chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
42fbc2ec7b76e17c2a611927f7bade008331efcf
Mujoco_WASM/include/mujoco/mjxmacro.h
T
Saran Tunyasuvunakool b362cb4972 Expose a handle for the Python viewer. 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2023-04-20 05:59:19 -07:00

636 lines
38 KiB
C
Raw Blame History

// Copyright 2021 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.
#ifndef MUJOCO_MJXMACRO_H_
#define MUJOCO_MJXMACRO_H_
//-------------------------------- mjOption --------------------------------------------------------
// scalar fields of mjOption
#define MJOPTION_FLOATS \
X( mjtNum, timestep ) \
X( mjtNum, apirate ) \
X( mjtNum, impratio ) \
X( mjtNum, tolerance ) \
X( mjtNum, noslip_tolerance ) \
X( mjtNum, mpr_tolerance ) \
X( mjtNum, density ) \
X( mjtNum, viscosity ) \
X( mjtNum, o_margin ) \
#define MJOPTION_INTS \
X( int, integrator ) \
X( int, collision ) \
X( int, cone ) \
X( int, jacobian ) \
X( int, solver ) \
X( int, iterations ) \
X( int, noslip_iterations ) \
X( int, mpr_iterations ) \
X( int, disableflags ) \
X( int, enableflags )
#define MJOPTION_SCALARS \
MJOPTION_FLOATS \
MJOPTION_INTS
// vector fields of mjOption
#define MJOPTION_VECTORS \
X( gravity, 3 ) \
X( wind, 3 ) \
X( magnetic, 3 ) \
X( o_solref, mjNREF ) \
X( o_solimp, mjNIMP )
//-------------------------------- mjModel ---------------------------------------------------------
// int fields of mjModel
#define MJMODEL_INTS \
X ( nq ) \
X ( nv ) \
XMJV( nu ) \
XMJV( na ) \
XMJV( nbody ) \
XMJV( nbvh ) \
XMJV( njnt ) \
XMJV( ngeom ) \
XMJV( nsite ) \
XMJV( ncam ) \
XMJV( nlight ) \
XMJV( nmesh ) \
X ( nmeshvert ) \
X ( nmeshnormal ) \
X ( nmeshtexcoord ) \
X ( nmeshface ) \
X ( nmeshgraph ) \
XMJV( nskin ) \
XMJV( nskinvert ) \
X ( nskintexvert ) \
XMJV( nskinface ) \
XMJV( nskinbone ) \
XMJV( nskinbonevert ) \
X ( nhfield ) \
X ( nhfielddata ) \
X ( ntex ) \
X ( ntexdata ) \
XMJV( nmat ) \
X ( npair ) \
X ( nexclude ) \
XMJV( neq ) \
XMJV( ntendon ) \
XMJV( nwrap ) \
XMJV( nsensor ) \
X ( nnumeric ) \
X ( nnumericdata ) \
X ( ntext ) \
X ( ntextdata ) \
X ( ntuple ) \
X ( ntupledata ) \
X ( nkey ) \
X ( nmocap ) \
X ( nplugin ) \
X ( npluginattr ) \
X ( nuser_body ) \
X ( nuser_jnt ) \
X ( nuser_geom ) \
X ( nuser_site ) \
X ( nuser_cam ) \
X ( nuser_tendon ) \
X ( nuser_actuator ) \
X ( nuser_sensor ) \
XMJV( nnames ) \
X ( nnames_map ) \
X ( nM ) \
X ( nD ) \
X ( nB ) \
X ( nemax ) \
X ( njmax ) \
X ( nconmax ) \
X ( nstack ) \
X ( nuserdata ) \
XMJV( nsensordata ) \
X ( npluginstate ) \
X ( nbuffer )
// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
#define MJMODEL_POINTERS_PREAMBLE( m ) \
int nuser_body = m->nuser_body; \
int nuser_jnt = m->nuser_jnt; \
int nuser_geom = m->nuser_geom; \
int nuser_site = m->nuser_site; \
int nuser_cam = m->nuser_cam; \
int nuser_tendon = m->nuser_tendon; \
int nuser_actuator = m->nuser_actuator; \
int nuser_sensor = m->nuser_sensor; \
int nq = m->nq; \
int nv = m->nv; \
int na = m->na; \
int nu = m->nu; \
int nmocap = m->nmocap;
// macro for annotating that an array size in an X macro is a member of mjModel
// by default this macro does nothing, but users can redefine it as necessary
#define MJ_M(n) n
// pointer fields of mjModel
// XMJV means that the field is required to construct mjvScene
// (by default we define XMJV to be the same as X)
#define MJMODEL_POINTERS \
X ( mjtNum, qpos0, nq, 1 ) \
X ( mjtNum, qpos_spring, nq, 1 ) \
XMJV( int, body_parentid, nbody, 1 ) \
XMJV( int, body_rootid, nbody, 1 ) \
XMJV( int, body_weldid, nbody, 1 ) \
XMJV( int, body_mocapid, nbody, 1 ) \
XMJV( int, body_jntnum, nbody, 1 ) \
XMJV( int, body_jntadr, nbody, 1 ) \
X ( int, body_dofnum, nbody, 1 ) \
X ( int, body_dofadr, nbody, 1 ) \
XMJV( int, body_geomnum, nbody, 1 ) \
XMJV( int, body_geomadr, nbody, 1 ) \
X ( mjtByte, body_simple, nbody, 1 ) \
X ( mjtByte, body_sameframe, nbody, 1 ) \
X ( mjtNum, body_pos, nbody, 3 ) \
X ( mjtNum, body_quat, nbody, 4 ) \
X ( mjtNum, body_ipos, nbody, 3 ) \
XMJV( mjtNum, body_iquat, nbody, 4 ) \
XMJV( mjtNum, body_mass, nbody, 1 ) \
X ( mjtNum, body_subtreemass, nbody, 1 ) \
XMJV( mjtNum, body_inertia, nbody, 3 ) \
X ( mjtNum, body_invweight0, nbody, 2 ) \
X ( mjtNum, body_gravcomp, nbody, 1 ) \
X ( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
X ( int, body_plugin, nbody, 1 ) \
XMJV( int, body_bvhadr, nbody, 1 ) \
XMJV( int, body_bvhnum, nbody, 1 ) \
XMJV( int, bvh_depth, nbvh, 1 ) \
XMJV( int, bvh_child, nbvh, 2 ) \
XMJV( int, bvh_geomid, nbvh, 1 ) \
XMJV( mjtNum, bvh_aabb, nbvh, 6 ) \
XMJV( int, jnt_type, njnt, 1 ) \
X ( int, jnt_qposadr, njnt, 1 ) \
X ( int, jnt_dofadr, njnt, 1 ) \
XMJV( int, jnt_bodyid, njnt, 1 ) \
XMJV( int, jnt_group, njnt, 1 ) \
X ( mjtByte, jnt_limited, njnt, 1 ) \
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
X ( mjtNum, jnt_pos, njnt, 3 ) \
X ( mjtNum, jnt_axis, njnt, 3 ) \
X ( mjtNum, jnt_stiffness, njnt, 1 ) \
X ( mjtNum, jnt_range, njnt, 2 ) \
X ( mjtNum, jnt_margin, njnt, 1 ) \
X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) ) \
X ( int, dof_bodyid, nv, 1 ) \
X ( int, dof_jntid, nv, 1 ) \
X ( int, dof_parentid, nv, 1 ) \
X ( int, dof_Madr, nv, 1 ) \
X ( int, dof_simplenum, nv, 1 ) \
X ( mjtNum, dof_solref, nv, mjNREF ) \
X ( mjtNum, dof_solimp, nv, mjNIMP ) \
X ( mjtNum, dof_frictionloss, nv, 1 ) \
X ( mjtNum, dof_armature, nv, 1 ) \
X ( mjtNum, dof_damping, nv, 1 ) \
X ( mjtNum, dof_invweight0, nv, 1 ) \
X ( mjtNum, dof_M0, nv, 1 ) \
XMJV( int, geom_type, ngeom, 1 ) \
X ( int, geom_contype, ngeom, 1 ) \
X ( int, geom_conaffinity, ngeom, 1 ) \
X ( int, geom_condim, ngeom, 1 ) \
XMJV( int, geom_bodyid, ngeom, 1 ) \
XMJV( int, geom_dataid, ngeom, 1 ) \
XMJV( int, geom_matid, ngeom, 1 ) \
XMJV( int, geom_group, ngeom, 1 ) \
X ( int, geom_priority, ngeom, 1 ) \
X ( mjtByte, geom_sameframe, ngeom, 1 ) \
X ( mjtNum, geom_solmix, ngeom, 1 ) \
X ( mjtNum, geom_solref, ngeom, mjNREF ) \
X ( mjtNum, geom_solimp, ngeom, mjNIMP ) \
XMJV( mjtNum, geom_size, ngeom, 3 ) \
XMJV( mjtNum, geom_aabb, ngeom, 6 ) \
XMJV( mjtNum, geom_rbound, ngeom, 1 ) \
X ( mjtNum, geom_pos, ngeom, 3 ) \
X ( mjtNum, geom_quat, ngeom, 4 ) \
X ( mjtNum, geom_friction, ngeom, 3 ) \
X ( mjtNum, geom_margin, ngeom, 1 ) \
X ( mjtNum, geom_gap, ngeom, 1 ) \
X ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
XMJV( float, geom_rgba, ngeom, 4 ) \
XMJV( int, site_type, nsite, 1 ) \
XMJV( int, site_bodyid, nsite, 1 ) \
XMJV( int, site_matid, nsite, 1 ) \
XMJV( int, site_group, nsite, 1 ) \
X ( mjtByte, site_sameframe, nsite, 1 ) \
XMJV( mjtNum, site_size, nsite, 3 ) \
X ( mjtNum, site_pos, nsite, 3 ) \
X ( mjtNum, site_quat, nsite, 4 ) \
X ( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
XMJV( float, site_rgba, nsite, 4 ) \
X ( int, cam_mode, ncam, 1 ) \
X ( int, cam_bodyid, ncam, 1 ) \
X ( int, cam_targetbodyid, ncam, 1 ) \
X ( mjtNum, cam_pos, ncam, 3 ) \
X ( mjtNum, cam_quat, ncam, 4 ) \
X ( mjtNum, cam_poscom0, ncam, 3 ) \
X ( mjtNum, cam_pos0, ncam, 3 ) \
X ( mjtNum, cam_mat0, ncam, 9 ) \
XMJV( mjtNum, cam_fovy, ncam, 1 ) \
XMJV( mjtNum, cam_ipd, ncam, 1 ) \
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
X ( int, light_mode, nlight, 1 ) \
X ( int, light_bodyid, nlight, 1 ) \
X ( int, light_targetbodyid, nlight, 1 ) \
XMJV( mjtByte, light_directional, nlight, 1 ) \
XMJV( mjtByte, light_castshadow, nlight, 1 ) \
XMJV( mjtByte, light_active, nlight, 1 ) \
X ( mjtNum, light_pos, nlight, 3 ) \
X ( mjtNum, light_dir, nlight, 3 ) \
X ( mjtNum, light_poscom0, nlight, 3 ) \
X ( mjtNum, light_pos0, nlight, 3 ) \
X ( mjtNum, light_dir0, nlight, 3 ) \
XMJV( float, light_attenuation, nlight, 3 ) \
XMJV( float, light_cutoff, nlight, 1 ) \
XMJV( float, light_exponent, nlight, 1 ) \
XMJV( float, light_ambient, nlight, 3 ) \
XMJV( float, light_diffuse, nlight, 3 ) \
XMJV( float, light_specular, nlight, 3 ) \
X ( int, mesh_vertadr, nmesh, 1 ) \
X ( int, mesh_vertnum, nmesh, 1 ) \
X ( int, mesh_normaladr, nmesh, 1 ) \
X ( int, mesh_normalnum, nmesh, 1 ) \
XMJV( int, mesh_texcoordadr, nmesh, 1 ) \
X ( int, mesh_texcoordnum, nmesh, 1 ) \
X ( int, mesh_faceadr, nmesh, 1 ) \
X ( int, mesh_facenum, nmesh, 1 ) \
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
X ( float, mesh_normal, nmeshnormal, 3 ) \
X ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
X ( int, mesh_face, nmeshface, 3 ) \
X ( int, mesh_facenormal, nmeshface, 3 ) \
X ( int, mesh_facetexcoord, nmeshface, 3 ) \
X ( int, mesh_graph, nmeshgraph, 1 ) \
XMJV( int, skin_matid, nskin, 1 ) \
XMJV( int, skin_group, nskin, 1 ) \
XMJV( float, skin_rgba, nskin, 4 ) \
XMJV( float, skin_inflate, nskin, 1 ) \
XMJV( int, skin_vertadr, nskin, 1 ) \
XMJV( int, skin_vertnum, nskin, 1 ) \
XMJV( int, skin_texcoordadr, nskin, 1 ) \
XMJV( int, skin_faceadr, nskin, 1 ) \
XMJV( int, skin_facenum, nskin, 1 ) \
XMJV( int, skin_boneadr, nskin, 1 ) \
XMJV( int, skin_bonenum, nskin, 1 ) \
XMJV( float, skin_vert, nskinvert, 3 ) \
X ( float, skin_texcoord, nskintexvert, 2 ) \
XMJV( int, skin_face, nskinface, 3 ) \
XMJV( int, skin_bonevertadr, nskinbone, 1 ) \
XMJV( int, skin_bonevertnum, nskinbone, 1 ) \
XMJV( float, skin_bonebindpos, nskinbone, 3 ) \
XMJV( float, skin_bonebindquat, nskinbone, 4 ) \
XMJV( int, skin_bonebodyid, nskinbone, 1 ) \
XMJV( int, skin_bonevertid, nskinbonevert, 1 ) \
XMJV( float, skin_bonevertweight, nskinbonevert, 1 ) \
X ( mjtNum, hfield_size, nhfield, 4 ) \
X ( int, hfield_nrow, nhfield, 1 ) \
X ( int, hfield_ncol, nhfield, 1 ) \
X ( int, hfield_adr, nhfield, 1 ) \
X ( float, hfield_data, nhfielddata, 1 ) \
X ( int, tex_type, ntex, 1 ) \
X ( int, tex_height, ntex, 1 ) \
X ( int, tex_width, ntex, 1 ) \
X ( int, tex_adr, ntex, 1 ) \
X ( mjtByte, tex_rgb, ntexdata, 1 ) \
XMJV( int, mat_texid, nmat, 1 ) \
XMJV( mjtByte, mat_texuniform, nmat, 1 ) \
XMJV( float, mat_texrepeat, nmat, 2 ) \
XMJV( float, mat_emission, nmat, 1 ) \
XMJV( float, mat_specular, nmat, 1 ) \
XMJV( float, mat_shininess, nmat, 1 ) \
XMJV( float, mat_reflectance, nmat, 1 ) \
XMJV( float, mat_rgba, nmat, 4 ) \
X ( int, pair_dim, npair, 1 ) \
X ( int, pair_geom1, npair, 1 ) \
X ( int, pair_geom2, npair, 1 ) \
X ( int, pair_signature, npair, 1 ) \
X ( mjtNum, pair_solref, npair, mjNREF ) \
X ( mjtNum, pair_solimp, npair, mjNIMP ) \
X ( mjtNum, pair_margin, npair, 1 ) \
X ( mjtNum, pair_gap, npair, 1 ) \
X ( mjtNum, pair_friction, npair, 5 ) \
X ( int, exclude_signature, nexclude, 1 ) \
XMJV( int, eq_type, neq, 1 ) \
XMJV( int, eq_obj1id, neq, 1 ) \
XMJV( int, eq_obj2id, neq, 1 ) \
XMJV( mjtByte, eq_active, neq, 1 ) \
X ( mjtNum, eq_solref, neq, mjNREF ) \
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
XMJV( mjtNum, eq_data, neq, mjNEQDATA ) \
X ( int, tendon_adr, ntendon, 1 ) \
XMJV( int, tendon_num, ntendon, 1 ) \
XMJV( int, tendon_matid, ntendon, 1 ) \
XMJV( int, tendon_group, ntendon, 1 ) \
XMJV( mjtByte, tendon_limited, ntendon, 1 ) \
XMJV( mjtNum, tendon_width, ntendon, 1 ) \
X ( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
X ( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
X ( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
X ( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
XMJV( mjtNum, tendon_range, ntendon, 2 ) \
X ( mjtNum, tendon_margin, ntendon, 1 ) \
XMJV( mjtNum, tendon_stiffness, ntendon, 1 ) \
XMJV( mjtNum, tendon_damping, ntendon, 1 ) \
XMJV( mjtNum, tendon_frictionloss, ntendon, 1 ) \
XMJV( mjtNum, tendon_lengthspring, ntendon, 2 ) \
X ( mjtNum, tendon_length0, ntendon, 1 ) \
X ( mjtNum, tendon_invweight0, ntendon, 1 ) \
X ( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
XMJV( float, tendon_rgba, ntendon, 4 ) \
X ( int, wrap_type, nwrap, 1 ) \
X ( int, wrap_objid, nwrap, 1 ) \
X ( mjtNum, wrap_prm, nwrap, 1 ) \
XMJV( int, actuator_trntype, nu, 1 ) \
XMJV( int, actuator_dyntype, nu, 1 ) \
X ( int, actuator_gaintype, nu, 1 ) \
X ( int, actuator_biastype, nu, 1 ) \
XMJV( int, actuator_trnid, nu, 2 ) \
XMJV( int, actuator_actadr, nu, 1 ) \
XMJV( int, actuator_actnum, nu, 1 ) \
XMJV( int, actuator_group, nu, 1 ) \
XMJV( mjtByte, actuator_ctrllimited, nu, 1 ) \
X ( mjtByte, actuator_forcelimited, nu, 1 ) \
XMJV( mjtByte, actuator_actlimited, nu, 1 ) \
X ( mjtNum, actuator_dynprm, nu, mjNDYN ) \
X ( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
X ( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
XMJV( mjtNum, actuator_ctrlrange, nu, 2 ) \
X ( mjtNum, actuator_forcerange, nu, 2 ) \
XMJV( mjtNum, actuator_actrange, nu, 2 ) \
X ( mjtNum, actuator_gear, nu, 6 ) \
XMJV( mjtNum, actuator_cranklength, nu, 1 ) \
X ( mjtNum, actuator_acc0, nu, 1 ) \
X ( mjtNum, actuator_length0, nu, 1 ) \
X ( mjtNum, actuator_lengthrange, nu, 2 ) \
X ( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
X ( int, actuator_plugin, nu, 1 ) \
XMJV( int, sensor_type, nsensor, 1 ) \
X ( int, sensor_datatype, nsensor, 1 ) \
X ( int, sensor_needstage, nsensor, 1 ) \
X ( int, sensor_objtype, nsensor, 1 ) \
XMJV( int, sensor_objid, nsensor, 1 ) \
X ( int, sensor_reftype, nsensor, 1 ) \
X ( int, sensor_refid, nsensor, 1 ) \
X ( int, sensor_dim, nsensor, 1 ) \
XMJV( int, sensor_adr, nsensor, 1 ) \
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
X ( mjtNum, sensor_noise, nsensor, 1 ) \
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
X ( int, sensor_plugin, nsensor, 1 ) \
X ( int, plugin, nplugin, 1 ) \
X ( int, plugin_stateadr, nplugin, 1 ) \
X ( int, plugin_statenum, nplugin, 1 ) \
X ( char, plugin_attr, npluginattr, 1 ) \
X ( int, plugin_attradr, nplugin, 1 ) \
X ( int, numeric_adr, nnumeric, 1 ) \
X ( int, numeric_size, nnumeric, 1 ) \
X ( mjtNum, numeric_data, nnumericdata, 1 ) \
X ( int, text_adr, ntext, 1 ) \
X ( int, text_size, ntext, 1 ) \
X ( char, text_data, ntextdata, 1 ) \
X ( int, tuple_adr, ntuple, 1 ) \
X ( int, tuple_size, ntuple, 1 ) \
X ( int, tuple_objtype, ntupledata, 1 ) \
X ( int, tuple_objid, ntupledata, 1 ) \
X ( mjtNum, tuple_objprm, ntupledata, 1 ) \
X ( mjtNum, key_time, nkey, 1 ) \
X ( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
X ( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
X ( mjtNum, key_act, nkey, MJ_M(na) ) \
X ( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
X ( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
X ( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
XMJV( int, name_bodyadr, nbody, 1 ) \
XMJV( int, name_jntadr, njnt, 1 ) \
XMJV( int, name_geomadr, ngeom, 1 ) \
XMJV( int, name_siteadr, nsite, 1 ) \
XMJV( int, name_camadr, ncam, 1 ) \
XMJV( int, name_lightadr, nlight, 1 ) \
X ( int, name_meshadr, nmesh, 1 ) \
X ( int, name_skinadr, nskin, 1 ) \
X ( int, name_hfieldadr, nhfield, 1 ) \
X ( int, name_texadr, ntex, 1 ) \
X ( int, name_matadr, nmat, 1 ) \
X ( int, name_pairadr, npair, 1 ) \
X ( int, name_excludeadr, nexclude, 1 ) \
XMJV( int, name_eqadr, neq, 1 ) \
XMJV( int, name_tendonadr, ntendon, 1 ) \
XMJV( int, name_actuatoradr, nu, 1 ) \
X ( int, name_sensoradr, nsensor, 1 ) \
X ( int, name_numericadr, nnumeric, 1 ) \
X ( int, name_textadr, ntext, 1 ) \
X ( int, name_tupleadr, ntuple, 1 ) \
X ( int, name_keyadr, nkey, 1 ) \
X ( int, name_pluginadr, nplugin, 1 ) \
XMJV( char, names, nnames, 1 ) \
X ( int, names_map, nnames_map, 1 ) \
//-------------------------------- mjData ----------------------------------------------------------
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
#define MJDATA_POINTERS_PREAMBLE( m ) \
int nv = m->nv;
// pointer fields of mjData
// XMJV means that the field is required to construct mjvScene
// (by default we define XMJV to be the same as X)
#define MJDATA_POINTERS \
X ( mjtNum, qpos, nq, 1 ) \
X ( mjtNum, qvel, nv, 1 ) \
XMJV( mjtNum, act, na, 1 ) \
X ( mjtNum, qacc_warmstart, nv, 1 ) \
X ( mjtNum, plugin_state, npluginstate, 1 ) \
XMJV( mjtNum, ctrl, nu, 1 ) \
X ( mjtNum, qfrc_applied, nv, 1 ) \
XMJV( mjtNum, xfrc_applied, nbody, 6 ) \
X ( mjtNum, mocap_pos, nmocap, 3 ) \
X ( mjtNum, mocap_quat, nmocap, 4 ) \
X ( mjtNum, qacc, nv, 1 ) \
X ( mjtNum, act_dot, na, 1 ) \
X ( mjtNum, userdata, nuserdata, 1 ) \
XMJV( mjtNum, sensordata, nsensordata, 1 ) \
X ( int, plugin, nplugin, 1 ) \
X ( uintptr_t, plugin_data, nplugin, 1 ) \
XMJV( mjtNum, xpos, nbody, 3 ) \
XMJV( mjtNum, xquat, nbody, 4 ) \
XMJV( mjtNum, xmat, nbody, 9 ) \
XMJV( mjtNum, xipos, nbody, 3 ) \
XMJV( mjtNum, ximat, nbody, 9 ) \
XMJV( mjtNum, xanchor, njnt, 3 ) \
XMJV( mjtNum, xaxis, njnt, 3 ) \
XMJV( mjtNum, geom_xpos, ngeom, 3 ) \
XMJV( mjtNum, geom_xmat, ngeom, 9 ) \
XMJV( mjtNum, site_xpos, nsite, 3 ) \
XMJV( mjtNum, site_xmat, nsite, 9 ) \
XMJV( mjtNum, cam_xpos, ncam, 3 ) \
XMJV( mjtNum, cam_xmat, ncam, 9 ) \
XMJV( mjtNum, light_xpos, nlight, 3 ) \
XMJV( mjtNum, light_xdir, nlight, 3 ) \
XMJV( mjtNum, subtree_com, nbody, 3 ) \
X ( mjtNum, cdof, nv, 6 ) \
X ( mjtNum, cinert, nbody, 10 ) \
XMJV( int, ten_wrapadr, ntendon, 1 ) \
XMJV( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
XMJV( int, wrap_obj, nwrap, 2 ) \
XMJV( mjtNum, wrap_xpos, nwrap, 6 ) \
X ( mjtNum, actuator_length, nu, 1 ) \
X ( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtNum, qLDiagSqrtInv, nv, 1 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \
X ( mjtNum, actuator_velocity, nu, 1 ) \
X ( mjtNum, cvel, nbody, 6 ) \
X ( mjtNum, cdof_dot, nv, 6 ) \
X ( mjtNum, qfrc_bias, nv, 1 ) \
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \
X ( mjtNum, qH, nM, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
X ( int, D_rownnz, nv, 1 ) \
X ( int, D_rowadr, nv, 1 ) \
X ( int, D_colind, nD, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( mjtNum, qDeriv, nD, 1 ) \
X ( mjtNum, qLU, nD, 1 ) \
X ( mjtNum, actuator_force, nu, 1 ) \
X ( mjtNum, qfrc_actuator, nv, 1 ) \
X ( mjtNum, qfrc_smooth, nv, 1 ) \
X ( mjtNum, qacc_smooth, nv, 1 ) \
X ( mjtNum, qfrc_constraint, nv, 1 ) \
X ( mjtNum, qfrc_inverse, nv, 1 ) \
X ( mjtNum, cacc, nbody, 6 ) \
X ( mjtNum, cfrc_int, nbody, 6 ) \
X ( mjtNum, cfrc_ext, nbody, 6 )
// macro for annotating that an array size in an X macro is a member of mjData
// by default this macro does nothing, but users can redefine it as necessary
#define MJ_D(n) n
// array of contacts
#define MJDATA_ARENA_POINTERS_CONTACT \
X( mjContact, contact, MJ_D(ncon), 1 )
// array fields of mjData that are used in the primal problem
#define MJDATA_ARENA_POINTERS_PRIMAL \
X(int, efc_type, MJ_D(nefc), 1) \
X(int, efc_id, MJ_D(nefc), 1) \
X(int, efc_J_rownnz, MJ_D(nefc), 1) \
X(int, efc_J_rowadr, MJ_D(nefc), 1) \
X(int, efc_J_rowsuper, MJ_D(nefc), 1) \
X(int, efc_J_colind, MJ_D(nnzJ), 1) \
X(int, efc_JT_rownnz, MJ_M(nv), 1) \
X(int, efc_JT_rowadr, MJ_M(nv), 1) \
X(int, efc_JT_rowsuper, MJ_M(nv), 1) \
X(int, efc_JT_colind, MJ_D(nnzJ), 1) \
X(mjtNum, efc_J, MJ_D(nnzJ), 1) \
X(mjtNum, efc_JT, MJ_D(nnzJ), 1) \
X(mjtNum, efc_pos, MJ_D(nefc), 1) \
X(mjtNum, efc_margin, MJ_D(nefc), 1) \
X(mjtNum, efc_frictionloss, MJ_D(nefc), 1) \
X(mjtNum, efc_diagApprox, MJ_D(nefc), 1) \
X(mjtNum, efc_KBIP, MJ_D(nefc), 4) \
X(mjtNum, efc_D, MJ_D(nefc), 1) \
X(mjtNum, efc_R, MJ_D(nefc), 1) \
X(mjtNum, efc_vel, MJ_D(nefc), 1) \
X(mjtNum, efc_aref, MJ_D(nefc), 1) \
X(mjtNum, efc_b, MJ_D(nefc), 1) \
X(mjtNum, efc_force, MJ_D(nefc), 1) \
X(int, efc_state, MJ_D(nefc), 1)
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
// array fields of mjData that live in d->arena
#define MJDATA_ARENA_POINTERS \
MJDATA_ARENA_POINTERS_CONTACT \
MJDATA_ARENA_POINTERS_PRIMAL \
MJDATA_ARENA_POINTERS_DUAL
// scalar fields of mjData
#define MJDATA_SCALAR \
X( int, nstack ) \
X( int, nbuffer ) \
X( int, nplugin ) \
X( int, pstack ) \
X( int, parena ) \
X( int, maxuse_stack ) \
X( int, maxuse_arena ) \
X( int, maxuse_con ) \
X( int, maxuse_efc ) \
X( int, solver_iter ) \
X( int, solver_nnz ) \
X( int, nbodypair_broad ) \
X( int, nbodypair_narrow ) \
X( int, ngeompair_mid ) \
X( int, ngeompair_narrow ) \
X( int, ne ) \
X( int, nf ) \
X( int, nefc ) \
X( int, nnzJ ) \
X( int, ncon ) \
X( mjtNum, time )
// vector fields of mjData
#define MJDATA_VECTOR \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjSolverStat, solver, mjNSOLVER, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjtNum, energy, 2, 1 )
// alias XMJV to be the same as X
// to obtain only X macros for fields that are relevant for mjvScene creation,
// redefine X to expand to nothing, and XMJV to do what's required
#define XMJV X
#endif // MUJOCO_MJXMACRO_H_
Reference in New Issue View Git Blame Copy Permalink