objtype; // type of sensorized object (mjtObj) (nsensor x 1)
int* sensor_objid; // id of sensorized object (nsensor x 1)
int* sensor_reftype; // type of reference frame (mjtObj) (nsensor x 1)
int* sensor_refid; // id of reference frame; -1: global frame (nsensor x 1)
int* sensor_intprm; // sensor parameters (nsensor x mjNSENS)
int* sensor_dim; // number of scalar outputs (nsensor x 1)
int* sensor_adr; // address in sensor array (nsensor x 1)
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
mjtNum* sensor_noise; // noise standard deviation (nsensor x 1)
int* sensor_history; // history buffer: [nsample, interp] (nsensor x 2)
int* sensor_historyadr; // address in history buffer; -1: none (nsensor x 1)
mjtNum* sensor_delay; // delay time in seconds; 0: no delay (nsensor x 1)
mjtNum* sensor_interval; // interval: [period, phase] in seconds (nsensor x 2)
mjtNum* sensor_user; // user data (nsensor x nuser_sensor)
int* sensor_plugin; // plugin instance id; -1: not a plugin (nsensor x 1)
// plugin instances
int* plugin; // globally registered plugin slot number (nplugin x 1)
int* plugin_stateadr; // address in the plugin state array (nplugin x 1)
int* plugin_statenum; // number of states in the plugin instance (nplugin x 1)
char* plugin_attr; // config attributes of plugin instances (npluginattr x 1)
int* plugin_attradr; // address to each instance's config attrib (nplugin x 1)
// custom numeric fields
int* numeric_adr; // address of field in numeric_data (nnumeric x 1)
int* numeric_size; // size of numeric field (nnumeric x 1)
mjtNum* numeric_data; // array of all numeric fields (nnumericdata x 1)
// custom text fields
int* text_adr; // address of text in text_data (ntext x 1)
int* text_size; // size of text field (strlen+1) (ntext x 1)
char* text_data; // array of all text fields (0-terminated) (ntextdata x 1)
// custom tuple fields
int* tuple_adr; // address of text in text_data (ntuple x 1)
int* tuple_size; // number of objects in tuple (ntuple x 1)
int* tuple_objtype; // array of object types in all tuples (ntupledata x 1)
int* tuple_objid; // array of object ids in all tuples (ntupledata x 1)
mjtNum* tuple_objprm; // array of object params in all tuples (ntupledata x 1)
// keyframes
mjtNum* key_time; // key time (nkey x 1)
mjtNum* key_qpos; // key position (nkey x nq)
mjtNum* key_qvel; // key velocity (nkey x nv)
mjtNum* key_act; // key activation (nkey x na)
mjtNum* key_mpos; // key mocap position (nkey x nmocap*3)
mjtNum* key_mquat; // key mocap quaternion (nkey x nmocap*4)
mjtNum* key_ctrl; // key control (nkey x nu)
// names
int* name_bodyadr; // body name pointers (nbody x 1)
int* name_jntadr; // joint name pointers (njnt x 1)
int* name_geomadr; // geom name pointers (ngeom x 1)
int* name_siteadr; // site name pointers (nsite x 1)
int* name_camadr; // camera name pointers (ncam x 1)
int* name_lightadr; // light name pointers (nlight x 1)
int* name_flexadr; // flex name pointers (nflex x 1)
int* name_meshadr; // mesh name pointers (nmesh x 1)
int* name_skinadr; // skin name pointers (nskin x 1)
int* name_hfieldadr; // hfield name pointers (nhfield x 1)
int* name_texadr; // texture name pointers (ntex x 1)
int* name_matadr; // material name pointers (nmat x 1)
int* name_pairadr; // geom pair name pointers (npair x 1)
int* name_excludeadr; // exclude name pointers (nexclude x 1)
int* name_eqadr; // equality constraint name pointers (neq x 1)
int* name_tendonadr; // tendon name pointers (ntendon x 1)
int* name_actuatoradr; // actuator name pointers (nactuator x 1)
int* name_sensoradr; // sensor name pointers (nsensor x 1)
int* name_numericadr; // numeric name pointers (nnumeric x 1)
int* name_textadr; // text name pointers (ntext x 1)
int* name_tupleadr; // tuple name pointers (ntuple x 1)
int* name_keyadr; // keyframe name pointers (nkey x 1)
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
char* names; // names of all objects, 0-terminated (nnames x 1)
int* names_map; // internal hash map of names (nnames_map x 1)
// paths
char* paths; // paths to assets, 0-terminated (npaths x 1)
// sparse structures
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: row addresses (nbody x 1)
int* B_colind; // body-dof: column indices (nB x 1)
int* M_rownnz; // reduced inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // reduced inertia: row addresses (nv x 1)
int* M_colind; // reduced inertia: column indices (nC x 1)
int* mapM2M; // index mapping from qM to M (nC x 1)
int* D_rownnz; // full inertia: non-zeros in each row (nv x 1)
int* D_rowadr; // full inertia: row addresses (nv x 1)
int* D_diag; // full inertia: index of diagonal element (nv x 1)
int* D_colind; // full inertia: column indices (nD x 1)
int* mapM2D; // index mapping from M to D (nD x 1)
int* mapD2M; // index mapping from D to M (nC x 1)
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled this model
} mjModel;
typedef struct mjResource_ {
char* name; // name of resource (filename, etc)
void* data; // opaque data pointer
mjVFS* vfs; // pointer to the VFS
char timestamp[512]; // timestamp of the resource
const struct mjpResourceProvider* provider; // pointer to the provider
const char* args; // resource arguments/hints, URI query format key=val&...
// (optional)
} mjResource;
typedef struct mjpResourceProvider {
const char* prefix; // prefix for match against a resource name
mjfOpenResource open; // opening callback
mjfReadResource read; // reading callback
mjfCloseResource close; // closing callback
mjfMountResource mount; // mounting callback (optional)
mjfUnmountResource unmount; // unmounting callback (optional)
mjfResourceModified modified; // resource modified callback (optional)
mjfWriteResource write; // writing callback (optional)
void* data; // opaque data pointer (resource invariant)
} mjpResourceProvider;
typedef struct mjpDecoder {
const char* content_type;
const char* extension;
// user-facing functions
mjfCanDecode can_decode; // quickly check if this decoder can handle the resource
mjfDecode decode; // main decoding function
// the caller takes ownership of the spec returned by decode and is responsible
// for cleaning it up
} mjpDecoder;
typedef struct mjpEncoder {
const char* content_type;
const char* extension;
mjfEncode encode; // Function to encode an mjSpec and mjModel to a mjResource.
mjfCloseResource close_resource; // Function to close/free the resource.
} mjpEncoder;
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0, // actuator forces
mjPLUGIN_SENSOR = 1<<1, // sensor measurements
mjPLUGIN_PASSIVE = 1<<2, // passive forces
mjPLUGIN_SDF = 1<<3, // signed distance fields
} mjtPluginCapabilityBit;
typedef struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes
int capabilityflags; // plugin capabilities: bitfield of mjtPluginCapabilityBit
int needstage; // sensor computation stage (mjtStage)
// number of mjtNums needed to store the state of a plugin instance (required)
int (*nstate)(const mjModel* m, int instance);
// dimension of the specified sensor's output (required only for sensor plugins)
int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
// called when a new mjData is being created (required), returns 0 on success or -1 on failure
int (*init)(const mjModel* m, mjData* d, int instance);
// called when an mjData is being freed (optional)
void (*destroy)(mjData* d, int instance);
// called when an mjData is being copied (optional)
void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
// called when an mjData is being reset (required)
void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
// called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
// called when time integration occurs (optional)
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
// methods specific to actuators (optional)
// updates the actuator plugin's entries in act_dot
// called after native act_dot is computed and before the compute callback
void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
// methods specific to signed distance fields (optional)
// signed distance from the surface
mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
// gradient of distance with respect to local coordinates
void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
// called during compilation for marching cubes
mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
// convert attributes and provide defaults if not present
void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
// bounding box of implicit surface
void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
} mjpPlugin;
typedef struct mjSDF_ {
const mjpPlugin** plugin;
int* id;
mjtSDFType type;
mjtNum* relpos;
mjtNum* relmat;
mjtGeom* geomtype;
} mjSDF;
typedef enum mjtGridPos_ { // grid position for overlay
mjGRID_TOPLEFT = 0, // top left
mjGRID_TOPRIGHT, // top right
mjGRID_BOTTOMLEFT, // bottom left
mjGRID_BOTTOMRIGHT, // bottom right
mjGRID_TOP, // top center
mjGRID_BOTTOM, // bottom center
mjGRID_LEFT, // left center
mjGRID_RIGHT // right center
} mjtGridPos;
typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
mjFB_WINDOW = 0, // default/window buffer
mjFB_OFFSCREEN // offscreen buffer
} mjtFramebuffer;
typedef enum mjtDepthMap_ { // depth mapping for `mjr_readPixels`
mjDEPTH_ZERONEAR = 0, // standard depth map; 0: znear, 1: zfar
mjDEPTH_ZEROFAR = 1 // reversed depth map; 1: znear, 0: zfar
} mjtDepthMap;
typedef enum mjtFontScale_ { // font scale, used at context creation
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
mjFONTSCALE_150 = 150, // 150% scale
mjFONTSCALE_200 = 200, // 200% scale
mjFONTSCALE_250 = 250, // 250% scale
mjFONTSCALE_300 = 300 // 300% scale
} mjtFontScale;
typedef enum mjtFont_ { // font type, used at each text operation
mjFONT_NORMAL = 0, // normal font
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
mjFONT_BIG // big font (for user alerts)
} mjtFont;
typedef enum mjrPixelFormat_ { // pixel format for textures
mjPIXEL_FORMAT_UNKNOWN = 0, // unknown/unspecified
mjPIXEL_FORMAT_R8, // 1 channel, 8 bit
mjPIXEL_FORMAT_RGB8, // 3 channels, 8 bits per channel
mjPIXEL_FORMAT_RGBA8, // 4 channels, 8 bits per channel
mjPIXEL_FORMAT_R32F, // 1 channel, 32 bit float
mjPIXEL_FORMAT_DEPTH32F, // 1 channel, 32 bit float, for depth buffers
mjPIXEL_FORMAT_KTX, // ktx compressed data
} mjrPixelFormat;
typedef enum mjrVertexAttributeUsage_ { // usage/purpose of a vertex attribute
mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0, // vertex position
mjVERTEX_ATTRIBUTE_USAGE_NORMAL, // vertex normal
mjVERTEX_ATTRIBUTE_USAGE_TANGENTS, // vertex tangents
mjVERTEX_ATTRIBUTE_USAGE_UV, // vertex texture coordinates
mjVERTEX_ATTRIBUTE_USAGE_COLOR, // vertex color
} mjrVertexAttributeUsage;
typedef enum mjrVertexAttributeType_ { // data format of a vertex attribute
mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0, // 2D 32-bit float vector
mjVERTEX_ATTRIBUTE_TYPE_FLOAT3, // 3D 32-bit float vector
mjVERTEX_ATTRIBUTE_TYPE_FLOAT4, // 4D 32-bit float vector
mjVERTEX_ATTRIBUTE_TYPE_UBYTE4, // 4D unsigned 8-bit byte vector
} mjrVertexAttributeType;
typedef enum mjrIndexType_ { // data type of index buffer data
mjINDEX_TYPE_U16 = 0, // 16-bit unsigned integer
mjINDEX_TYPE_U32, // 32-bit unsigned integer
} mjrIndexType;
typedef enum mjrMeshPrimitiveType_ { // type of mesh primitive
mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0, // triangles
mjMESH_PRIMITIVE_TYPE_LINES, // lines
} mjrMeshPrimitiveType;
typedef struct mjrRect_ { // OpenGL rectangle
int left; // left (usually 0)
int bottom; // bottom (usually 0)
int width; // width (usually buffer width)
int height; // height (usually buffer height)
} mjrRect;
typedef struct mjrRendererInfo_ { // active renderer identity
const char* renderer; // renderer family: classic, filament, noop
const char* backend; // graphics backend: opengl, vulkan; empty if uninitialized
} mjrRendererInfo;
typedef struct mjrVertexAttribute_ { // vertex attribute format specification
int usage; // position, normal, etc [mjrVertexAttributeUsage]
int type; // float3, ubyte4, etc. [mjrVertexAttributeType]
} mjrVertexAttribute;
typedef struct mjrContext_ { // custom OpenGL context
// parameters copied from mjVisual
float lineWidth; // line width for wireframe rendering
float shadowClip; // clipping radius for directional lights
float shadowScale; // fraction of light cutoff for spot lights
float fogStart; // fog start = stat.extent * vis.map.fogstart
float fogEnd; // fog end = stat.extent * vis.map.fogend
float fogRGBA[4]; // fog rgba
int shadowSize; // size of shadow map texture
int offWidth; // width of offscreen buffer
int offHeight; // height of offscreen buffer
int offSamples; // number of offscreen buffer multisamples
// parameters specified at creation
int fontScale; // font scale
int auxWidth[mjNAUX]; // auxiliary buffer width
int auxHeight[mjNAUX]; // auxiliary buffer height
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
// offscreen rendering objects
unsigned int offFBO; // offscreen framebuffer object
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
unsigned int offColor; // offscreen color buffer
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
unsigned int offDepthStencil; // offscreen depth and stencil buffer
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for multisamples
// shadow rendering objects
unsigned int shadowFBO; // shadow map framebuffer object
unsigned int shadowTex; // shadow map texture
// auxiliary buffers
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
// materials with textures
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // uniform cube mapping
float mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
// texture objects and info
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions
unsigned int basePlane; // all planes from model
unsigned int baseMesh; // all meshes from model
unsigned int baseHField; // all height fields from model
unsigned int baseBuiltin; // all builtin geoms, with quality from model
unsigned int baseFontNormal; // normal font
unsigned int baseFontShadow; // shadow font
unsigned int baseFontBig; // big font
// displaylist ranges
int rangePlane; // all planes from model
int rangeMesh; // all meshes from model
int rangeHField; // all hfields from model
int rangeBuiltin; // all builtin geoms, with quality from model
int rangeFont; // all characters in font
// skin VBOs
int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info
int charWidth[127]; // character widths: normal and shadow
int charWidthBig[127]; // character widths: big
int charHeight; // character heights: normal and shadow
int charHeightBig; // character heights: big
// capabilities
int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer
int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels
// depth output format
int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
} mjrContext;
typedef struct mjrfContext_ mjrfContext;
typedef struct mjrfTexture_ mjrfTexture;
typedef struct mjrfMesh_ mjrfMesh;
typedef struct mjrfScene_ mjrfScene;
typedef struct mjrfLight_ mjrfLight;
typedef struct mjrfRenderable_ mjrfRenderable;
typedef struct mjrfRenderTarget_ mjrfRenderTarget;
typedef enum mjrGraphicsApi_ {
mjGRAPHICS_API_DEFAULT = 0, // default (platform-dependent)
mjGRAPHICS_API_OPENGL, // desktop, mobile (GLES), web (WebGL)
mjGRAPHICS_API_VULKAN, // vulkan
} mjrGraphicsApi;
typedef struct mjrfContextConfig_ {
int graphics_api; // rendering graphics API [mjrGraphicsApi]
mjtBool force_software_rendering; // force backend to use software rendering
void* native_window; // platform-dependent window handle (or nullptr for windowless)
} mjrfContextConfig;
typedef enum mjrDrawMode_ {
mjDRAW_MODE_DEFAULT, // default colors and lighting
mjDRAW_MODE_DEFAULT_NO_TEXTURES, // default, but without textures
mjDRAW_MODE_WIREFRAME, // wireframe rendering
mjDRAW_MODE_DEPTH, // grayscale depth map
mjDRAW_MODE_ISLANDS, // color objects based on island and sleep state
mjDRAW_MODE_SEGMENTATION_BY_ID, // color objects based on segmentation id
mjDRAW_MODE_SEGMENTATION_BY_COLOR, // generate visually distinct colors using segmentation id
} mjrDrawMode;
typedef struct mjrfRenderRequest_ {
mjrfScene* scene; // scene to render
mjrCamera camera; // camera (viewpoint) from which to render scene
mjrRect viewport; // viewport (rect area) into which to render
mjrfRenderTarget* target; // target used for rendering (or nullptr for window rendering)
int draw_mode; // method to use for drawing objects [mjrDrawMode]
mjtBool enable_post_processing; // enable post processing, enabled by default
mjtBool enable_reflections; // enable reflections, enabled by default
mjtBool enable_shadows; // enable shadows, enabled by default
} mjrfRenderRequest;
typedef struct mjrfReadPixelsRequest_ {
mjrfRenderTarget* target; // render target from which to read the image pixels
void* output; // buffer into which the pixels will be stored
mjtSize num_bytes; // size of output buffer
mjrfCallback read_completed; // callback when read is complete; can use to free output
void* user_data; // user data for read_completed_callback
} mjrfReadPixelsRequest;
typedef struct mjrfFrameStats_ {
double frame_rate; // frame rate, in frames per second
} mjrfFrameStats;
typedef struct mjrfTextureConfig_ {
int width; // texture width, or number of bytes for compressed data (e.g. KTX)
int height; // texture height, or 0 for compressed data (e.g. KTX)
int format; // pixel format (e.g. RGB8, RGBA8, KTX, etc.) [mjrPixelFormat]
int color_space; // color space (e.g. LINEAR, sRGB, etc.) [mjrColorSpace]
int sampler_type; // texture sampler (e.g. 2D, cube, etc.) [mjrSamplerType]
} mjrfTextureConfig;
typedef struct mjrfTextureData_ {
const void* bytes; // pointer to image data, or nullptr for empty texture
mjtSize num_bytes; // number of bytes in the image data
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
} mjrfTextureData;
typedef struct mjrfMeshConfig_ {
mjtSize max_vertices; // maximum number of vertices
mjtSize max_indices; // maximum number of indices
int num_attributes; // number of defined attributes
mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES]; // per-vertex attribute information
mjtBool interleaved; // true if vertex attributes are interleaved
int index_type; // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
int primitive_type; // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
} mjrfMeshConfig;
typedef struct mjrfMeshData_ {
mjtSize num_vertices; // number of vertices
const void* vertices[mjMAX_VERTEX_ATTRIBUTES]; // per-vertex attribute data arrays
mjtSize num_indices; // number of indices
const void* indices; // indices data array
mjtBool compute_bounds; // if true, compute bounds from vertex positions
float bounds_min[3]; // min/max bounds; assume unset if bounds_min == bounds_max
float bounds_max[3];
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
} mjrfMeshData;
typedef struct mjrfSceneParams_ {
} mjrfSceneParams;
typedef struct mjrfLightParams_ {
int type; // type of light (e.g. spot, point, image, etc.) [mjrLightType]
const mjrfTexture* texture; // texture; only for image lights
float color[3]; // RGB color
float intensity; // light intensity, in candela
mjtBool cast_shadows; // if true, cast shadows
float range; // effective range of light, in meters
float spot_cone_angle; // spot light cone angle, in degrees
float spot_softness; // spot light edge softness, fraction of cone angle in [0, 1]
int shadow_map_size; // size of shadow map texture, 0 to use default size
float bulb_radius; // bulb radius, used for soft shadows
float vsm_blur_width; // variance shadow map blur width
} mjrfLightParams;
typedef struct mjrfMaterial_ {
float color[4]; // object color; defaults to white
int32_t segmentation_id; // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
int32_t island_id; // ID to which the renderable belongs
int sleep_state; // sleep state of the renderable [mjtSleepState]
float uv_scale[3]; // scale applied to UV coordinates; defaults to (1,1,1)
float uv_offset[3]; // offset applied to UV coordinates; defaults to (0,0,0)
float scissor[4]; // if non-zero, applies scissor testing when rendering
float metallic; // metallic factory [0, 1]; disabled if < 0
float roughness; // roughness factor [0, 1]; disabled if < 0
float specular; // specular factor [0, 1]; disabled if < 0
float glossiness; // glossiness factor [0, 1]; disabled if < 0
float emissive; // emissive/glow factor [0, 1]; disabled if < 0
float reflectance; // blend factor for reflective surfaces [0, 1]; applies only to planes
mjtBool decor_ux; // for ux elements, does not apply any lighting
mjtBool selected; // for "selected" ux elements, adds additional styling
const mjrfTexture* color_texture; // color/albedo texture (RGB8)
const mjrfTexture* opacity_texture; // opacity texture (A8)
const mjrfTexture* normal_texture; // normal map texture (RGB8)
const mjrfTexture* metallic_texture; // metallic map texture (R8)
const mjrfTexture* roughness_texture; // roughness map texture (R8)
const mjrfTexture* occlusion_texture; // ambient occlusion texture (R8)
const mjrfTexture* orm_texture; // occlusion/roughness/metallic texture (RGB8)
const mjrfTexture* emissive_texture; // emissive texture (RGB8)
const mjrfTexture* reflection_texture; // reflection texture, for internal use only
} mjrfMaterial;
typedef struct mjrfRenderableParams_ {
mjtBool cast_shadows; // if true, casts shadows
mjtBool receive_shadows; // if true, receives shadows
uint16_t blend_order; // controls draw order for transparent objects [0, 8]
} mjrfRenderableParams;
typedef struct mjrfRenderTargetConfig_ {
int width; // texture width
int height; // texture height
int color_format; // pixel format for color buffer [mjrPixelFormat]
int depth_format; // pixel format for depth buffer [mjrPixelFormat]
} mjrfRenderTargetConfig;
typedef enum mjtGeomInertia { // type of inertia inference
mjINERTIA_VOLUME = 0, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia;
typedef enum mjtMeshInertia { // type of mesh inertia
mjMESH_INERTIA_CONVEX = 0, // convex mesh inertia
mjMESH_INERTIA_EXACT, // exact mesh inertia
mjMESH_INERTIA_LEGACY, // legacy mesh inertia
mjMESH_INERTIA_SHELL // shell mesh inertia
} mjtMeshInertia;
typedef enum mjtMeshBuiltin { // type of built-in procedural mesh
mjMESH_BUILTIN_NONE = 0, // no built-in mesh
mjMESH_BUILTIN_SPHERE, // sphere
mjMESH_BUILTIN_HEMISPHERE, // hemisphere
mjMESH_BUILTIN_CONE, // cone
mjMESH_BUILTIN_SUPERSPHERE, // supersphere
mjMESH_BUILTIN_SUPERTORUS, // supertorus
mjMESH_BUILTIN_WEDGE, // wedge
mjMESH_BUILTIN_PLATE, // plate
} mjtMeshBuiltin;
typedef enum mjtBuiltin { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
mjBUILTIN_FLAT // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
} mjtBuiltin;
typedef enum mjtMark { // mark type for procedural textures
mjMARK_NONE = 0, // no mark
mjMARK_EDGE, // edges
mjMARK_CROSS, // cross
mjMARK_RANDOM // random dots
} mjtMark;
typedef enum mjtLimited { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
} mjtLimited;
typedef enum mjtAlignFree { // whether to align free joints with the inertial frame
mjALIGNFREE_FALSE = 0, // don't align
mjALIGNFREE_TRUE, // align
mjALIGNFREE_AUTO, // respect the global compiler flag
} mjtAlignFree;
typedef enum mjtInertiaFromGeom { // whether to infer body inertias from child geoms
mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
} mjtInertiaFromGeom;
typedef enum mjtOrientation { // type of orientation specifier
mjORIENTATION_QUAT = 0, // quaternion
mjORIENTATION_AXISANGLE, // axis and angle
mjORIENTATION_XYAXES, // x and y axes
mjORIENTATION_ZAXIS, // z axis (minimal rotation)
mjORIENTATION_EULER, // Euler angles
} mjtOrientation;
typedef enum mjtConflict { // conflict resolution for attach
mjCONFLICT_WARNING = 0, // keep parent, warn on conflict
mjCONFLICT_MERGE, // merge: min/max/error per field
mjCONFLICT_ERROR, // error on any conflict
} mjtConflict;
typedef enum mjtCTimer { // compiler timing categories
// top-level timers (wall-clock)
mjCTIMER_TOTAL = 0, // total compile time
mjCTIMER_ASSETS, // asset compilation
// asset sub-timers (CPU time, summed across all assets)
mjCTIMER_TEXTURE, // textures
mjCTIMER_MESH_LOAD, // mesh: file loading
mjCTIMER_MESH_HULL, // mesh: convex hull
mjCTIMER_MESH_POLYGON, // mesh: normals and polygons
mjCTIMER_MESH_INERTIA, // mesh: volume, CoM, inertia
mjCTIMER_MESH_BVH, // mesh: bounding volume hierarchy
mjCTIMER_MESH_OCTREE, // mesh: octree and SDF
mjNCTIMER // number of compiler timers
} mjtCTimer;
typedef struct mjsElement_ { // element type, do not modify
mjtObj elemtype; // element type
uint64_t signature; // compilation signature
} mjsElement;
typedef struct mjsCompiler_ { // compiler options
mjtBool autolimits; // infer "limited" attribute based on range
double boundmass; // enforce minimum body mass
double boundinertia; // enforce minimum body diagonal inertia
double settotalmass; // rescale masses and inertias; <=0: ignore
mjtBool balanceinertia; // automatically impose A + B >= C rule
mjtBool fitaabb; // meshfit to aabb instead of inertia box
mjtBool degree; // angles in radians or degrees
char eulerseq[3]; // sequence for euler rotations
mjtBool discardvisual; // discard visual geoms in parser
mjtBool usethread; // use multiple threads to speed up compiler
mjtBool fusestatic; // fuse static bodies with parent
mjtInertiaFromGeom inertiafromgeom; // use geom inertias
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtBool saveinertial; // save explicit inertial clause for all bodies to XML
mjtBool alignfree; // align free joints with inertial frame
mjtConflict conflict; // conflict resolution for attach
mjLROpt LRopt; // options for lengthrange computation
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
uint64_t authored; // bitmask of authored compiler fields
} mjsCompiler;
typedef struct mjsAuthored_ { // authored tracking bitmasks for mjModel structs
uint64_t option; // authored mjOption fields
int disableflags; // individual authored disable flags
int enableflags; // individual authored enable flags
int disableactuator; // individual authored actuator groups
uint64_t visual_global; // authored visual.global fields
uint64_t visual_quality; // authored visual.quality fields
uint64_t visual_headlight; // authored visual.headlight fields
uint64_t visual_map; // authored visual.map fields
uint64_t visual_scale; // authored visual.scale fields
uint64_t visual_rgba; // authored visual.rgba fields
} mjsAuthored;
typedef struct mjSpec_ { // model specification
mjsElement* element; // element type
mjString* modelname; // model name
// compiler data
mjsCompiler compiler; // compiler options
mjtBool strippath; // automatically strip paths from mesh files
// engine data
mjOption option; // physics options
mjVisual visual; // visual options
mjStatistic stat; // statistics override (if defined)
// sizes
mjtSize memory; // number of bytes in arena+stack memory
int nemax; // max number of equality constraints
int nuserdata; // number of mjtNums in userdata
int nuser_body; // number of mjtNums in body_user
int nuser_jnt; // number of mjtNums in jnt_user
int nuser_geom; // number of mjtNums in geom_user
int nuser_site; // number of mjtNums in site_user
int nuser_cam; // number of mjtNums in cam_user
int nuser_tendon; // number of mjtNums in tendon_user
int nuser_actuator; // number of mjtNums in actuator_user
int nuser_sensor; // number of mjtNums in sensor_user
int nkey; // number of keyframes
int njmax; // (deprecated) max number of constraints
int nconmax; // (deprecated) max number of detected contacts
mjtSize nstack; // (deprecated) number of mjtNums in mjData stack
// global data
mjString* comment; // comment at top of XML
mjString* modelfiledir; // path to model file
// other
mjtBool hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
// authored tracking bitmasks for mjModel structs
mjsAuthored authored;
} mjSpec;
typedef struct mjsOrientation_ { // alternative orientation specifiers
mjtOrientation type; // active orientation specifier
double axisangle[4]; // axis and angle
double xyaxes[6]; // x and y axes
double zaxis[3]; // z axis (minimal rotation)
double euler[3]; // Euler angles
} mjsOrientation;
typedef struct mjsPlugin_ { // plugin specification
mjsElement* element; // element type
mjString* name; // instance name
mjString* plugin_name; // plugin name
mjtBool active; // is the plugin active
mjString* info; // message appended to compiler errors
} mjsPlugin;
typedef struct mjsBody_ { // body specification
mjsElement* element; // element type
mjString* childclass; // childclass name
// body frame
double pos[3]; // frame position
double quat[4]; // frame orientation
mjsOrientation alt; // frame alternative orientation
// inertial frame
double mass; // mass
double ipos[3]; // inertial frame position
double iquat[4]; // inertial frame orientation
double inertia[3]; // diagonal inertia (in i-frame)
mjsOrientation ialt; // inertial frame alternative orientation
double fullinertia[6]; // non-axis-aligned inertia matrix
// other
mjtBool mocap; // is this a mocap body
double gravcomp; // gravity compensation
mjtSleepPolicy sleep; // sleep policy
mjtByte simple; // simple body optimization (0: false, 1: auto)
mjDoubleVec* userdata; // user data
mjtBool explicitinertial; // whether to save the body with explicit inertial clause
mjsPlugin plugin; // passive force plugin
mjString* info; // message appended to compiler errors
} mjsBody;
typedef struct mjsFrame_ { // frame specification
mjsElement* element; // element type
mjString* childclass; // childclass name
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjString* info; // message appended to compiler errors
} mjsFrame;
typedef struct mjsJoint_ { // joint specification
mjsElement* element; // element type
mjtJoint type; // joint type
// kinematics
double pos[3]; // anchor position
double axis[3]; // joint axis
double ref; // value at reference configuration: qpos0
mjtAlignFree align; // align free joint with body com
// stiffness
double stiffness[mjNPOLY+1]; // stiffness coefficients
double springref; // spring reference value: qpos_spring
double springdamper[2]; // timeconst, dampratio
// limits
mjtLimited limited; // does joint have limits
double range[2]; // joint limits
double margin; // margin value for joint limit detection
mjtNum solref_limit[mjNREF]; // solver reference: joint limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
mjtLimited actfrclimited; // are actuator forces on joint limited
double actfrcrange[2]; // actuator force limits
// dof properties
double armature; // armature inertia (mass for slider)
double damping[mjNPOLY+1]; // damping coefficients
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
// other
int group; // group
mjtBool actgravcomp; // is gravcomp force applied via actuators
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsJoint;
typedef struct mjsGeom_ { // geom specification
mjsElement* element; // element type
mjtGeom type; // geom type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // type-specific size
// contact related
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // additional contact detection buffer
double surfacevel[6]; // surface velocity in local frame: linear, angular
double adhesion; // adhesive force of contacts
// inertia inference
double mass; // used to compute density
double density; // used to compute mass and inertia from volume or surface
mjtGeomInertia typeinertia; // selects between surface and volume inertia
// fluid forces
mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual
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
double fitscale; // scale mesh uniformly
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sdf plugin
mjString* info; // message appended to compiler errors
} mjsGeom;
typedef struct mjsSite_ { // site specification
mjsElement* element; // element type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // geom size
// visual
mjtGeom type; // geom type
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
} mjsSite;
typedef struct mjsCamera_ { // camera specification
mjsElement* element; // element type
// extrinsics
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode
mjString* targetbody; // target body for tracking/targeting
// intrinsics
mjtProjection proj; // camera projection type
int resolution[2]; // resolution (pixel)
int output; // bit flags for output type
double fovy; // y-field of view
double ipd; // inter-pupillary distance
float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length)
float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length)
float principal_pixel[2]; // principal point (pixel)
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsCamera;
typedef struct mjsLight_ { // light specification
mjsElement* element; // element type
// frame
double pos[3]; // position
double dir[3]; // direction
mjtCamLight mode; // tracking mode
mjString* targetbody; // target body for targeting
// intrinsics
mjtBool active; // is light active
mjtLightType type; // type of light
mjString* texture; // texture name for image lights
mjtBool castshadow; // does light cast shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float softness; // spotlight edge softness
float exponent; // OpenGL exponent
float ambient[3]; // ambient color
float diffuse[3]; // diffuse color
float specular[3]; // specular color
// other
mjString* info; // message appended to compiler errors
} mjsLight;
typedef struct mjsFlex_ { // flex specification
mjsElement* element; // element type
// contact properties
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // additional contact detection buffer
// other properties
int dim; // element dimensionality
double radius; // radius around primitive element
double size[3]; // vertex bounding box half sizes in qpos0
mjtBool internal; // enable internal collisions
mjtBool flatskin; // render flex skin with flat shading
mjtFlexSelf selfcollide; // mode for flex self collision
int passive; // mode for passive collisions
int activelayers; // number of active element layers in 3D
int group; // group for visualization
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
float rgba[4]; // rgba when material is omitted
mjString* material; // name of material used for rendering
double young; // Young's modulus
double poisson; // Poisson's ratio
double damping; // Rayleigh's damping
double thickness; // thickness (2D only)
int elastic2d; // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
int cellcount[3]; // grid cell count for finite cell method
int order; // interpolation order (1: trilinear, 2: quadratic)
// mesh properties
mjStringVec* nodebody; // node body names
mjStringVec* vertbody; // vertex body names
mjDoubleVec* node; // node positions
mjDoubleVec* vert; // vertex positions
mjIntVec* elem; // element vertex ids
mjFloatVec* texcoord; // vertex texture coordinates
mjIntVec* elemtexcoord; // element texture coordinates
// other
mjString* info; // message appended to compiler errors
} mjsFlex;
typedef struct mjsMesh_ { // mesh specification
mjsElement* element; // element type
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
mjtMeshInertia inertia; // inertia type (convex, legacy, exact, shell)
mjtBool smoothnormal; // do not exclude large-angle faces from normals
mjtBool needsdf; // compute sdf from mesh
int maxhullvert; // maximum vertex count for the convex hull
mjFloatVec* uservert; // user vertex data
mjFloatVec* usernormal; // user normal data
mjFloatVec* usertexcoord; // user texcoord data
mjIntVec* userface; // user vertex indices
mjIntVec* userfacenormal; // user face normal indices
mjIntVec* userfacetexcoord; // user texcoord indices
mjsPlugin plugin; // sdf plugin
mjString* material; // name of material
int octree_maxdepth; // max octree depth
mjString* info; // message appended to compiler errors
} mjsMesh;
typedef struct mjsHField_ { // height field specification
mjsElement* element; // element type
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
} mjsHField;
typedef struct mjsSkin_ { // skin specification
mjsElement* element; // element type
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
// skin
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
} mjsSkin;
typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjtTexture type; // texture type
mjtColorSpace colorspace; // colorspace
// method 1: builtin
mjtBuiltin builtin; // builtin type
mjtMark mark; // mark type
double rgb1[3]; // first color for builtin
double rgb2[3]; // second color for builtin
double markrgb[3]; // mark color
double random; // probability of random dots
int height; // height in pixels (square for cube and skybox)
int width; // width in pixels
int nchannel; // number of channels
// method 2: single file
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[12]; // 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
// method 4: from buffer read by user
mjByteVec* data; // texture data
// flip options
mjtBool hflip; // horizontal flip
mjtBool vflip; // vertical flip
// other
mjString* info; // message appended to compiler errors
} mjsTexture;
typedef struct mjsMaterial_ { // material specification
mjsElement* element; // element type
mjStringVec* textures; // names of textures (empty: none)
mjtBool texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
float emission; // emission
float specular; // specular
float shininess; // shininess
float reflectance; // reflectance
float metallic; // metallic
float roughness; // roughness
float rgba[4]; // rgba
mjString* info; // message appended to compiler errors
} mjsMaterial;
typedef struct mjsPair_ { // pair specification
mjsElement* element; // element type
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
mjtNum solref[mjNREF]; // solver reference, normal direction
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // additional contact detection buffer
double adhesion; // adhesive force of contacts
double friction[5]; // full contact friction
mjString* info; // message appended to errors
} mjsPair;
typedef struct mjsExclude_ { // exclude specification
mjsElement* element; // element type
mjString* bodyname1; // name of geom 1
mjString* bodyname2; // name of geom 2
mjString* info; // message appended to errors
} mjsExclude;
typedef struct mjsEquality_ { // equality specification
mjsElement* element; // element type
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtBool active; // is equality initially active
mjString* name1; // name of object 1
mjString* name2; // name of object 2
mjtObj objtype; // type of both objects
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString* info; // message appended to errors
} mjsEquality;
typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
// stiffness, damping, friction, armature
double stiffness[mjNPOLY+1]; // stiffness coefficients
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
double damping[mjNPOLY+1]; // damping coefficients
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double armature; // inertia associated with tendon velocity
// length range
mjtLimited limited; // does tendon have limits
mjtLimited actfrclimited; // does tendon have actuator force limits
double range[2]; // length limits
double actfrcrange[2]; // actuator force limits
double margin; // margin value for tendon limit detection
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
// visual
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
} mjsTendon;
typedef struct mjsWrap_ { // wrapping object specification
mjsElement* element; // element type
mjtWrap type; // wrap type
mjString* info; // message appended to errors
} mjsWrap;
typedef struct mjsActuator_ { // actuator specification
mjsElement* element; // element type
// gain, bias
mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type
double biasprm[mjNBIAS]; // bias parameters
// activation state
mjtDyn dyntype; // dynamics type
double dynprm[mjNDYN]; // dynamics parameters
int actdim; // number of activation variables
int ctrlspec; // input signature, scoped by gaintype; 0: type default
double velrange[2]; // range of the velocity-setpoint input (pid)
double ffrange[2]; // range of the feedforward input (pid)
mjtBool actearly; // apply next activations to qfrc
// 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
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
double damping[mjNPOLY+1]; // damping coefficients
double armature; // armature inertia
// input/output clamping
mjtLimited ctrllimited; // are control limits defined
double ctrlrange[2]; // control range
mjtLimited forcelimited; // are force limits defined
double forcerange[2]; // force range
mjtLimited actlimited; // are activation limits defined
double actrange[2]; // activation range
// other
int group; // group
int nsample; // number of samples in history buffer
int interp; // interpolation order (0=ZOH, 1=linear, 2=cubic)
double delay; // delay time in seconds; 0: no delay
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // actuator plugin
mjString* info; // message appended to compiler errors
} mjsActuator;
typedef struct mjsSensor_ { // sensor specification
mjsElement* element; // element type
// sensor definition
mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object
mjString* objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString* refname; // name of referenced object
int intprm[mjNSENS]; // integer parameters
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
mjtStage needstage; // compute stage needed to simulate sensor
int dim; // number of scalar outputs
// output post-processing
double cutoff; // cutoff for real and positive datatypes
double noise; // noise stdev
// history buffer
int nsample; // number of samples in history buffer
int interp; // interpolation order (0=ZOH, 1=linear, 2=cubic)
double delay; // delay time in seconds
double interval[2]; // [period, time_prev] in seconds
// other
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sensor plugin
mjString* info; // message appended to compiler errors
} mjsSensor;
typedef struct mjsNumeric_ { // custom numeric field specification
mjsElement* element; // element type
mjDoubleVec* data; // initialization data
int size; // array size, can be bigger than data size
mjString* info; // message appended to compiler errors
} mjsNumeric;
typedef struct mjsText_ { // custom text specification
mjsElement* element; // element type
mjString* data; // text string
mjString* info; // message appended to compiler errors
} mjsText;
typedef struct mjsTuple_ { // tuple specification
mjsElement* element; // element type
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
mjsElement* element; // element type
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
} mjsKey;
typedef struct mjsDefault_ { // default specification
mjsElement* element; // element type
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
mjsCamera* camera; // camera defaults
mjsLight* light; // light defaults
mjsFlex* flex; // flex defaults
mjsMesh* mesh; // mesh defaults
mjsMaterial* material; // material defaults
mjsPair* pair; // pair defaults
mjsEquality* equality; // equality defaults
mjsTendon* tendon; // tendon defaults
mjsActuator* actuator; // actuator defaults
} mjsDefault;
typedef enum mjtDisableBit { // disable default feature bitflags
mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
mjDSBL_EQUALITY = 1<<1, // equality constraints
mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
mjDSBL_CONTACT = 1<<4, // contact constraints
mjDSBL_SPRING = 1<<5, // passive spring forces
mjDSBL_DAMPER = 1<<6, // passive damping forces
mjDSBL_GRAVITY = 1<<7, // gravitational forces
mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
mjDSBL_ACTUATION = 1<<11, // apply actuation forces
mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
mjDSBL_SENSOR = 1<<13, // sensors
mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
mjDSBL_ISLAND = 1<<18, // constraint island discovery
mjDSBL_MULTICCD = 1<<19, // multiple CCD contact points
mjNDISABLE = 20 // number of disable flags
} mjtDisableBit;
typedef enum mjtEnableBit { // enable optional feature bitflags
mjENBL_OVERRIDE = 1<<0, // override contact parameters
mjENBL_ENERGY = 1<<1, // energy computation
mjENBL_FWDINV = 1<<2, // record solver statistics
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
mjENBL_SLEEP = 1<<4, // sleeping
mjENBL_DIAGEXACT = 1<<5, // exact diagonal of constraint inertia
mjNENABLE = 6 // number of enable flags
} mjtEnableBit;
typedef enum mjtJoint { // type of degree of freedom
mjJNT_FREE = 0, // global position and orientation (quat) (7)
mjJNT_BALL, // orientation (quat) relative to parent (4)
mjJNT_SLIDE, // sliding distance along body-fixed axis (1)
mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1)
} mjtJoint;
typedef enum mjtGeom { // type of geometric shape
// regular geom types
mjGEOM_PLANE = 0, // plane
mjGEOM_HFIELD, // height field
mjGEOM_SPHERE, // sphere
mjGEOM_CAPSULE, // capsule
mjGEOM_ELLIPSOID, // ellipsoid
mjGEOM_CYLINDER, // cylinder
mjGEOM_BOX, // box
mjGEOM_MESH, // mesh
mjGEOM_SDF, // signed distance field
mjNGEOMTYPES, // number of regular geom types
// rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
mjGEOM_ARROW = 100, // arrow
mjGEOM_ARROW1, // arrow without wedges
mjGEOM_ARROW2, // arrow in both directions
mjGEOM_LINE, // line
mjGEOM_LINEBOX, // box with line edges
mjGEOM_FLEX, // flex
mjGEOM_SKIN, // skin
mjGEOM_LABEL, // text label
mjGEOM_TRIANGLE, // triangle
mjGEOM_NONE = 1001 // missing geom type
} mjtGeom;
typedef enum mjtProjection { // type of camera projection
mjPROJ_PERSPECTIVE = 0, // perspective
mjPROJ_ORTHOGRAPHIC // orthographic
} mjtProjection;
typedef enum mjtCamLight { // tracking mode for camera and light
mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body
mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
} mjtCamLight;
typedef enum mjtLightType { // type of light
mjLIGHT_SPOT = 0, // spot
mjLIGHT_DIRECTIONAL, // directional
mjLIGHT_POINT, // point
mjLIGHT_IMAGE, // image-based
} mjtLightType;
typedef enum mjtTexture { // type of texture
mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
mjTEXTURE_SKYBOX // cube texture used as skybox
} mjtTexture;
typedef enum mjtTextureRole { // role of texture map in rendering
mjTEXROLE_USER = 0, // unspecified
mjTEXROLE_RGB, // base color (albedo)
mjTEXROLE_OCCLUSION, // ambient occlusion
mjTEXROLE_ROUGHNESS, // roughness
mjTEXROLE_METALLIC, // metallic
mjTEXROLE_NORMAL, // normal (bump) map
mjTEXROLE_OPACITY, // opacity
mjTEXROLE_EMISSIVE, // light emission
mjTEXROLE_RGBA, // base color, opacity
mjTEXROLE_ORM, // occlusion, roughness, metallic
mjNTEXROLE
} mjtTextureRole;
typedef enum mjtColorSpace { // type of color space encoding
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
mjCOLORSPACE_LINEAR, // linear color space
mjCOLORSPACE_SRGB // standard RGB color space
} mjtColorSpace;
typedef enum mjtIntegrator { // integrator mode
mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4, // 4th-order Runge Kutta
mjINT_IMPLICIT, // implicit in velocity
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
} mjtIntegrator;
typedef enum mjtCone { // type of friction cone
mjCONE_PYRAMIDAL = 0, // pyramidal
mjCONE_ELLIPTIC // elliptic
} mjtCone;
typedef enum mjtJacobian { // type of constraint Jacobian
mjJAC_DENSE = 0, // dense
mjJAC_SPARSE, // sparse
mjJAC_AUTO // dense if nv<60, sparse otherwise
} mjtJacobian;
typedef enum mjtSolver { // constraint solver algorithm
mjSOL_PGS = 0, // PGS (dual)
mjSOL_CG, // CG (primal)
mjSOL_NEWTON // Newton (primal)
} mjtSolver;
typedef enum mjtEq { // type of equality constraint
mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint)
mjEQ_WELD, // fix relative position and orientation of two bodies
mjEQ_JOINT, // couple the values of two scalar joints with cubic
mjEQ_TENDON, // couple the lengths of two tendons with cubic
mjEQ_FLEX, // fix all edge lengths of a flex
mjEQ_FLEXVERT, // fix all vertex lengths of a flex
mjEQ_FLEXSTRAIN, // constrain strain of a trilinear/quadratic flex (B-bar)
mjEQ_DISTANCE // unsupported, will cause an error if used
} mjtEq;
typedef enum mjtWrap { // type of tendon wrap object
mjWRAP_NONE = 0, // null object
mjWRAP_JOINT, // constant moment arm
mjWRAP_PULLEY, // pulley used to split tendon
mjWRAP_SITE, // pass through site
mjWRAP_SPHERE, // wrap around sphere
mjWRAP_CYLINDER // wrap around (infinite) cylinder
} mjtWrap;
typedef enum mjtTrn { // type of actuator transmission
mjTRN_JOINT = 0, // force on joint
mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame
mjTRN_SLIDERCRANK, // force via slider-crank linkage
mjTRN_TENDON, // force on tendon
mjTRN_SITE, // force on site
mjTRN_BODY, // adhesion force on a body's geoms
mjTRN_SO3, // torque on a relative orientation (3 force outputs)
mjTRN_UNDEFINED = 1000 // undefined transmission type
} mjtTrn;
typedef enum mjtDyn { // type of actuator dynamics
mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force
mjDYN_INTEGRATOR, // integrator: da/dt = u
mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau
mjDYN_FILTEREXACT, // linear filter: da/dt = (u-a) / tau, with exact integration
mjDYN_MUSCLE, // piecewise linear filter with two time constants
mjDYN_DCMOTOR, // DC motor electrical dynamics
mjDYN_PID, // PID controller states: slew, integral
mjDYN_USER // user-defined dynamics type
} mjtDyn;
typedef enum mjtGain { // type of actuator gain
mjGAIN_FIXED = 0, // fixed gain
mjGAIN_AFFINE, // const + kp*length + kv*velocity
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
mjGAIN_DCMOTOR, // DC motor gain: K or K/R
mjGAIN_SO3, // geodesic servo on an SO3 transmission: force = kp * log(error)
mjGAIN_PID, // PID controller: position and velocity setpoint inputs
mjGAIN_USER // user-defined gain type
} mjtGain;
typedef enum mjtBias { // type of actuator bias
mjBIAS_NONE = 0, // no bias
mjBIAS_AFFINE, // const + kp*length + kv*velocity
mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias()
mjBIAS_DCMOTOR, // DC motor bias: back-EMF, cogging, LuGre friction
mjBIAS_SO3, // damping term of the SO3 geodesic servo
mjBIAS_USER // user-defined bias type
} mjtBias;
typedef enum mjtCtrlChart { // so3 input signature (actuator_ctrlspec): orientation chart
mjCHART_EXPMAP = 1, // exponential-map orientation target: 3 controls
mjCHART_QUAT = 2 // quaternion orientation target: 4 controls
} mjtCtrlChart;
typedef enum mjtCtrlInput { // servo input signature (actuator_ctrlspec): present-input bits
mjINPUT_POS = 1, // position setpoint input
mjINPUT_VEL = 2, // velocity setpoint input
mjINPUT_FF = 4, // feedforward input, in the actuator's output space
mjINPUT_VOLTAGE = 8, // raw terminal voltage input (dcmotor)
mjINPUT_NONE = 16 // explicitly no inputs: purely passive (dcmotor)
} mjtCtrlInput;
typedef enum mjtObj { // type of MujoCo object
mjOBJ_UNKNOWN = 0, // unknown object type
mjOBJ_BODY, // body
mjOBJ_XBODY, // body, used to access regular frame instead of i-frame
mjOBJ_JOINT, // joint
mjOBJ_DOF, // dof
mjOBJ_GEOM, // geom
mjOBJ_SITE, // site
mjOBJ_CAMERA, // camera
mjOBJ_LIGHT, // light
mjOBJ_FLEX, // flex
mjOBJ_MESH, // mesh
mjOBJ_SKIN, // skin
mjOBJ_HFIELD, // heightfield
mjOBJ_TEXTURE, // texture
mjOBJ_MATERIAL, // material for rendering
mjOBJ_PAIR, // geom pair to include
mjOBJ_EXCLUDE, // body pair to exclude
mjOBJ_EQUALITY, // equality constraint
mjOBJ_TENDON, // tendon
mjOBJ_ACTUATOR, // actuator
mjOBJ_SENSOR, // sensor
mjOBJ_NUMERIC, // numeric
mjOBJ_TEXT, // text
mjOBJ_TUPLE, // tuple
mjOBJ_KEY, // keyframe
mjOBJ_PLUGIN, // plugin instance
mjNOBJECT, // number of object types
// meta elements, do not appear in mjModel
mjOBJ_FRAME = 100, // frame
mjOBJ_DEFAULT, // default
mjOBJ_MODEL // entire model
} mjtObj;
typedef enum mjtSensor { // type of sensor
// common robotic sensors, attached to a site
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
mjSENS_ACCELEROMETER, // 3D linear acceleration, in local frame
mjSENS_VELOCIMETER, // 3D linear velocity, in local frame
mjSENS_GYRO, // 3D angular velocity, in local frame
mjSENS_FORCE, // 3D force between site's body and its parent body
mjSENS_TORQUE, // 3D torque between site's body and its parent body
mjSENS_MAGNETOMETER, // 3D magnetometer
mjSENS_RANGEFINDER, // scalar distance to nearest geom along z-axis
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
// sensors related to scalar joints, tendons, actuators
mjSENS_JOINTPOS, // scalar joint position (hinge and slide only)
mjSENS_JOINTVEL, // scalar joint velocity (hinge and slide only)
mjSENS_TENDONPOS, // scalar tendon position
mjSENS_TENDONVEL, // scalar tendon velocity
mjSENS_ACTUATORPOS, // scalar actuator position
mjSENS_ACTUATORVEL, // scalar actuator velocity
mjSENS_ACTUATORFRC, // scalar actuator force
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
// sensors related to ball joints
mjSENS_BALLQUAT, // 4D ball joint quaternion
mjSENS_BALLANGVEL, // 3D ball joint angular velocity
// joint and tendon limit sensors, in constraint space
mjSENS_JOINTLIMITPOS, // joint limit distance-margin
mjSENS_JOINTLIMITVEL, // joint limit velocity
mjSENS_JOINTLIMITFRC, // joint limit force
mjSENS_TENDONLIMITPOS, // tendon limit distance-margin
mjSENS_TENDONLIMITVEL, // tendon limit velocity
mjSENS_TENDONLIMITFRC, // tendon limit force
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
mjSENS_FRAMEPOS, // 3D position
mjSENS_FRAMEQUAT, // 4D unit quaternion orientation
mjSENS_FRAMEXAXIS, // 3D unit vector: x-axis of object's frame
mjSENS_FRAMEYAXIS, // 3D unit vector: y-axis of object's frame
mjSENS_FRAMEZAXIS, // 3D unit vector: z-axis of object's frame
mjSENS_FRAMELINVEL, // 3D linear velocity
mjSENS_FRAMEANGVEL, // 3D angular velocity
mjSENS_FRAMELINACC, // 3D linear acceleration
mjSENS_FRAMEANGACC, // 3D angular acceleration
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
mjSENS_SUBTREECOM, // 3D center of mass of subtree
mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree
mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree
// sensors of geometric relationships
mjSENS_INSIDESITE, // 1 if object is inside a site, 0 otherwise
mjSENS_GEOMDIST, // signed distance between two geoms
mjSENS_GEOMNORMAL, // normal direction between two geoms
mjSENS_GEOMFROMTO, // segment between two geoms
// sensors for reporting contacts which occurred during the simulation
mjSENS_CONTACT, // contacts which occurred during the simulation
// global sensors
mjSENS_E_POTENTIAL, // potential energy
mjSENS_E_KINETIC, // kinetic energy
mjSENS_CLOCK, // simulation time
// sensors related to SDFs
mjSENS_TACTILE, // tactile sensor
// plugin-controlled sensors
mjSENS_PLUGIN, // plugin-controlled
// user-defined sensor
mjSENS_USER // sensor data provided by mjcb_sensor callback
} mjtSensor;
typedef enum mjtStage { // computation stage
mjSTAGE_NONE = 0, // no computations
mjSTAGE_POS, // position-dependent computations
mjSTAGE_VEL, // velocity-dependent computations
mjSTAGE_ACC // acceleration/force-dependent computations
} mjtStage;
typedef enum mjtDataType { // data type for sensors
mjDATATYPE_REAL = 0, // real values, no constraints
mjDATATYPE_POSITIVE, // positive values; 0 or negative: inactive
mjDATATYPE_AXIS, // 3D unit vector
mjDATATYPE_QUATERNION // unit quaternion
} mjtDataType;
typedef enum mjtConDataField { // data fields returned by contact sensors
mjCONDATA_FOUND = 0, // whether a contact was found
mjCONDATA_FORCE, // contact force
mjCONDATA_TORQUE, // contact torque
mjCONDATA_DIST, // contact penetration distance
mjCONDATA_POS, // contact position
mjCONDATA_NORMAL, // contact frame normal
mjCONDATA_TANGENT, // contact frame first tangent
mjNCONDATA // number of contact sensor data fields
} mjtConDataField;
typedef enum mjtRayDataField { // data fields returned by rangefinder sensors
mjRAYDATA_DIST = 0, // distance from ray origin to nearest surface
mjRAYDATA_DIR, // normalized ray direction
mjRAYDATA_ORIGIN, // ray origin
mjRAYDATA_POINT, // point at which ray intersects nearest surface
mjRAYDATA_NORMAL, // surface normal at intersection point
mjRAYDATA_DEPTH, // depth along z-axis
mjNRAYDATA // number of rangefinder sensor data fields
} mjtRayDataField;
typedef enum mjtCamOutBit { // camera output type bitflags
mjCAMOUT_RGB = 1<<0, // RGB image
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
mjCAMOUT_NORMAL = 1<<3, // normal image
mjCAMOUT_SEG = 1<<4, // segmentation image
mjNCAMOUT = 5 // number of camera output types
} mjtCamOutBit;
typedef enum mjtSameFrame { // frame alignment of bodies with their children
mjSAMEFRAME_NONE = 0, // no alignment
mjSAMEFRAME_BODY, // frame is same as body frame
mjSAMEFRAME_INERTIA, // frame is same as inertial frame
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
} mjtSameFrame;
typedef enum mjtSleepPolicy { // per-tree sleep policy
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
mjSLEEP_NEVER, // user sleep policy: never
mjSLEEP_ALLOWED, // user sleep policy: allowed
mjSLEEP_INIT, // user sleep policy: initialized asleep
} mjtSleepPolicy;
typedef enum mjtLRMode { // mode for actuator length range computation
mjLRMODE_NONE = 0, // do not process any actuators
mjLRMODE_MUSCLE, // process muscle actuators
mjLRMODE_MUSCLEUSER, // process muscle and user actuators
mjLRMODE_ALL // process all actuators
} mjtLRMode;
typedef enum mjtFlexSelf { // mode for flex selfcollide
mjFLEXSELF_NONE = 0, // no self-collisions
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
mjFLEXSELF_SAP, // use SAP in midphase
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
} mjtFlexSelf;
typedef enum mjtSDFType { // signed distance function (SDF) type
mjSDFTYPE_SINGLE = 0, // single SDF
mjSDFTYPE_INTERSECTION, // max(A, B)
mjSDFTYPE_MIDSURFACE, // A - B
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
} mjtSDFType;
typedef enum mjtState { // state elements
mjSTATE_TIME = 1<<0, // time
mjSTATE_QPOS = 1<<1, // position
mjSTATE_QVEL = 1<<2, // velocity
mjSTATE_ACT = 1<<3, // actuator activation
mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
mjSTATE_CTRL = 1<<6, // control
mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
mjSTATE_USERDATA = 1<<12, // user data
mjSTATE_PLUGIN = 1<<13, // plugin state
mjNSTATE = 14, // number of state elements
// convenience values for commonly used state specifications
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
mjSTATE_USERDATA,
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;
typedef enum mjtConstraint { // type of constraint
mjCNSTR_EQUALITY = 0, // equality constraint
mjCNSTR_FRICTION_DOF, // dof friction
mjCNSTR_FRICTION_TENDON, // tendon friction
mjCNSTR_LIMIT_JOINT, // joint limit
mjCNSTR_LIMIT_TENDON, // tendon limit
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtConstraintState { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtWarning { // warning types
mjWARN_INERTIA = 0, // (near) singular inertia matrix
mjWARN_CONTACTFULL, // too many contacts in contact list
mjWARN_CNSTRFULL, // too many constraints
mjWARN_BADQPOS, // bad number in qpos
mjWARN_BADQVEL, // bad number in qvel
mjWARN_BADQACC, // bad number in qacc
mjWARN_BADCTRL, // bad number in ctrl
mjNWARNING // number of warnings
} mjtWarning;
typedef enum mjtTimer { // internal timers
// main api
mjTIMER_STEP = 0, // step
mjTIMER_FORWARD, // forward
mjTIMER_INVERSE, // inverse
// breakdown of step/forward
mjTIMER_POSITION, // fwdPosition
mjTIMER_VELOCITY, // fwdVelocity
mjTIMER_ACTUATION, // fwdActuation
mjTIMER_CONSTRAINT, // fwdConstraint
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
// breakdown of fwdPosition
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
mjTIMER_POS_INERTIA, // inertia computations
mjTIMER_POS_COLLISION, // collision detection
mjTIMER_POS_MAKE, // make constraints
mjTIMER_POS_PROJECT, // project constraints
// breakdown of mj_collision
mjTIMER_COL_BROAD, // broadphase
mjTIMER_COL_NARROW, // narrowphase
mjNTIMER // number of timers
} mjtTimer;
typedef enum mjtSleepState { // sleep state of an object
mjS_STATIC = -1, // object is static
mjS_ASLEEP = 0, // object is asleep
mjS_AWAKE = 1 // object is awake
} mjtSleepState;
typedef enum mjtLogLevel { // log message severity
mjLOG_DEBUG = 0, // internal engine debug trace (opt-in via topic filtering)
mjLOG_INFO, // informational (opt-in via topic filtering)
mjLOG_WARNING, // warning
mjLOG_ERROR, // error
} mjtLogLevel;
typedef enum mjtLogTopic { // log topic identifiers
mjTOPIC_NONE = 0, // no topic (always passes filtering)
// INFO topics:
mjTOPIC_TIME_STP = 1, // timing diagnostics (step)
mjTOPIC_TIME_CMP = 2, // timing diagnostics (compile)
// DEBUG topics:
mjTOPIC_SLEEP = 3, // sleep/wake events
mjNTOPIC = 3 // number of filterable topics
} mjtLogTopic;
typedef struct mjLogMessage_ { // structured log message
int level; // mjtLogLevel
int topic; // mjtLogTopic (0 for error/warning/user)
char subject[1024]; // message subject (one-liner, printf-formatted)
const char* body; // message body (multi-line detail, or NULL)
const char* func; // __func__ or NULL
const char* file; // __FILE__ or NULL
int line; // __LINE__ or 0
mjtBool timestamp; // prepend timestamp to output
} mjLogMessage;
typedef struct mjLogConfig_ { // log handler default configuration
mjtBool logto_console; // print to console (default: true)
mjtBool logto_file; // print to log file (default: true)
char logfile[1024]; // log file path (default: "MUJOCO_LOG.TXT")
int topics; // enabled info topic bitmask (default: 0)
} mjLogConfig;
typedef enum mjtButton { // mouse button
mjBUTTON_NONE = 0, // no button
mjBUTTON_LEFT, // left button
mjBUTTON_RIGHT, // right button
mjBUTTON_MIDDLE // middle button
} mjtButton;
typedef enum mjtEvent { // mouse and keyboard event type
mjEVENT_NONE = 0, // no event
mjEVENT_MOVE, // mouse move
mjEVENT_PRESS, // mouse button press
mjEVENT_RELEASE, // mouse button release
mjEVENT_SCROLL, // scroll
mjEVENT_KEY, // key press
mjEVENT_RESIZE, // resize
mjEVENT_REDRAW, // redraw
mjEVENT_FILESDROP // files drop
} mjtEvent;
typedef enum mjtItem { // UI item type
mjITEM_END = -2, // end of definition list (not an item)
mjITEM_SECTION = -1, // section (not an item)
mjITEM_SEPARATOR = 0, // separator
mjITEM_STATIC, // static text
mjITEM_BUTTON, // button
// the rest have data pointer
mjITEM_CHECKINT, // check box, int value
mjITEM_CHECKBYTE, // check box, mjtByte value
mjITEM_RADIO, // radio group
mjITEM_RADIOLINE, // radio group, single line
mjITEM_SELECT, // selection box
mjITEM_SLIDERINT, // slider, int value
mjITEM_SLIDERNUM, // slider, mjtNum value
mjITEM_EDITINT, // editable array, int values
mjITEM_EDITNUM, // editable array, mjtNum values
mjITEM_EDITFLOAT, // editable array, float values
mjITEM_EDITTXT, // editable text
mjNITEM // number of item types
} mjtItem;
typedef enum mjtSection { // UI section state
mjSECT_CLOSED = 0, // closed state (regular section)
mjSECT_OPEN, // open state (regular section)
mjSECT_FIXED // fixed section: always open, no title
} mjtSection;
typedef struct mjuiState_ { // mouse and keyboard state
// constants set by user
int nrect; // number of rectangles used
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
void* userdata; // pointer to user data (for callbacks)
// event type
int type; // (type mjtEvent)
// mouse buttons
int left; // is left button down
int right; // is right button down
int middle; // is middle button down
int doubleclick; // is last press a double click
int button; // which button was pressed (mjtButton)
double buttontime; // time of last button press
// mouse position
double x; // x position
double y; // y position
double dx; // x displacement
double dy; // y displacement
double sx; // x scroll
double sy; // y scroll
// keyboard
int control; // is control down
int shift; // is shift down
int alt; // is alt down
int key; // which key was pressed
double keytime; // time of last key press
// rectangle ownership and dragging
int mouserect; // which rectangle contains mouse
int dragrect; // which rectangle is dragged with mouse
int dragbutton; // which button started drag (mjtButton)
// files dropping (only valid when type == mjEVENT_FILESDROP)
int dropcount; // number of files dropped
const char** droppaths; // paths to files dropped
} mjuiState;
typedef struct mjuiThemeSpacing_ { // UI visualization theme spacing
int total; // total width
int scroll; // scrollbar width
int label; // label width
int section; // section gap
int cornersect; // corner radius for section
int cornersep; // corner radius for separator
int itemside; // item side gap
int itemmid; // item middle gap
int itemver; // item vertical gap
int texthor; // text horizontal gap
int textver; // text vertical gap
int linescroll; // number of pixels to scroll
int samples; // number of multisamples
} mjuiThemeSpacing;
typedef struct mjuiThemeColor_ { // UI visualization theme color
float master[3]; // master background
float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitleuncheck[3]; // section title with unchecked box
float secttitleuncheck2[3]; // section title with unchecked box: bottom color
float secttitlecheck[3]; // section title with checked box
float secttitlecheck2[3]; // section title with checked box: bottom color
float sectfont[3]; // section font
float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane
float separator[3]; // separator title
float separator2[3]; // separator title: bottom color
float shortcut[3]; // shortcut background
float fontactive[3]; // font active
float fontinactive[3]; // font inactive
float decorinactive[3]; // decor inactive
float decorinactive2[3]; // inactive slider color 2
float button[3]; // button
float check[3]; // check
float radio[3]; // radio
float select[3]; // select
float select2[3]; // select pane
float slider[3]; // slider
float slider2[3]; // slider color 2
float edit[3]; // edit
float edit2[3]; // edit invalid
float cursor[3]; // edit cursor
} mjuiThemeColor;
struct mjuiItemSingle_ { // check and button-related
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
};
struct mjuiItemMulti_ { // static, radio and select-related
int nelem; // number of elements in group
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
};
struct mjuiItemSlider_ { // slider-related
double range[2]; // slider range
double divisions; // number of range divisions
};
struct mjuiItemEdit_ { // edit-related
int nelem; // number of elements in list
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
};
typedef struct mjuiItem_ { // UI item
// common properties
int type; // type (mjtItem)
char name[mjMAXUINAME]; // name
int state; // 0: disable, 1: enable, 2+: use predicate
void *pdata; // data pointer (type-specific)
int sectionid; // id of section containing item
int itemid; // id of item within section
int userid; // user-supplied id (for event handling)
// type-specific properties
union {
struct mjuiItemSingle_ single; // check and button
struct mjuiItemMulti_ multi; // static, radio and select
struct mjuiItemSlider_ slider; // slider
struct mjuiItemEdit_ edit; // edit
};
// internal
mjrRect rect; // rectangle occupied by item
int skip; // item skipped due to closed separator
} mjuiItem;
typedef struct mjuiSection_ { // UI section
// properties
char name[mjMAXUINAME]; // name
int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: unchecked, 2: checked
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
// internal
mjrRect rtitle; // rectangle occupied by title
mjrRect rcontent; // rectangle occupied by content
int lastclick; // last mouse click over this section
} mjuiSection;
typedef struct mjUI_ { // entire UI
// constants set by user
mjuiThemeSpacing spacing; // UI theme spacing
mjuiThemeColor color; // UI theme color
mjfItemEnable predicate; // callback to set item state programmatically
void* userdata; // pointer to user data (passed to predicate)
int rectid; // index of this ui rectangle in mjuiState
int auxid; // aux buffer index of this ui
int radiocol; // number of radio columns (0 defaults to 2)
// UI sizes (framebuffer units)
int width; // width
int height; // current height
int maxheight; // height when all sections open
int scroll; // scroll from top of UI
// mouse focus and count
int mousesect; // 0: none, -1: scroll, otherwise 1+section
int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts
int mouseclicks; // number of mouse clicks over UI
int mousesectcheck; // 0: none, otherwise 1+section
// keyboard focus and edit
int editsect; // 0: none, otherwise 1+section
int edititem; // item within section
int editcursor; // cursor position
int editscroll; // horizontal scroll
char edittext[mjMAXUITEXT]; // current text
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
// sections
int nsect; // number of sections in use
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
} mjUI;
typedef struct mjuiDef_ { // table passed to mjui_add()
int type; // type (mjtItem); -1: section
char name[mjMAXUINAME]; // name
int state; // state
void* pdata; // pointer to data
char other[mjMAXUITEXT]; // string with type-specific properties
int otherint; // int with type-specific properties
} mjuiDef;
typedef enum mjtCatBit_ { // bitflags for mjvGeom category
mjCAT_STATIC = 1, // model elements in body 0
mjCAT_DYNAMIC = 2, // model elements in all other bodies
mjCAT_DECOR = 4, // decorative geoms
mjCAT_ALL = 7 // select all categories
} mjtCatBit;
typedef enum mjtMouse_ { // mouse interaction mode
mjMOUSE_NONE = 0, // no action
mjMOUSE_ROTATE_V, // rotate (orbit) vertically
mjMOUSE_ROTATE_H, // rotate (orbit) horizontally
mjMOUSE_MOVE_V, // move along vertical plane
mjMOUSE_MOVE_H, // move along horizontal plane
mjMOUSE_ZOOM, // zoom (towards/away from lookat point)
mjMOUSE_MOVE_V_REL, // move (truck, pedestal), vertical plane rel. to target
mjMOUSE_MOVE_H_REL, // move (truck, dolly), horizontal plane rel. to target
mjMOUSE_TURN_V, // turn (tilt) vertically
mjMOUSE_TURN_H, // turn (pan) horizontally
} mjtMouse;
typedef enum mjtPertBit_ { // mouse perturbations
mjPERT_TRANSLATE = 1, // translation
mjPERT_ROTATE = 2 // rotation
} mjtPertBit;
typedef enum mjtCamera_ { // abstract camera type
mjCAMERA_FREE = 0, // free camera
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
mjCAMERA_USER // user is responsible for setting OpenGL camera
} mjtCamera;
typedef enum mjtLabel_ { // object labeling
mjLABEL_NONE = 0, // nothing
mjLABEL_BODY, // body labels
mjLABEL_JOINT, // joint labels
mjLABEL_GEOM, // geom labels
mjLABEL_SITE, // site labels
mjLABEL_CAMERA, // camera labels
mjLABEL_LIGHT, // light labels
mjLABEL_TENDON, // tendon labels
mjLABEL_ACTUATOR, // actuator labels
mjLABEL_CONSTRAINT, // constraint labels
mjLABEL_FLEX, // flex labels
mjLABEL_SKIN, // skin labels
mjLABEL_SELECTION, // selected object
mjLABEL_SELPNT, // coordinates of selection point
mjLABEL_CONTACTPOINT, // contact information
mjLABEL_CONTACTFORCE, // magnitude of contact force
mjLABEL_ISLAND, // id of island
mjNLABEL // number of label types
} mjtLabel;
typedef enum mjtFrame_ { // frame visualization
mjFRAME_NONE = 0, // no frames
mjFRAME_BODY, // body frames
mjFRAME_GEOM, // geom frames
mjFRAME_SITE, // site frames
mjFRAME_CAMERA, // camera frames
mjFRAME_LIGHT, // light frames
mjFRAME_CONTACT, // contact frames
mjFRAME_WORLD, // world frame
mjNFRAME // number of visualization frames
} mjtFrame;
typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_CONVEXHULL = 0, // mesh convex hull
mjVIS_TEXTURE, // textures
mjVIS_JOINT, // joints
mjVIS_CAMERA, // cameras
mjVIS_ACTUATOR, // actuators
mjVIS_ACTIVATION, // activations
mjVIS_LIGHT, // lights
mjVIS_TENDON, // tendons
mjVIS_RANGEFINDER, // rangefinder sensors
mjVIS_CONSTRAINT, // point constraints
mjVIS_INERTIA, // equivalent inertia boxes
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
mjVIS_PERTFORCE, // perturbation force
mjVIS_PERTOBJ, // perturbation object
mjVIS_CONTACTPOINT, // contact points
mjVIS_ISLAND, // constraint islands
mjVIS_CONTACTFORCE, // contact force
mjVIS_CONTACTSPLIT, // split contact force into normal and tangent
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
mjVIS_AUTOCONNECT, // auto connect joints and body coms
mjVIS_COM, // center of mass
mjVIS_SELECT, // selection point
mjVIS_STATIC, // static bodies
mjVIS_SKIN, // skin
mjVIS_FLEXVERT, // flex vertices
mjVIS_FLEXEDGE, // flex edges
mjVIS_FLEXFACE, // flex element faces
mjVIS_FLEXSKIN, // flex smooth skin (disables the rest)
mjVIS_BODYBVH, // body bounding volume hierarchy
mjVIS_MESHBVH, // mesh bounding volume hierarchy
mjVIS_SDFITER, // iterations of SDF gradient descent
mjNVISFLAG // number of visualization flags
} mjtVisFlag;
typedef enum mjtRndFlag_ { // flags enabling rendering effects
mjRND_SHADOW = 0, // shadows
mjRND_WIREFRAME, // wireframe
mjRND_REFLECTION, // reflections
mjRND_ADDITIVE, // additive transparency
mjRND_SKYBOX, // skybox
mjRND_FOG, // fog
mjRND_HAZE, // haze
mjRND_DEPTH, // depth
mjRND_SEGMENT, // segmentation with random color
mjRND_IDCOLOR, // segmentation with segid+1 color
mjRND_CULL_FACE, // cull backward faces
mjNRNDFLAG // number of rendering flags
} mjtRndFlag;
typedef enum mjtStereo_ { // type of stereo rendering
mjSTEREO_NONE = 0, // no stereo; use left eye only
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
mjSTEREO_SIDEBYSIDE // side-by-side
} mjtStereo;
typedef struct mjvPerturb_ { // object selection and perturbation
int select; // selected body id; non-positive: none
int flexselect; // selected flex id; negative: none
int skinselect; // selected skin id; negative: none
int active; // perturbation bitmask (mjtPertBit)
int active2; // secondary perturbation bitmask (mjtPertBit)
mjtNum refpos[3]; // reference position for selected object
mjtNum refquat[4]; // reference orientation for selected object
mjtNum refselpos[3]; // reference position for selection point
mjtNum localpos[3]; // selection point in object coordinates
mjtNum localmass; // spatial inertia at selection point
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
} mjvPerturb;
typedef struct mjvCamera_ { // abstract camera
// type and ids
int type; // camera type (mjtCamera)
int fixedcamid; // fixed camera id
int trackbodyid; // body id to track
// abstract camera pose specification
mjtNum lookat[3]; // lookat point
mjtNum distance; // distance to lookat point or tracked body
mjtNum azimuth; // camera azimuth (deg)
mjtNum elevation; // camera elevation (deg)
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
} mjvCamera;
typedef struct mjvGLCamera_ { // OpenGL camera
// camera frame
float pos[3]; // position
float forward[3]; // forward direction
float up[3]; // up direction
// camera projection
float frustum_center; // hor. center (left,right set to match aspect)
float frustum_width; // width (not used for rendering)
float frustum_bottom; // bottom
float frustum_top; // top
float frustum_near; // near
float frustum_far; // far
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
} mjvGLCamera;
typedef struct mjvGeom_ { // abstract geom
// type info
int type; // geom type (mjtGeom)
int dataid; // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
int objid; // mujoco object id; -1 for decor
int category; // visual category
int matid; // material id; -1: no textured material
int texid; // texture id; -1: none
int texuniform; // uniform cube mapping
int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown
// spatial transform
float size[3]; // size parameters
float pos[3]; // Cartesian position
float mat[9]; // Cartesian orientation
// material properties
float rgba[4]; // color and transparency
float emission; // emission coef
float specular; // specular coef
float shininess; // shininess coef
float reflectance; // reflectance coef
float texrepeat[2]; // texture repetition for 2d mapping
char label[100]; // text label
// transparency rendering (set internally)
float camdist; // distance to camera (used by sorter)
float modelrbound; // geom rbound from model, 0 if not model geom
mjtByte transparent; // treat geom as transparent
} mjvGeom;
typedef struct mjvLight_ { // OpenGL light
int id; // light id, -1 for headlight
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
int type; // type (mjtLightType)
int texid; // texture id for image lights
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
mjtByte headlight; // headlight
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
float softness; // spotlight edge softness
} mjvLight;
typedef struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flexgroup[mjNGROUP]; // flex visualization by group
mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
int bvh_depth; // depth of the bounding volume hierarchy to be visualized
int flex_layer; // element layer to be visualized for 3D flex
} mjvOption;
typedef struct mjvScene_ { // abstract scene passed to OpenGL renderer
// abstract geoms
int maxgeom; // size of allocated geom buffer
int ngeom; // number of geoms currently in buffer
mjvGeom* geoms; // buffer for geoms (ngeom)
int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
// flex data
int nflex; // number of flexes
int* flexedgeadr; // address of flex edges (nflex)
int* flexedgenum; // number of edges in flex (nflex)
int* flexvertadr; // address of flex vertices (nflex)
int* flexvertnum; // number of vertices in flex (nflex)
int* flexfaceadr; // address of flex faces (nflex)
int* flexfacenum; // number of flex faces allocated (nflex)
int* flexfaceused; // number of flex faces currently in use (nflex)
int* flexedge; // flex edge data (2*nflexedge)
float* flexvert; // flex vertices (3*nflexvert)
float* flexface; // flex faces vertices (9*sum(flexfacenum))
float* flexnormal; // flex face normals (9*sum(flexfacenum))
float* flextexcoord; // flex face texture coordinates (6*sum(flexfacenum))
mjtByte flexvertopt; // copy of mjVIS_FLEXVERT mjvOption flag
mjtByte flexedgeopt; // copy of mjVIS_FLEXEDGE mjvOption flag
mjtByte flexfaceopt; // copy of mjVIS_FLEXFACE mjvOption flag
mjtByte flexskinopt; // copy of mjVIS_FLEXSKIN mjvOption flag
// skin data
int nskin; // number of skins
int* skinfacenum; // number of faces in skin (nskin)
int* skinvertadr; // address of skin vertices (nskin)
int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data (3*nskinvert)
float* skinnormal; // skin normal data (3*nskinvert)
// OpenGL lights
int nlight; // number of lights currently in buffer
mjvLight lights[mjMAXLIGHT]; // buffer for lights (nlight)
// OpenGL cameras
mjvGLCamera camera[2]; // left and right camera
// OpenGL model transformation
mjtByte enabletransform; // enable model transformation
float translate[3]; // model translation
float rotate[4]; // model quaternion rotation
float scale; // model scaling
// OpenGL rendering effects
int stereo; // stereoscopic rendering (mjtStereo)
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
// framing
int framewidth; // frame pixel width; 0: disable framing
float framergb[3]; // frame color
// geom buffer status
int status; // 0: ok, 1: geoms exhausted, warning issued
} mjvScene;
typedef struct mjvFigure_ { // abstract 2D figure passed to OpenGL renderer
// enable flags
int flg_legend; // show legend
int flg_ticklabel[2]; // show grid tick labels (x,y)
int flg_extend; // automatically extend axis ranges to fit data
int flg_barplot; // isolated line segments (i.e. GL_LINES)
int flg_selection; // vertical selection line
int flg_symmetric; // symmetric y-axis
// style settings
float linewidth; // line width
float gridwidth; // grid line width
int gridsize[2]; // number of grid points in (x,y)
float gridrgb[3]; // grid line rgb
float figurergba[4]; // figure color and alpha
float panergba[4]; // pane color and alpha
float legendrgba[4]; // legend color and alpha
float textrgb[3]; // text color
float linergb[mjMAXLINE][3]; // line colors
float range[2][2]; // axis ranges; (min>=max) automatic
char xformat[20]; // x-tick label format for sprintf
char yformat[20]; // y-tick label format for sprintf
char minwidth[20]; // string used to determine min y-tick width
// text labels
char title[1000]; // figure title; subplots separated with 2+ spaces
char xlabel[100]; // x-axis label
char linename[mjMAXLINE][100]; // line names for legend
// dynamic settings
int legendoffset; // number of lines to offset legend
int subplot; // selected subplot (for title rendering)
int highlight[2]; // if point is in legend rect, highlight line
int highlightid; // if id>=0 and no point, highlight id
float selection; // selection line x-value
// line data
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
// output from renderer
int xaxispixel[2]; // range of x-axis in pixels
int yaxispixel[2]; // range of y-axis in pixels
float xaxisdata[2]; // range of x-axis in data units
float yaxisdata[2]; // range of y-axis in data units
} mjvFigure;
//----------------------------- MJAPI FUNCTIONS --------------------------------
void mjrf_defaultContextConfig(mjrfContextConfig* config);
mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
void mjrf_destroyContext(mjrfContext* ctx);
void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info);
void mjrf_defaultRenderRequest(mjrfRenderRequest* request);
void mjrf_defaultReadPixelsRequest(mjrfReadPixelsRequest* request);
mjrfFrameHandle mjrf_render(mjrfContext* ctx, const mjrfRenderRequest* req, int nreq,
const mjrfReadPixelsRequest* read_req, int nread_req);
void mjrf_waitForFrame(mjrfContext* ctx, mjrfFrameHandle frame);
void mjrf_setClearColor(mjrfContext* ctx, const float color[3]);
void mjrf_defaultFrameStats(mjrfFrameStats* stats);
void mjrf_getFrameStats(mjrfContext* ctx, mjrfFrameHandle frame, mjrfFrameStats* stats_out);
void mjrf_defaultTextureConfig(mjrfTextureConfig* config);
mjrfTexture* mjrf_createTexture(mjrfContext* ctx, const mjrfTextureConfig* config);
void mjrf_destroyTexture(mjrfTexture* texture);
void mjrf_defaultTextureData(mjrfTextureData* data);
void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data);
int mjrf_getTextureWidth(const mjrfTexture* texture);
int mjrf_getTextureHeight(const mjrfTexture* texture);
int mjrf_getTextureSamplerType(const mjrfTexture* texture);
void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
void mjrf_destroyMesh(mjrfMesh* mesh);
void mjrf_defaultMeshData(mjrfMeshData* data);
void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
void mjrf_defaultSceneParams(mjrfSceneParams* params);
mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params);
void mjrf_destroyScene(mjrfScene* scene);
void mjrf_addLightToScene(mjrfScene* scene, mjrfLight* light);
void mjrf_removeLightFromScene(mjrfScene* scene, mjrfLight* light);
void mjrf_addRenderableToScene(mjrfScene* scene, mjrfRenderable* renderable);
void mjrf_removeRenderableFromScene(mjrfScene* scene, mjrfRenderable* renderable);
void mjrf_setSceneSkybox(mjrfScene* scene, const mjrfTexture* texture);
void mjrf_configureSceneFromModel(mjrfScene* scene, const mjModel* model);
void mjrf_defaultLightParams(mjrfLightParams* params);
mjrfLight* mjrf_createLight(mjrfContext* ctx, const mjrfLightParams* params);
void mjrf_destroyLight(mjrfLight* light);
void mjrf_setLightEnabled(mjrfLight* light, mjtBool enabled);
void mjrf_setLightIntensity(mjrfLight* light, float intensity);
void mjrf_setLightShadowMapSize(mjrfLight* light, int map_size);
void mjrf_setLightColor(mjrfLight* light, const float color[3]);
void mjrf_setLightTransform(mjrfLight* light, const float position[3], const float direction[3]);
int mjrf_getLightType(const mjrfLight* light);
void mjrf_defaultMaterial(mjrfMaterial* material);
void mjrf_defaultRenderableParams(mjrfRenderableParams* params);
mjrfRenderable* mjrf_createRenderable(mjrfContext* ctx, const mjrfRenderableParams* params);
void mjrf_destroyRenderable(mjrfRenderable* renderable);
void mjrf_setRenderableMesh(mjrfRenderable* renderable, const mjrfMesh* mesh, int elem_offset,
int elem_count);
void mjrf_setRenderableGeomMesh(mjrfRenderable* renderable, int type, int nstack, int nslice,
int nquad);
void mjrf_setRenderableMaterial(mjrfRenderable* renderable, const mjrfMaterial* material);
void mjrf_getRenderableMaterial(mjrfRenderable* renderable, mjrfMaterial* material);
void mjrf_setRenderableTransform(mjrfRenderable* renderable, const float position[3],
const float rotation[9]);
void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]);
void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config);
mjrfRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx, const mjrfRenderTargetConfig* config);
void mjrf_destroyRenderTarget(mjrfRenderTarget* render_target);
void mjrf_resizeRenderTarget(mjrfRenderTarget* render_target, int width, int height);
void mj_defaultVFS(mjVFS* vfs);
int mj_mountVFS(mjVFS* vfs, const char* filepath, const mjpResourceProvider* provider);
int mj_unmountVFS(mjVFS* vfs, const char* filename);
int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
int mj_containsBufferVFS(mjVFS* vfs, const char* name);
int mj_containsFileVFS(mjVFS* vfs, const char* directory, const char* filename);
void mj_deleteVFS(mjVFS* vfs);
size_t mj_getCacheSize(const mjCache* cache);
size_t mj_getCacheCapacity(const mjCache* cache);
size_t mj_setCacheCapacity(mjCache* cache, size_t size);
mjCache* mj_getCache(void);
void mj_clearCache(mjCache* cache);
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parse(const char* filename, const char* content_type,
const mjVFS* vfs, char* error, int error_sz);
mjtSize mj_encode(const mjSpec* s, const mjModel* m, const char* filename,
const char* content_type, const mjVFS* vfs, char* error,
int error_sz);
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
int mj_copyBack(mjSpec* s, const mjModel* m);
int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
void mj_freeLastXML(void);
int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
void mj_step(const mjModel* m, mjData* d);
void mj_step1(const mjModel* m, mjData* d);
void mj_step2(const mjModel* m, mjData* d);
void mj_forward(const mjModel* m, mjData* d);
void mj_inverse(const mjModel* m, mjData* d);
void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
void mj_defaultLROpt(mjLROpt* opt);
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
void mj_defaultOption(mjOption* opt);
void mj_defaultVisual(mjVisual* vis);
mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz);
void mj_deleteModel(mjModel* m);
mjtSize mj_sizeModel(const mjModel* m);
mjData* mj_makeData(const mjModel* m);
mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
void mj_resetCtrl(const mjModel* m, mjData* d);
void mj_resetData(const mjModel* m, mjData* d);
void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
void mj_markStack(mjData* d);
void mj_freeStack(mjData* d);
void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
mjtNum* mj_stackAllocNum(mjData* d, size_t size);
int* mj_stackAllocInt(mjData* d, size_t size);
void mj_deleteData(mjData* d);
void mj_resetCallbacks(void);
void mj_setConst(mjModel* m, mjData* d);
int mj_setLengthRange(mjModel* m, mjData* d, int index,
const mjLROpt* opt, char* error, int error_sz);
mjSpec* mj_makeSpec(void);
mjSpec* mj_copySpec(const mjSpec* s);
void mj_deleteSpec(mjSpec* s);
int mjs_activatePlugin(mjSpec* s, const char* name);
int mjs_setDeepCopy(mjSpec* s, int deepcopy);
void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
void mj_printModel(const mjModel* m, const char* filename);
void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
const char* float_format);
void mj_printData(const mjModel* m, const mjData* d, const char* filename);
void mju_printMat(const mjtNum* mat, int nr, int nc);
void mju_printMatSparse(const mjtNum* mat, int nr,
const int* rownnz, const int* rowadr, const int* colind);
int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
int flg_html, int flg_pad);
void mj_printScene(const mjvScene* s, const char* filename);
void mj_printFormattedScene(const mjvScene* s, const char* filename,
const char* float_format);
void mj_fwdKinematics(const mjModel* m, mjData* d);
void mj_fwdPosition(const mjModel* m, mjData* d);
void mj_fwdVelocity(const mjModel* m, mjData* d);
void mj_fwdActuation(const mjModel* m, mjData* d);
void mj_fwdAcceleration(const mjModel* m, mjData* d);
void mj_fwdConstraint(const mjModel* m, mjData* d);
void mj_Euler(const mjModel* m, mjData* d);
void mj_RungeKutta(const mjModel* m, mjData* d, int N);
void mj_implicit(const mjModel* m, mjData* d);
void mj_invPosition(const mjModel* m, mjData* d);
void mj_invVelocity(const mjModel* m, mjData* d);
void mj_invConstraint(const mjModel* m, mjData* d);
void mj_compareFwdInv(const mjModel* m, mjData* d);
void mj_sensorPos(const mjModel* m, mjData* d);
void mj_sensorVel(const mjModel* m, mjData* d);
void mj_sensorAcc(const mjModel* m, mjData* d);
void mj_energyPos(const mjModel* m, mjData* d);
void mj_energyVel(const mjModel* m, mjData* d);
void mj_checkPos(const mjModel* m, mjData* d);
void mj_checkVel(const mjModel* m, mjData* d);
void mj_checkAcc(const mjModel* m, mjData* d);
void mj_kinematics(const mjModel* m, mjData* d);
void mj_comPos(const mjModel* m, mjData* d);
void mj_camlight(const mjModel* m, mjData* d);
void mj_flex(const mjModel* m, mjData* d);
void mj_tendon(const mjModel* m, mjData* d);
void mj_transmission(const mjModel* m, mjData* d);
void mj_crb(const mjModel* m, mjData* d);
void mj_makeM(const mjModel* m, mjData* d);
void mj_factorM(const mjModel* m, mjData* d);
void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n);
void mj_comVel(const mjModel* m, mjData* d);
void mj_passive(const mjModel* m, mjData* d);
void mj_subtreeVel(const mjModel* m, mjData* d);
void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
void mj_rnePostConstraint(const mjModel* m, mjData* d);
int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin);
void mj_collision(const mjModel* m, mjData* d);
void mj_makeConstraint(const mjModel* m, mjData* d);
void mj_island(const mjModel* m, mjData* d);
void mj_projectConstraint(const mjModel* m, mjData* d);
void mj_referenceConstraint(const mjModel* m, mjData* d);
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian);
int mj_stateSize(const mjModel* m, int sig);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
mjtNum* dst, int dstsig);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
mjtNum mj_readCtrl(const mjModel* m, const mjData* d, int id, mjtNum time, int interp);
const mjtNum* mj_readSensor(const mjModel* m, const mjData* d, int id, mjtNum time,
mjtNum* result, int interp);
void mj_initCtrlHistory(const mjModel* m, mjData* d, int id,
const mjtNum* times, const mjtNum* values);
void mj_initSensorHistory(const mjModel* m, mjData* d, int id,
const mjtNum* times, const mjtNum* values, mjtNum phase);
void mj_setKeyframe(mjModel* m, const mjData* d, int k);
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);
int mj_isSparse(const mjModel* m);
int mj_isDual(const mjModel* m);
void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
const mjtNum point[3], const mjtNum axis[3], int body);
void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
int mj_name2id(const mjModel* m, int type, const char* name);
const char* mj_id2name(const mjModel* m, int type, int id);
const char* mj_actuatorInputName(const mjModel* m, int id, int input);
void mj_fullM(const mjModel* m, const mjData* d, mjtNum* dst);
void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
const mjtNum point[3], int body, mjtNum* qfrc_target);
void mj_objectVelocity(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
void mj_objectAcceleration(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum fromto[6]);
void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
const mjtNum* qpos1, const mjtNum* qpos2);
void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
const mjtNum quat[4], int body, mjtByte sameframe);
mjtNum mj_getTotalmass(const mjModel* m);
void mj_setTotalmass(mjModel* m, mjtNum newmass);
const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
void mj_loadPluginLibrary(const char* path);
void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
int mj_version(void);
const char* mj_versionString(void);
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
int geomid[1], mjtNum normal[3]);
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
mjtBool flg_skin, int flexid, const mjtNum pnt[3],
const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
void mjv_defaultCamera(mjvCamera* cam);
void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
void mjv_defaultPerturb(mjvPerturb* pert);
void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
const mjtNum roomquat[4], const mjvScene* scn);
void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
const mjtNum modelquat[4], const mjvScene* scn);
void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
const mjvScene* scn);
void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
const mjvScene* scn);
mjtNum mjv_frustumHeight(const mjvScene* scn);
void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjtNum roomup[3], mjvScene* scn);
void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
int flg_paused);
void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
const mjvCamera* mjv_camera);
int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
mjtNum aspectratio, mjtNum relx, mjtNum rely,
const mjvScene* scn, mjtNum selpnt[3],
int geomid[1], int flexid[1], int skinid[1]);
void mjv_defaultOption(mjvOption* opt);
void mjv_defaultFigure(mjvFigure* fig);
void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
void mjv_connector(mjvGeom* geom, int type, mjtNum width,
const mjtNum from[3], const mjtNum to[3]);
void mjv_defaultScene(mjvScene* scn);
void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
void mjv_freeScene(mjvScene* scn);
void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
void mjv_copyModel(mjModel* dest, const mjModel* src);
void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, int catmask, mjvScene* scn);
void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
const mjData* d, const mjvCamera* cam);
void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjModel* m,
const mjvCamera* cam);
void mjr_defaultContext(mjrContext* con);
void mjr_defaultRendererInfo(mjrRendererInfo* info);
void mjr_getRendererInfo(mjrRendererInfo* info);
void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
void mjr_changeFont(int fontscale, mjrContext* con);
void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
void mjr_freeContext(mjrContext* con);
void mjr_resizeOffscreen(int width, int height, mjrContext* con);
void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
void mjr_restoreBuffer(const mjrContext* con);
void mjr_setBuffer(int framebuffer, mjrContext* con);
void mjr_readPixels(unsigned char* rgb, float* depth,
mjrRect viewport, const mjrContext* con);
void mjr_drawPixels(const unsigned char* rgb, const float* depth,
mjrRect viewport, const mjrContext* con);
void mjr_blitBuffer(mjrRect src, mjrRect dst,
int flg_color, int flg_depth, const mjrContext* con);
void mjr_setAux(int index, const mjrContext* con);
void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
void mjr_text(int font, const char* txt, const mjrContext* con,
float x, float y, float r, float g, float b);
void mjr_overlay(int font, int gridpos, mjrRect viewport,
const char* overlay, const char* overlay2, const mjrContext* con);
mjrRect mjr_maxViewport(const mjrContext* con);
void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
void mjr_label(mjrRect viewport, int font, const char* txt,
float r, float g, float b, float a, float rt, float gt, float bt,
const mjrContext* con);
void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
void mjr_finish(void);
int mjr_getError(void);
int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
mjuiThemeSpacing mjui_themeSpacing(int ind);
mjuiThemeColor mjui_themeColor(int ind);
void mjui_add(mjUI* ui, const mjuiDef* def);
void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
void mjui_resize(mjUI* ui, const mjrContext* con);
void mjui_update(int section, int item, const mjUI* ui,
const mjuiState* state, const mjrContext* con);
mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_clearHandlers(void);
mjfLogHandler mju_setLogHandler(mjfLogHandler handler);
mjLogConfig mju_getLogConfig(void);
void mju_setLogConfig(mjLogConfig config);
void mju_info(int topic, const char* msg, ...) mjPRINTFLIKE(2, 3);
void mju_message(const mjLogMessage* msg);
void* mju_malloc(size_t size);
void mju_free(void* ptr);
void mj_warning(mjData* d, int warning, int info);
void mju_writeLog(const char* type, const char* msg);
const char* mjs_getError(mjSpec* s);
const double* mjs_getTimer(mjSpec* s);
int mjs_isWarning(mjSpec* s);
int mjs_numWarnings(const mjSpec* spec);
const char* mjs_getWarning(const mjSpec* spec, int index);
void mju_zero3(mjtNum res[3]);
void mju_copy3(mjtNum res[3], const mjtNum data[3]);
void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
mjtNum mju_normalize3(mjtNum vec[3]);
mjtNum mju_norm3(const mjtNum vec[3]);
mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
void mju_zero4(mjtNum res[4]);
void mju_unit4(mjtNum res[4]);
void mju_copy4(mjtNum res[4], const mjtNum data[4]);
mjtNum mju_normalize4(mjtNum vec[4]);
void mju_zero(mjtNum* res, int n);
void mju_fill(mjtNum* res, mjtNum val, int n);
void mju_copy(mjtNum* res, const mjtNum* vec, int n);
mjtNum mju_sum(const mjtNum* vec, int n);
mjtNum mju_L1(const mjtNum* vec, int n);
void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
mjtNum mju_normalize(mjtNum* res, int n);
mjtNum mju_norm(const mjtNum* res, int n);
mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
void mju_eye(mjtNum* mat, int n);
void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);
void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int r2);
void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);
void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
const mjtNum newpos[3], const mjtNum oldpos[3],
const mjtNum rotnew2old[9]);
int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, int nnz);
void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
void mju_sym2dense(mjtNum* res, const mjtNum* mat, int n,
const int* rownnz, const int* rowadr, const int* colind);
void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos1[3], const mjtNum quat1[4],
const mjtNum pos2[3], const mjtNum quat2[4]);
void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos[3], const mjtNum quat[4]);
void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
const mjtNum vec[3]);
int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
mjtNum diagadd, mjtNum diagmul);
void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense);
void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtBool flg_sym);
void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym);
int mju_bandDiag(int i, int ntotal, int nband, int ndense);
int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
const mjtNum* lower, const mjtNum* upper);
void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
mjtNum** lower, mjtNum** upper);
mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
mjtNum mju_min(mjtNum a, mjtNum b);
mjtNum mju_max(mjtNum a, mjtNum b);
mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
mjtNum mju_sign(mjtNum x);
int mju_round(mjtNum x);
const char* mju_type2Str(int type);
int mju_str2Type(const char* str);
const char* mju_writeNumBytes(size_t nbytes);
const char* mju_warningText(int warning, size_t info);
int mju_isBad(mjtNum x);
int mju_isZero(const mjtNum* vec, int n);
mjtNum mju_standardNormal(mjtNum* num2);
void mju_f2n(mjtNum* res, const float* vec, int n);
void mju_n2f(float* res, const mjtNum* vec, int n);
void mju_d2n(mjtNum* res, const double* vec, int n);
void mju_n2d(double* res, const mjtNum* vec, int n);
void mju_insertionSort(mjtNum* list, int n);
void mju_insertionSortInt(int* list, int n);
mjtNum mju_Halton(int index, int base);
char* mju_strncpy(char *dst, const char *src, int n);
mjtNum mju_sigmoid(mjtNum x);
const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
const mjtNum x[3]);
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq);
void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
void mjp_defaultPlugin(mjpPlugin* plugin);
int mjp_registerPlugin(const mjpPlugin* plugin);
int mjp_pluginCount(void);
const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
const mjpPlugin* mjp_getPluginAtSlot(int slot);
void mjp_defaultResourceProvider(mjpResourceProvider* provider);
int mjp_registerResourceProvider(const mjpResourceProvider* provider);
int mjp_resourceProviderCount(void);
const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
void mjp_registerDecoder(const mjpDecoder* decoder);
void mjp_defaultDecoder(mjpDecoder* decoder);
const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
void mjp_registerEncoder(const mjpEncoder* encoder);
void mjp_defaultEncoder(mjpEncoder* encoder);
const mjpEncoder* mjp_findEncoder(const char* filename, const char* content_type);
mjResource* mju_openResource(const char* dir, const char* name,
const mjVFS* vfs, char* error, size_t nerror);
void mju_closeResource(mjResource* resource);
int mju_readResource(mjResource* resource, const void** buffer);
mjtSize mju_writeResource(const char* name, const void* buffer, mjtSize nbytes,
const mjVFS* vfs, char* error, size_t nerror);
void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
const mjVFS* vfs);
void mju_threadpool(mjData* d, int nthread);
mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
mjsJoint* mjs_addFreeJoint(mjsBody* body);
mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
int mjs_delete(mjSpec* spec, mjsElement* element);
mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
mjsSensor* mjs_addSensor(mjSpec* s);
mjsFlex* mjs_addFlex(mjSpec* s);
mjsFlex* mjs_makeFlex(mjsBody* body, const char* name, const char* type, int dim,
const char* dof, const int count[3], const int cellcount[3],
const double spacing[3], const double scale[3], double radius,
double mass, double inertiabox, int equality, int rigid, int flatskin,
int elastic2d, const double pos[3], const double quat[4],
const double origin[3], const char* file, const mjVFS* vfs);
mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
mjsExclude* mjs_addExclude(mjSpec* s);
mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
mjsNumeric* mjs_addNumeric(mjSpec* s);
mjsText* mjs_addText(mjSpec* s);
mjsTuple* mjs_addTuple(mjSpec* s);
mjsKey* mjs_addKey(mjSpec* s);
mjsPlugin* mjs_addPlugin(mjSpec* s);
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
const char* mjs_setToMotor(mjsActuator* actuator);
const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange);
const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange);
const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
const char* mjs_setToOrientation(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], int ctrlspec);
const char* mjs_setToPID(mjsActuator* actuator, double kp, double kv[1], double dampratio[1],
double ki[1], double imax[1], double slewmax[1], double inheritrange,
int ctrlspec);
const char* mjs_setToDamper(mjsActuator* actuator, double kv);
const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
double bias, double area, double diameter);
const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
double range[2], double force, double scale, double lmin,
double lmax, double vmax, double fpmax, double fvmax);
const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
double nominal[3], double saturation[3], double inductance[2],
double cogging[3], double controller[6], double thermal[6],
double lugre[5], int ctrlspec);
mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
mjsHField* mjs_addHField(mjSpec* s);
mjsSkin* mjs_addSkin(mjSpec* s);
mjsTexture* mjs_addTexture(mjSpec* s);
mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
mjSpec* mjs_getSpec(const mjsElement* element);
mjSpec* mjs_getOriginSpec(const mjsElement* element);
mjsCompiler* mjs_getCompiler(const mjsElement* element);
mjSpec* mjs_findSpec(const mjSpec* spec, const char* name);
mjsBody* mjs_findBody(const mjSpec* s, const char* name);
mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name);
mjsBody* mjs_findChild(const mjsBody* body, const char* name);
mjsBody* mjs_getParent(const mjsElement* element);
mjsFrame* mjs_getFrame(const mjsElement* element);
mjsFrame* mjs_findFrame(const mjSpec* s, const char* name);
mjsDefault* mjs_getDefault(const mjsElement* element);
mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname);
mjsDefault* mjs_getSpecDefault(const mjSpec* s);
int mjs_getId(const mjsElement* element);
mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse);
mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse);
mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type);
mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element);
mjsElement* mjs_getWrapTarget(const mjsWrap* wrap);
mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap);
double mjs_getWrapDivisor(const mjsWrap* wrap);
double mjs_getWrapCoef(const mjsWrap* wrap);
int mjs_setName(mjsElement* element, const char* name);
void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
void mjs_setString(mjString* dest, const char* text);
void mjs_setStringVec(mjStringVec* dest, const char* text);
mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
void mjs_appendString(mjStringVec* dest, const char* text);
void mjs_setInt(mjIntVec* dest, const int* array, int size);
void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
mjString* mjs_getName(mjsElement* element);
const char* mjs_getString(const mjString* source);
const double* mjs_getDouble(const mjDoubleVec* source, int* size);
int mjs_getWrapNum(const mjsTendon* tendonspec);
mjsWrap* mjs_getWrap(const mjsTendon* tendonspec, int i);
const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
void mjs_setDefault(mjsElement* element, const mjsDefault* def);
int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
const mjsOrientation* orientation);
mjsFrame* mjs_bodyToFrame(mjsBody** body);
void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
const void* data,
void (*cleanup)(const void*));
const void* mjs_getUserValue(mjsElement* element, const char* key);
void mjs_deleteUserValue(mjsElement* element, const char* key);
int mjs_sensorDim(const mjsSensor* sensor);
void mjs_defaultSpec(mjSpec* spec);
void mjs_defaultOrientation(mjsOrientation* orient);
void mjs_defaultBody(mjsBody* body);
void mjs_defaultFrame(mjsFrame* frame);
void mjs_defaultJoint(mjsJoint* joint);
void mjs_defaultGeom(mjsGeom* geom);
void mjs_defaultSite(mjsSite* site);
void mjs_defaultCamera(mjsCamera* camera);
void mjs_defaultLight(mjsLight* light);
void mjs_defaultFlex(mjsFlex* flex);
void mjs_defaultMesh(mjsMesh* mesh);
void mjs_defaultHField(mjsHField* hfield);
void mjs_defaultSkin(mjsSkin* skin);
void mjs_defaultTexture(mjsTexture* texture);
void mjs_defaultMaterial(mjsMaterial* material);
void mjs_defaultPair(mjsPair* pair);
void mjs_defaultEquality(mjsEquality* equality);
void mjs_defaultTendon(mjsTendon* tendon);
void mjs_defaultActuator(mjsActuator* actuator);
void mjs_defaultSensor(mjsSensor* sensor);
void mjs_defaultNumeric(mjsNumeric* numeric);
void mjs_defaultText(mjsText* text);
void mjs_defaultTuple(mjsTuple* tuple);
void mjs_defaultKey(mjsKey* key);
void mjs_defaultPlugin(mjsPlugin* plugin);
mjsBody* mjs_asBody(mjsElement* element);
mjsGeom* mjs_asGeom(mjsElement* element);
mjsJoint* mjs_asJoint(mjsElement* element);
mjsSite* mjs_asSite(mjsElement* element);
mjsCamera* mjs_asCamera(mjsElement* element);
mjsLight* mjs_asLight(mjsElement* element);
mjsFrame* mjs_asFrame(mjsElement* element);
mjsActuator* mjs_asActuator(mjsElement* element);
mjsSensor* mjs_asSensor(mjsElement* element);
mjsFlex* mjs_asFlex(mjsElement* element);
mjsPair* mjs_asPair(mjsElement* element);
mjsEquality* mjs_asEquality(mjsElement* element);
mjsExclude* mjs_asExclude(mjsElement* element);
mjsTendon* mjs_asTendon(mjsElement* element);
mjsNumeric* mjs_asNumeric(mjsElement* element);
mjsText* mjs_asText(mjsElement* element);
mjsTuple* mjs_asTuple(mjsElement* element);
mjsKey* mjs_asKey(mjsElement* element);
mjsMesh* mjs_asMesh(mjsElement* element);
mjsHField* mjs_asHField(mjsElement* element);
mjsSkin* mjs_asSkin(mjsElement* element);
mjsTexture* mjs_asTexture(mjsElement* element);
mjsMaterial* mjs_asMaterial(mjsElement* element);
mjsPlugin* mjs_asPlugin(mjsElement* element);
// NOLINTEND
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