Yuval Tassa
4787c8094c
https://www.youtube.com/watch?v=PdSdrqhSiZA The new geom attribute surfacevel (6 numbers: linear and angular velocity in the geom's local frame, angular about the geom frame origin) specifies the velocity of the geom's surface material relative to the geom frame. The relative surface velocity of the two geoms is added to the tangential contact rows of efc_vel in mj_referenceConstraint, so friction drives touching bodies toward the motion of the surface: objects on a conveyor are transported at belt speed, turntables impart omega x r with torsional spin-up for condim >= 4, and surface velocities compose with each other and with body motion. The component along the contact normal is projected out: probe experiments showed that velocity-space emission chatters mass-independently and ingestion merely deepens penetration; normal-direction effects belong to force-space features. surfacevel is interpreted in the geom frame as authored: for mesh geoms, whose compiled frame absorbs the mesh centering and principal-axes transform, the compiler re-expresses the authored value in the compiled frame. No special interaction with sleeping: objects being transported do not fall asleep because they are moving; objects at rest on an active surface may sleep like any other resting object. Includes showcase models (model/surfacevel/): a luggage carousel whose ring is a spinning square-profile supertorus fed by a cascade of belts with matched spinning end rollers, bags dropping in and circulating indefinitely; and a treadmill with a passive humanoid. PiperOrigin-RevId: 948647785 Change-Id: I0c6559a91cc7ece1237eb8ac2e51986e7342d962
1083 lines
65 KiB
C
1083 lines
65 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_MJXMACRO_H_
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#define MUJOCO_MJXMACRO_H_
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//-------------------------------- mjOption --------------------------------------------------------
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// fields of mjOption
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// XVEC means that a field is a vector (i.e. size > 1)
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#define MJOPTION_FIELDS \
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X ( mjtNum, timestep, 1 ) \
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X ( mjtNum, impratio, 1 ) \
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X ( mjtNum, tolerance, 1 ) \
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X ( mjtNum, ls_tolerance, 1 ) \
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X ( mjtNum, noslip_tolerance, 1 ) \
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X ( mjtNum, ccd_tolerance, 1 ) \
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X ( mjtNum, sleep_tolerance, 1 ) \
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XVEC( mjtNum, gravity, 3 ) \
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XVEC( mjtNum, wind, 3 ) \
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XVEC( mjtNum, magnetic, 3 ) \
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X ( mjtNum, density, 1 ) \
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X ( mjtNum, viscosity, 1 ) \
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X ( mjtNum, o_margin, 1 ) \
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XVEC( mjtNum, o_solref, mjNREF ) \
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XVEC( mjtNum, o_solimp, mjNIMP ) \
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XVEC( mjtNum, o_friction, 5 ) \
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X ( int, integrator, 1 ) \
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X ( int, cone, 1 ) \
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X ( int, jacobian, 1 ) \
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X ( int, solver, 1 ) \
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X ( int, iterations, 1 ) \
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X ( int, ls_iterations, 1 ) \
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X ( int, noslip_iterations, 1 ) \
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X ( int, ccd_iterations, 1 ) \
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X ( int, disableflags, 1 ) \
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X ( int, enableflags, 1 ) \
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X ( int, disableactuator, 1 ) \
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X ( int, sdf_initpoints, 1 ) \
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X ( int, sdf_iterations, 1 )
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//-------------------------------- mjStatistic -----------------------------------------------------
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// fields of mjStatistic
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#define MJSTATISTIC_FIELDS \
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X ( meaninertia, 1 ) \
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X ( meanmass, 1 ) \
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X ( meansize, 1 ) \
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X ( extent, 1 ) \
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XVEC( center, 3 )
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//-------------------------------- mjVisual --------------------------------------------------------
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// fields of mjVisual
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#define MJVISUAL_GLOBAL_FIELDS \
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X ( int, cameraid, 1 ) \
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X ( int, orthographic, 1 ) \
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X ( float, fovy, 1 ) \
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X ( float, ipd, 1 ) \
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X ( float, azimuth, 1 ) \
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X ( float, elevation, 1 ) \
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X ( float, linewidth, 1 ) \
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X ( float, glow, 1 ) \
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X ( float, realtime, 1 ) \
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X ( int, offwidth, 1 ) \
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X ( int, offheight, 1 ) \
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X ( int, ellipsoidinertia, 1 ) \
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X ( int, bvactive, 1 )
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#define MJVISUAL_QUALITY_FIELDS \
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X ( int, shadowsize, 1 ) \
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X ( int, offsamples, 1 ) \
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X ( int, numslices, 1 ) \
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X ( int, numstacks, 1 ) \
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X ( int, numquads, 1 )
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#define MJVISUAL_HEADLIGHT_FIELDS \
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XVEC( float, ambient, 3 ) \
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XVEC( float, diffuse, 3 ) \
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XVEC( float, specular, 3 ) \
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X ( int, active, 1 )
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#define MJVISUAL_MAP_FIELDS \
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X ( float, stiffness, 1 ) \
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X ( float, stiffnessrot, 1 ) \
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X ( float, force, 1 ) \
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X ( float, torque, 1 ) \
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X ( float, alpha, 1 ) \
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X ( float, fogstart, 1 ) \
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X ( float, fogend, 1 ) \
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X ( float, znear, 1 ) \
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X ( float, zfar, 1 ) \
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X ( float, haze, 1 ) \
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X ( float, shadowclip, 1 ) \
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X ( float, shadowscale, 1 ) \
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X ( float, actuatortendon, 1 )
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#define MJVISUAL_SCALE_FIELDS \
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X ( float, forcewidth, 1 ) \
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X ( float, contactwidth, 1 ) \
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X ( float, contactheight, 1 ) \
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X ( float, connect, 1 ) \
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X ( float, com, 1 ) \
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X ( float, camera, 1 ) \
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X ( float, light, 1 ) \
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X ( float, selectpoint, 1 ) \
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X ( float, jointlength, 1 ) \
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X ( float, jointwidth, 1 ) \
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X ( float, actuatorlength, 1 ) \
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X ( float, actuatorwidth, 1 ) \
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X ( float, framelength, 1 ) \
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X ( float, framewidth, 1 ) \
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X ( float, constraint, 1 ) \
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X ( float, slidercrank, 1 ) \
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X ( float, frustum, 1 )
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#define MJVISUAL_RGBA_FIELDS \
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XVEC( float, fog, 4 ) \
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XVEC( float, haze, 4 ) \
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XVEC( float, force, 4 ) \
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XVEC( float, inertia, 4 ) \
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XVEC( float, joint, 4 ) \
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XVEC( float, actuator, 4 ) \
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XVEC( float, actuatornegative, 4 ) \
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XVEC( float, actuatorpositive, 4 ) \
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XVEC( float, com, 4 ) \
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XVEC( float, camera, 4 ) \
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XVEC( float, light, 4 ) \
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XVEC( float, selectpoint, 4 ) \
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XVEC( float, connect, 4 ) \
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XVEC( float, contactpoint, 4 ) \
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XVEC( float, contactforce, 4 ) \
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XVEC( float, contactfriction, 4 ) \
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XVEC( float, contacttorque, 4 ) \
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XVEC( float, contactgap, 4 ) \
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XVEC( float, rangefinder, 4 ) \
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XVEC( float, constraint, 4 ) \
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XVEC( float, slidercrank, 4 ) \
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XVEC( float, crankbroken, 4 ) \
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XVEC( float, frustum, 4 ) \
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XVEC( float, bv, 4 ) \
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XVEC( float, bvactive, 4 )
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//-------------------------------- mjModel ---------------------------------------------------------
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// size fields of mjModel
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#define MJMODEL_SIZES \
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X( nq ) \
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X( nv ) \
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X( nu ) \
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X( nactuator ) \
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X( nout ) \
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X( na ) \
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X( nbody ) \
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X( nbvh ) \
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X( nbvhstatic ) \
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X( nbvhdynamic ) \
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X( noct ) \
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X( njnt ) \
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X( ntree ) \
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X( nM ) \
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X( nB ) \
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X( nC ) \
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X( nD ) \
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X( ngeom ) \
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X( nsite ) \
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X( ncam ) \
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X( nlight ) \
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X( nflex ) \
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X( nflexnode ) \
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X( nflexvert ) \
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X( nflexedge ) \
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X( nflexelem ) \
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X( nflexelemdata ) \
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X( nflexstiffness ) \
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X( nflexbending ) \
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X( nefm0dof ) \
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X( nefm0L ) \
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X( nflexelemedge ) \
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X( nflexshelldata ) \
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X( nflexevpair ) \
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X( nflextexcoord ) \
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X( nJfe ) \
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X( nJfv ) \
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X( nmesh ) \
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X( nmeshvert ) \
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X( nmeshnormal ) \
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X( nmeshtexcoord ) \
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X( nmeshface ) \
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X( nmeshgraph ) \
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X( nmeshpoly ) \
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X( nmeshpolyvert ) \
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X( nmeshpolymap ) \
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X( nskin ) \
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X( nskinvert ) \
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X( nskintexvert ) \
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X( nskinface ) \
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X( nskinbone ) \
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X( nskinbonevert ) \
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X( nhfield ) \
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X( nhfielddata ) \
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X( ntex ) \
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X( ntexdata ) \
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X( nmat ) \
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X( npair ) \
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X( nexclude ) \
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X( neq ) \
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X( ntendon ) \
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X( nJten ) \
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X( nwrap ) \
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X( nsensor ) \
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X( nnumeric ) \
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X( nnumericdata ) \
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X( ntext ) \
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X( ntextdata ) \
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X( ntuple ) \
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X( ntupledata ) \
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X( nkey ) \
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X( nmocap ) \
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X( nplugin ) \
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X( npluginattr ) \
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X( nuser_body ) \
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X( nuser_jnt ) \
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X( nuser_geom ) \
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X( nuser_site ) \
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X( nuser_cam ) \
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X( nuser_tendon ) \
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X( nuser_actuator ) \
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X( nuser_sensor ) \
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X( nnames ) \
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X( npaths ) \
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X( nnames_map ) \
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X( nJmom ) \
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X( ngravcomp ) \
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X( nsurfacevel ) \
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X( nemax ) \
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X( njmax ) \
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X( nconmax ) \
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X( npolygonmax ) \
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X( nmeshdegmax ) \
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X( nuserdata ) \
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X( nsensordata ) \
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X( npluginstate ) \
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X( nhistory ) \
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X( narena ) \
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X( nbuffer )
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/* nbuffer needs to be the final field */
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// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
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#define MJMODEL_POINTERS_PREAMBLE( m ) \
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int nuser_body = m->nuser_body; \
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int nuser_jnt = m->nuser_jnt; \
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int nuser_geom = m->nuser_geom; \
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int nuser_site = m->nuser_site; \
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int nuser_cam = m->nuser_cam; \
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int nuser_tendon = m->nuser_tendon; \
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int nuser_actuator = m->nuser_actuator; \
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int nuser_sensor = m->nuser_sensor; \
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int nq = m->nq; \
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int nv = m->nv; \
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int na = m->na; \
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int nu = m->nu; \
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int nmocap = m->nmocap;
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// macro for annotating that an array size in an X macro is a member of mjModel
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// by default this macro does nothing, but users can redefine it as necessary
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#define MJ_M(n) n
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// pointer fields of mjModel
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// XNV means that the field is not required to construct mjvScene
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// (by default we define XNV to be the same as X)
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#define MJMODEL_POINTERS_BODY \
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X ( int, body_parentid, nbody, 1 ) \
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X ( int, body_rootid, nbody, 1 ) \
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X ( int, body_weldid, nbody, 1 ) \
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X ( int, body_mocapid, nbody, 1 ) \
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X ( int, body_jntnum, nbody, 1 ) \
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X ( int, body_jntadr, nbody, 1 ) \
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X ( int, body_dofnum, nbody, 1 ) \
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X ( int, body_dofadr, nbody, 1 ) \
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X ( int, body_treeid, nbody, 1 ) \
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X ( int, body_geomnum, nbody, 1 ) \
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X ( int, body_geomadr, nbody, 1 ) \
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X ( mjtByte, body_simple, nbody, 1 ) \
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X ( mjtByte, body_sameframe, nbody, 1 ) \
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X ( mjtNum, body_pos, nbody, 3 ) \
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X ( mjtNum, body_quat, nbody, 4 ) \
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X ( mjtNum, body_ipos, nbody, 3 ) \
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X ( mjtNum, body_iquat, nbody, 4 ) \
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X ( mjtNum, body_mass, nbody, 1 ) \
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X ( mjtNum, body_subtreemass, nbody, 1 ) \
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X ( mjtNum, body_inertia, nbody, 3 ) \
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X ( mjtNum, body_invweight0, nbody, 2 ) \
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X ( mjtNum, body_gravcomp, nbody, 1 ) \
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X ( mjtNum, body_margin, nbody, 1 ) \
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X ( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
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X ( int, body_plugin, nbody, 1 ) \
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X ( int, body_contype, nbody, 1 ) \
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X ( int, body_conaffinity, nbody, 1 ) \
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X ( int, body_bvhadr, nbody, 1 ) \
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X ( int, body_bvhnum, nbody, 1 )
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#define MJMODEL_POINTERS_JOINT \
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X ( int, jnt_type, njnt, 1 ) \
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X ( int, jnt_qposadr, njnt, 1 ) \
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X ( int, jnt_dofadr, njnt, 1 ) \
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X ( int, jnt_bodyid, njnt, 1 ) \
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X ( int, jnt_actuatorid, njnt, 1 ) \
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X ( int, jnt_group, njnt, 1 ) \
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X ( mjtBool, jnt_limited, njnt, 1 ) \
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X ( mjtBool, jnt_actfrclimited, njnt, 1 ) \
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X ( mjtBool, jnt_actgravcomp, njnt, 1 ) \
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X ( mjtNum, jnt_solref, njnt, mjNREF ) \
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X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
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X ( mjtNum, jnt_pos, njnt, 3 ) \
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X ( mjtNum, jnt_axis, njnt, 3 ) \
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X ( mjtNum, jnt_stiffness, njnt, 1 ) \
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X ( mjtNum, jnt_stiffnesspoly, njnt, mjNPOLY ) \
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X ( mjtNum, jnt_range, njnt, 2 ) \
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X ( mjtNum, jnt_actfrcrange, njnt, 2 ) \
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X ( mjtNum, jnt_margin, njnt, 1 ) \
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X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) )
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#define MJMODEL_POINTERS_DOF \
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X ( int, dof_bodyid, nv, 1 ) \
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X ( int, dof_jntid, nv, 1 ) \
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X ( int, dof_parentid, nv, 1 ) \
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X ( int, dof_treeid, nv, 1 ) \
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X ( int, dof_Madr, nv, 1 ) \
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X ( int, dof_simplenum, nv, 1 ) \
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X ( mjtNum, dof_solref, nv, mjNREF ) \
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X ( mjtNum, dof_solimp, nv, mjNIMP ) \
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X ( mjtNum, dof_frictionloss, nv, 1 ) \
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X ( mjtNum, dof_armature, nv, 1 ) \
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X ( mjtNum, dof_damping, nv, 1 ) \
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X ( mjtNum, dof_dampingpoly, nv, mjNPOLY ) \
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X ( mjtNum, dof_invweight0, nv, 1 ) \
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X ( mjtNum, dof_M0, nv, 1 ) \
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X ( mjtNum, dof_length, nv, 1 )
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#define MJMODEL_POINTERS_TREE \
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X ( int, tree_bodyadr, ntree, 1 ) \
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X ( int, tree_bodynum, ntree, 1 ) \
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X ( int, tree_dofadr, ntree, 1 ) \
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X ( int, tree_dofnum, ntree, 1 ) \
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X ( int, tree_sleep_policy, ntree, 1 )
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#define MJMODEL_POINTERS_GEOM \
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X ( int, geom_type, ngeom, 1 ) \
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X ( int, geom_contype, ngeom, 1 ) \
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X ( int, geom_conaffinity, ngeom, 1 ) \
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X ( int, geom_condim, ngeom, 1 ) \
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X ( int, geom_bodyid, ngeom, 1 ) \
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X ( int, geom_dataid, ngeom, 1 ) \
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X ( int, geom_matid, ngeom, 1 ) \
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X ( int, geom_group, ngeom, 1 ) \
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X ( int, geom_priority, ngeom, 1 ) \
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X ( int, geom_plugin, ngeom, 1 ) \
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X ( mjtByte, geom_sameframe, ngeom, 1 ) \
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X ( mjtNum, geom_solmix, ngeom, 1 ) \
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X ( mjtNum, geom_solref, ngeom, mjNREF ) \
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X ( mjtNum, geom_solimp, ngeom, mjNIMP ) \
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X ( mjtNum, geom_size, ngeom, 3 ) \
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X ( mjtNum, geom_aabb, ngeom, 6 ) \
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X ( mjtNum, geom_rbound, ngeom, 1 ) \
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X ( mjtNum, geom_pos, ngeom, 3 ) \
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X ( mjtNum, geom_quat, ngeom, 4 ) \
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X ( mjtNum, geom_friction, ngeom, 3 ) \
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X ( mjtNum, geom_margin, ngeom, 1 ) \
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X ( mjtNum, geom_gap, ngeom, 1 ) \
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X ( mjtNum, geom_surfacevel, ngeom, 6 ) \
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XNV ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
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X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
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X ( float, geom_rgba, ngeom, 4 )
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#define MJMODEL_POINTERS_SITE \
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X ( int, site_type, nsite, 1 ) \
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X ( int, site_bodyid, nsite, 1 ) \
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X ( int, site_matid, nsite, 1 ) \
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X ( int, site_group, nsite, 1 ) \
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X ( mjtByte, site_sameframe, nsite, 1 ) \
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X ( mjtNum, site_size, nsite, 3 ) \
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X ( mjtNum, site_pos, nsite, 3 ) \
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X ( mjtNum, site_quat, nsite, 4 ) \
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X ( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
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X ( float, site_rgba, nsite, 4 )
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#define MJMODEL_POINTERS_CAMERA \
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X ( int, cam_mode, ncam, 1 ) \
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X ( int, cam_bodyid, ncam, 1 ) \
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X ( int, cam_targetbodyid, ncam, 1 ) \
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X ( mjtNum, cam_pos, ncam, 3 ) \
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X ( mjtNum, cam_quat, ncam, 4 ) \
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X ( mjtNum, cam_poscom0, ncam, 3 ) \
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X ( mjtNum, cam_pos0, ncam, 3 ) \
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X ( mjtNum, cam_mat0, ncam, 9 ) \
|
|
X ( int, cam_projection, ncam, 1 ) \
|
|
X ( mjtNum, cam_fovy, ncam, 1 ) \
|
|
X ( mjtNum, cam_ipd, ncam, 1 ) \
|
|
X ( int, cam_resolution, ncam, 2 ) \
|
|
X ( int, cam_output, ncam, 1 ) \
|
|
X ( float, cam_sensorsize, ncam, 2 ) \
|
|
X ( float, cam_intrinsic, ncam, 4 ) \
|
|
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) )
|
|
|
|
#define MJMODEL_POINTERS_LIGHT \
|
|
X ( int, light_mode, nlight, 1 ) \
|
|
X ( int, light_bodyid, nlight, 1 ) \
|
|
X ( int, light_targetbodyid, nlight, 1 ) \
|
|
X ( int, light_type, nlight, 1 ) \
|
|
X ( int, light_texid, nlight, 1 ) \
|
|
X ( mjtBool, light_castshadow, nlight, 1 ) \
|
|
X ( float, light_bulbradius, nlight, 1 ) \
|
|
X ( float, light_intensity, nlight, 1 ) \
|
|
X ( float, light_range, nlight, 1 ) \
|
|
X ( mjtBool, 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 ) \
|
|
X ( float, light_attenuation, nlight, 3 ) \
|
|
X ( float, light_cutoff, nlight, 1 ) \
|
|
X ( float, light_exponent, nlight, 1 ) \
|
|
X ( float, light_ambient, nlight, 3 ) \
|
|
X ( float, light_diffuse, nlight, 3 ) \
|
|
X ( float, light_specular, nlight, 3 )
|
|
|
|
#define MJMODEL_POINTERS_FLEX \
|
|
X ( int, flex_contype, nflex, 1 ) \
|
|
X ( int, flex_conaffinity, nflex, 1 ) \
|
|
X ( int, flex_condim, nflex, 1 ) \
|
|
X ( int, flex_priority, nflex, 1 ) \
|
|
X ( mjtNum, flex_solmix, nflex, 1 ) \
|
|
X ( mjtNum, flex_solref, nflex, mjNREF ) \
|
|
X ( mjtNum, flex_solimp, nflex, mjNIMP ) \
|
|
X ( mjtNum, flex_friction, nflex, 3 ) \
|
|
X ( mjtNum, flex_margin, nflex, 1 ) \
|
|
X ( mjtNum, flex_gap, nflex, 1 ) \
|
|
X ( mjtBool, flex_internal, nflex, 1 ) \
|
|
X ( int, flex_selfcollide, nflex, 1 ) \
|
|
X ( int, flex_activelayers, nflex, 1 ) \
|
|
X ( int, flex_passive, nflex, 1 ) \
|
|
X ( int, flex_dim, nflex, 1 ) \
|
|
X ( int, flex_matid, nflex, 1 ) \
|
|
X ( int, flex_group, nflex, 1 ) \
|
|
X ( int, flex_interp, nflex, 1 ) \
|
|
X ( int, flex_cellnum, nflex, 3 ) \
|
|
X ( int, flex_nodeadr, nflex, 1 ) \
|
|
X ( int, flex_nodenum, nflex, 1 ) \
|
|
X ( int, flex_vertadr, nflex, 1 ) \
|
|
X ( int, flex_vertnum, nflex, 1 ) \
|
|
X ( int, flex_edgeadr, nflex, 1 ) \
|
|
X ( int, flex_edgenum, nflex, 1 ) \
|
|
X ( int, flex_elemadr, nflex, 1 ) \
|
|
X ( int, flex_elemnum, nflex, 1 ) \
|
|
X ( int, flex_elemdataadr, nflex, 1 ) \
|
|
X ( int, flex_stiffnessadr, nflex, 1 ) \
|
|
X ( int, flex_elemedgeadr, nflex, 1 ) \
|
|
X ( int, flex_bendingadr, nflex, 1 ) \
|
|
X ( int, flex_shellnum, nflex, 1 ) \
|
|
X ( int, flex_shelldataadr, nflex, 1 ) \
|
|
X ( int, flex_evpairadr, nflex, 1 ) \
|
|
X ( int, flex_evpairnum, nflex, 1 ) \
|
|
X ( int, flex_texcoordadr, nflex, 1 ) \
|
|
X ( int, flex_nodebodyid, nflexnode, 1 ) \
|
|
X ( int, flex_vertbodyid, nflexvert, 1 ) \
|
|
X ( int, flex_vertedgeadr, nflexvert, 1 ) \
|
|
X ( int, flex_vertedgenum, nflexvert, 1 ) \
|
|
X ( int, flex_vertedge, nflexedge, 2 ) \
|
|
X ( int, flex_edge, nflexedge, 2 ) \
|
|
X ( int, flex_edgeflap, nflexedge, 2 ) \
|
|
X ( int, flex_elem, nflexelemdata, 1 ) \
|
|
X ( int, flex_elemtexcoord, nflexelemdata, 1 ) \
|
|
X ( int, flex_elemedge, nflexelemedge, 1 ) \
|
|
X ( int, flex_elemlayer, nflexelem, 1 ) \
|
|
X ( int, flex_shell, nflexshelldata,1 ) \
|
|
X ( int, flex_evpair, nflexevpair, 2 ) \
|
|
X ( mjtNum, flex_vert, nflexvert, 3 ) \
|
|
X ( mjtNum, flex_vert0, nflexvert, 3 ) \
|
|
X ( mjtNum, flex_vertmetric, nflexvert, 4 ) \
|
|
X ( mjtNum, flex_node, nflexnode, 3 ) \
|
|
X ( mjtNum, flex_node0, nflexnode, 3 ) \
|
|
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
|
|
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
|
|
X ( mjtNum, flex_radius, nflex, 1 ) \
|
|
X ( mjtNum, flex_size, nflex, 3 ) \
|
|
X ( mjtNum, flex_stiffness, nflexstiffness, 1 ) \
|
|
X ( mjtNum, flex_bending, nflexbending, 1 ) \
|
|
X ( int, efm0_dofid, nefm0dof, 1 ) \
|
|
X ( int, efm0_L_rownnz, nefm0dof, 1 ) \
|
|
X ( int, efm0_L_rowadr, nefm0dof, 1 ) \
|
|
X ( int, efm0_L_colind, nefm0L, 1 ) \
|
|
X ( mjtNum, efm0_L, nefm0L, 1 ) \
|
|
X ( mjtNum, flex_damping, nflex, 1 ) \
|
|
X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
|
|
X ( mjtNum, flex_edgedamping, nflex, 1 ) \
|
|
X ( int, flex_edgeequality, nflex, 1 ) \
|
|
X ( mjtBool, flex_rigid, nflex, 1 ) \
|
|
X ( mjtBool, flexedge_rigid, nflexedge, 1 ) \
|
|
X ( mjtBool, flex_centered, nflex, 1 ) \
|
|
X ( mjtBool, flex_flatskin, nflex, 1 ) \
|
|
X ( int, flex_bvhadr, nflex, 1 ) \
|
|
X ( int, flex_bvhnum, nflex, 1 ) \
|
|
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
|
|
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
|
|
X ( int, flexedge_J_colind, nJfe, 1 ) \
|
|
X ( int, flexvert_J_rownnz, nflexvert, 2 ) \
|
|
X ( int, flexvert_J_rowadr, nflexvert, 2 ) \
|
|
X ( int, flexvert_J_colind, nJfv, 2 ) \
|
|
X ( float, flex_rgba, nflex, 4 ) \
|
|
X ( float, flex_texcoord, nflextexcoord, 2 )
|
|
|
|
#define MJMODEL_POINTERS_MESH \
|
|
X ( int, mesh_vertadr, nmesh, 1 ) \
|
|
X ( int, mesh_vertnum, nmesh, 1 ) \
|
|
X ( int, mesh_faceadr, nmesh, 1 ) \
|
|
X ( int, mesh_facenum, nmesh, 1 ) \
|
|
X ( int, mesh_bvhadr, nmesh, 1 ) \
|
|
X ( int, mesh_bvhnum, nmesh, 1 ) \
|
|
X ( int, mesh_octadr, nmesh, 1 ) \
|
|
X ( int, mesh_octnum, nmesh, 1 ) \
|
|
X ( int, mesh_normaladr, nmesh, 1 ) \
|
|
X ( int, mesh_normalnum, nmesh, 1 ) \
|
|
X ( int, mesh_texcoordadr, nmesh, 1 ) \
|
|
X ( int, mesh_texcoordnum, nmesh, 1 ) \
|
|
X ( int, mesh_graphadr, nmesh, 1 ) \
|
|
XNV ( float, mesh_vert, nmeshvert, 3 ) \
|
|
XNV ( float, mesh_normal, nmeshnormal, 3 ) \
|
|
XNV ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
|
|
XNV ( int, mesh_face, nmeshface, 3 ) \
|
|
XNV ( int, mesh_facenormal, nmeshface, 3 ) \
|
|
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
|
|
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
|
|
X ( mjtNum, mesh_scale, nmesh, 3 ) \
|
|
X ( mjtNum, mesh_pos, nmesh, 3 ) \
|
|
X ( mjtNum, mesh_quat, nmesh, 4 ) \
|
|
X ( int, mesh_pathadr, nmesh, 1 ) \
|
|
XNV ( int, mesh_polynum, nmesh, 1 ) \
|
|
XNV ( int, mesh_polyadr, nmesh, 1 ) \
|
|
XNV ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
|
|
XNV ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
|
|
XNV ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
|
|
XNV ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
|
|
XNV ( int, mesh_polymapadr, nmeshvert, 1 ) \
|
|
XNV ( int, mesh_polymapnum, nmeshvert, 1 ) \
|
|
XNV ( int, mesh_polymap, nmeshpolymap, 1 )
|
|
|
|
#define MJMODEL_POINTERS_SKIN \
|
|
X ( int, skin_matid, nskin, 1 ) \
|
|
X ( int, skin_group, nskin, 1 ) \
|
|
X ( float, skin_rgba, nskin, 4 ) \
|
|
X ( float, skin_inflate, nskin, 1 ) \
|
|
X ( int, skin_vertadr, nskin, 1 ) \
|
|
X ( int, skin_vertnum, nskin, 1 ) \
|
|
X ( int, skin_texcoordadr, nskin, 1 ) \
|
|
X ( int, skin_faceadr, nskin, 1 ) \
|
|
X ( int, skin_facenum, nskin, 1 ) \
|
|
X ( int, skin_boneadr, nskin, 1 ) \
|
|
X ( int, skin_bonenum, nskin, 1 ) \
|
|
X ( float, skin_vert, nskinvert, 3 ) \
|
|
X ( float, skin_texcoord, nskintexvert, 2 ) \
|
|
X ( int, skin_face, nskinface, 3 ) \
|
|
X ( int, skin_bonevertadr, nskinbone, 1 ) \
|
|
X ( int, skin_bonevertnum, nskinbone, 1 ) \
|
|
X ( float, skin_bonebindpos, nskinbone, 3 ) \
|
|
X ( float, skin_bonebindquat, nskinbone, 4 ) \
|
|
X ( int, skin_bonebodyid, nskinbone, 1 ) \
|
|
X ( int, skin_bonevertid, nskinbonevert, 1 ) \
|
|
X ( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
|
X ( int, skin_pathadr, nskin, 1 )
|
|
|
|
#define MJMODEL_POINTERS_HFIELD \
|
|
X ( mjtNum, hfield_size, nhfield, 4 ) \
|
|
X ( int, hfield_nrow, nhfield, 1 ) \
|
|
X ( int, hfield_ncol, nhfield, 1 ) \
|
|
X ( int, hfield_adr, nhfield, 1 ) \
|
|
XNV ( float, hfield_data, nhfielddata, 1 ) \
|
|
X ( int, hfield_pathadr, nhfield, 1 )
|
|
|
|
#define MJMODEL_POINTERS_TEXTURE \
|
|
X ( int, tex_type, ntex, 1 ) \
|
|
X ( int, tex_colorspace, ntex, 1 ) \
|
|
X ( int, tex_height, ntex, 1 ) \
|
|
X ( int, tex_width, ntex, 1 ) \
|
|
X ( int, tex_nchannel, ntex, 1 ) \
|
|
X ( mjtSize, tex_adr, ntex, 1 ) \
|
|
XNV ( mjtByte, tex_data, ntexdata, 1 ) \
|
|
X ( int, tex_pathadr, ntex, 1 )
|
|
|
|
#define MJMODEL_POINTERS_MATERIAL \
|
|
X ( int, mat_texid, nmat, mjNTEXROLE ) \
|
|
X ( mjtBool, mat_texuniform, nmat, 1 ) \
|
|
X ( float, mat_texrepeat, nmat, 2 ) \
|
|
X ( float, mat_emission, nmat, 1 ) \
|
|
X ( float, mat_specular, nmat, 1 ) \
|
|
X ( float, mat_shininess, nmat, 1 ) \
|
|
X ( float, mat_reflectance, nmat, 1 ) \
|
|
X ( float, mat_metallic, nmat, 1 ) \
|
|
X ( float, mat_roughness, nmat, 1 ) \
|
|
X ( float, mat_rgba, nmat, 4 )
|
|
|
|
#define MJMODEL_POINTERS_PAIR \
|
|
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_solreffriction, 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 )
|
|
|
|
#define MJMODEL_POINTERS_EXCLUDE \
|
|
X ( int, exclude_signature, nexclude, 1 )
|
|
|
|
#define MJMODEL_POINTERS_EQUALITY \
|
|
X ( int, eq_type, neq, 1 ) \
|
|
X ( int, eq_obj1id, neq, 1 ) \
|
|
X ( int, eq_obj2id, neq, 1 ) \
|
|
X ( int, eq_objtype, neq, 1 ) \
|
|
X ( mjtBool, eq_active0, neq, 1 ) \
|
|
X ( mjtNum, eq_solref, neq, mjNREF ) \
|
|
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
|
|
X ( mjtNum, eq_data, neq, mjNEQDATA )
|
|
|
|
#define MJMODEL_POINTERS_TENDON \
|
|
X ( int, tendon_adr, ntendon, 1 ) \
|
|
X ( int, tendon_num, ntendon, 1 ) \
|
|
X ( int, tendon_matid, ntendon, 1 ) \
|
|
X ( int, tendon_actuatorid, ntendon, 1 ) \
|
|
X ( int, tendon_group, ntendon, 1 ) \
|
|
X ( int, tendon_treenum, ntendon, 1 ) \
|
|
X ( int, tendon_treeid, ntendon, 2 ) \
|
|
X ( int, ten_J_rownnz, ntendon, 1 ) \
|
|
X ( int, ten_J_rowadr, ntendon, 1 ) \
|
|
X ( int, ten_J_colind, nJten, 1 ) \
|
|
X ( mjtBool, tendon_limited, ntendon, 1 ) \
|
|
X ( mjtBool, tendon_actfrclimited, ntendon, 1 ) \
|
|
X ( 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 ) \
|
|
X ( mjtNum, tendon_range, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_margin, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_stiffnesspoly, ntendon, mjNPOLY ) \
|
|
X ( mjtNum, tendon_damping, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_dampingpoly, ntendon, mjNPOLY ) \
|
|
X ( mjtNum, tendon_armature, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
|
X ( 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) ) \
|
|
X ( float, tendon_rgba, ntendon, 4 )
|
|
|
|
#define MJMODEL_POINTERS_ACTUATOR \
|
|
X ( int, actuator_trntype, nactuator, 1 ) \
|
|
X ( int, actuator_dyntype, nactuator, 1 ) \
|
|
X ( int, actuator_gaintype, nactuator, 1 ) \
|
|
X ( int, actuator_biastype, nactuator, 1 ) \
|
|
X ( int, actuator_ctrladr, nactuator, 1 ) \
|
|
X ( int, actuator_ctrlnum, nactuator, 1 ) \
|
|
X ( int, actuator_outadr, nactuator, 1 ) \
|
|
X ( int, actuator_outnum, nactuator, 1 ) \
|
|
X ( int, actuator_actadr, nactuator, 1 ) \
|
|
X ( int, actuator_actnum, nactuator, 1 ) \
|
|
X ( int, actuator_trnid, nactuator, 2 ) \
|
|
X ( mjtNum, actuator_cranklength, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_dynprm, nactuator, mjNDYN ) \
|
|
X ( mjtNum, actuator_gainprm, nactuator, mjNGAIN ) \
|
|
X ( mjtNum, actuator_biasprm, nactuator, mjNBIAS ) \
|
|
X ( mjtBool, actuator_actlimited, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_actrange, nactuator, 2 ) \
|
|
X ( mjtBool, actuator_actearly, nactuator, 1 ) \
|
|
X ( int, actuator_history, nactuator, 2 ) \
|
|
X ( int, actuator_historyadr, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_delay, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_damping, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_dampingpoly, nactuator, mjNPOLY ) \
|
|
X ( mjtNum, actuator_armature, nactuator, 1 ) \
|
|
X ( int, actuator_group, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_user, nactuator, MJ_M(nuser_actuator) ) \
|
|
X ( int, actuator_plugin, nactuator, 1 ) \
|
|
X ( mjtBool, actuator_ctrllimited, nu, 1 ) \
|
|
X ( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
|
X ( mjtNum, actuator_gear, nout, 6 ) \
|
|
X ( mjtBool, actuator_forcelimited, nout, 1 ) \
|
|
X ( mjtNum, actuator_forcerange, nout, 2 ) \
|
|
X ( mjtNum, actuator_acc0, nout, 1 ) \
|
|
X ( mjtNum, actuator_length0, nout, 1 ) \
|
|
X ( mjtNum, actuator_lengthrange, nout, 2 )
|
|
|
|
#define MJMODEL_POINTERS_SENSOR \
|
|
X ( int, sensor_type, nsensor, 1 ) \
|
|
X ( int, sensor_datatype, nsensor, 1 ) \
|
|
X ( int, sensor_needstage, nsensor, 1 ) \
|
|
X ( int, sensor_objtype, nsensor, 1 ) \
|
|
X ( int, sensor_objid, nsensor, 1 ) \
|
|
X ( int, sensor_reftype, nsensor, 1 ) \
|
|
X ( int, sensor_refid, nsensor, 1 ) \
|
|
X ( int, sensor_intprm, nsensor, mjNSENS ) \
|
|
X ( int, sensor_dim, nsensor, 1 ) \
|
|
X ( int, sensor_adr, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_noise, nsensor, 1 ) \
|
|
X ( int, sensor_history, nsensor, 2 ) \
|
|
X ( int, sensor_historyadr, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_delay, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_interval, nsensor, 2 ) \
|
|
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
|
|
X ( int, sensor_plugin, nsensor, 1 )
|
|
|
|
#define MJMODEL_POINTERS \
|
|
X ( mjtNum, qpos0, nq, 1 ) \
|
|
X ( mjtNum, qpos_spring, nq, 1 ) \
|
|
MJMODEL_POINTERS_BODY \
|
|
X ( int, bvh_depth, nbvh, 1 ) \
|
|
X ( int, bvh_child, nbvh, 2 ) \
|
|
X ( int, bvh_nodeid, nbvh, 1 ) \
|
|
X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
|
|
X ( int, oct_depth, noct, 1 ) \
|
|
X ( int, oct_child, noct, 8 ) \
|
|
X ( mjtNum, oct_aabb, noct, 6 ) \
|
|
X ( mjtNum, oct_coeff, noct, 8 ) \
|
|
MJMODEL_POINTERS_JOINT \
|
|
MJMODEL_POINTERS_DOF \
|
|
MJMODEL_POINTERS_TREE \
|
|
MJMODEL_POINTERS_GEOM \
|
|
MJMODEL_POINTERS_SITE \
|
|
MJMODEL_POINTERS_CAMERA \
|
|
MJMODEL_POINTERS_LIGHT \
|
|
MJMODEL_POINTERS_FLEX \
|
|
MJMODEL_POINTERS_MESH \
|
|
MJMODEL_POINTERS_SKIN \
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|
MJMODEL_POINTERS_HFIELD \
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|
MJMODEL_POINTERS_TEXTURE \
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|
MJMODEL_POINTERS_MATERIAL \
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|
MJMODEL_POINTERS_PAIR \
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|
MJMODEL_POINTERS_EXCLUDE \
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|
MJMODEL_POINTERS_EQUALITY \
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|
MJMODEL_POINTERS_TENDON \
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X ( int, wrap_type, nwrap, 1 ) \
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X ( int, wrap_objid, nwrap, 1 ) \
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X ( mjtNum, wrap_prm, nwrap, 1 ) \
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MJMODEL_POINTERS_ACTUATOR \
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|
MJMODEL_POINTERS_SENSOR \
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X ( int, plugin, nplugin, 1 ) \
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X ( int, plugin_stateadr, nplugin, 1 ) \
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X ( int, plugin_statenum, nplugin, 1 ) \
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|
X ( char, plugin_attr, npluginattr, 1 ) \
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|
X ( int, plugin_attradr, nplugin, 1 ) \
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|
X ( int, numeric_adr, nnumeric, 1 ) \
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|
X ( int, numeric_size, nnumeric, 1 ) \
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|
X ( mjtNum, numeric_data, nnumericdata, 1 ) \
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|
X ( int, text_adr, ntext, 1 ) \
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|
X ( int, text_size, ntext, 1 ) \
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|
X ( char, text_data, ntextdata, 1 ) \
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|
X ( int, tuple_adr, ntuple, 1 ) \
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|
X ( int, tuple_size, ntuple, 1 ) \
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|
X ( int, tuple_objtype, ntupledata, 1 ) \
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|
X ( int, tuple_objid, ntupledata, 1 ) \
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|
X ( mjtNum, tuple_objprm, ntupledata, 1 ) \
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|
X ( mjtNum, key_time, nkey, 1 ) \
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|
X ( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
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X ( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
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X ( mjtNum, key_act, nkey, MJ_M(na) ) \
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|
X ( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
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|
X ( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
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|
X ( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
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|
X ( int, name_bodyadr, nbody, 1 ) \
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X ( int, name_jntadr, njnt, 1 ) \
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|
X ( int, name_geomadr, ngeom, 1 ) \
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|
X ( int, name_siteadr, nsite, 1 ) \
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|
X ( int, name_camadr, ncam, 1 ) \
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|
X ( int, name_lightadr, nlight, 1 ) \
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|
X ( int, name_flexadr, nflex, 1 ) \
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|
X ( int, name_meshadr, nmesh, 1 ) \
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|
X ( int, name_skinadr, nskin, 1 ) \
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|
X ( int, name_hfieldadr, nhfield, 1 ) \
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|
X ( int, name_texadr, ntex, 1 ) \
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|
X ( int, name_matadr, nmat, 1 ) \
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|
X ( int, name_pairadr, npair, 1 ) \
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|
X ( int, name_excludeadr, nexclude, 1 ) \
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|
X ( int, name_eqadr, neq, 1 ) \
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|
X ( int, name_tendonadr, ntendon, 1 ) \
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|
X ( int, name_actuatoradr, nactuator, 1 ) \
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|
X ( int, name_sensoradr, nsensor, 1 ) \
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|
X ( int, name_numericadr, nnumeric, 1 ) \
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|
X ( int, name_textadr, ntext, 1 ) \
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|
X ( int, name_tupleadr, ntuple, 1 ) \
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|
X ( int, name_keyadr, nkey, 1 ) \
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|
X ( int, name_pluginadr, nplugin, 1 ) \
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|
X ( char, names, nnames, 1 ) \
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|
X ( int, names_map, nnames_map, 1 ) \
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|
X ( char, paths, npaths, 1 ) \
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|
X ( int, B_rownnz, nbody, 1 ) \
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|
X ( int, B_rowadr, nbody, 1 ) \
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|
X ( int, B_colind, nB, 1 ) \
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|
X ( int, M_rownnz, nv, 1 ) \
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|
X ( int, M_rowadr, nv, 1 ) \
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|
X ( int, M_colind, nC, 1 ) \
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|
X ( int, mapM2M, nC, 1 ) \
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|
X ( int, D_rownnz, nv, 1 ) \
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|
X ( int, D_rowadr, nv, 1 ) \
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|
X ( int, D_diag, nv, 1 ) \
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|
X ( int, D_colind, nD, 1 ) \
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|
X ( int, mapM2D, nD, 1 ) \
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|
X ( int, mapD2M, nC, 1 )
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|
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|
//-------------------------------- mjData ----------------------------------------------------------
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|
// pointer fields of mjData
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// XNV means that the field is not required to construct mjvScene
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|
// (by default we define XNV to be the same as X)
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#define MJDATA_POINTERS \
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X ( mjtNum, qpos, nq, 1 ) \
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X ( mjtNum, qvel, nv, 1 ) \
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|
X ( mjtNum, act, na, 1 ) \
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|
X ( mjtNum, history, nhistory, 1 ) \
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|
X ( mjtNum, qacc_warmstart, nv, 1 ) \
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|
X ( mjtNum, plugin_state, npluginstate, 1 ) \
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|
X ( mjtNum, ctrl, nu, 1 ) \
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|
X ( mjtNum, qfrc_applied, nv, 1 ) \
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|
X ( mjtNum, xfrc_applied, nbody, 6 ) \
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|
X ( mjtBool, eq_active, neq, 1 ) \
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|
X ( mjtNum, mocap_pos, nmocap, 3 ) \
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|
X ( mjtNum, mocap_quat, nmocap, 4 ) \
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|
X ( mjtNum, qacc, nv, 1 ) \
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|
X ( mjtNum, act_dot, na, 1 ) \
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|
X ( mjtNum, userdata, nuserdata, 1 ) \
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|
X ( mjtNum, sensordata, nsensordata, 1 ) \
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|
X ( int, tree_asleep, ntree, 1 ) \
|
|
X ( int, plugin, nplugin, 1 ) \
|
|
X ( uintptr_t, plugin_data, nplugin, 1 ) \
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|
X ( mjtNum, xpos, nbody, 3 ) \
|
|
X ( mjtNum, xquat, nbody, 4 ) \
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|
X ( mjtNum, xmat, nbody, 9 ) \
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|
X ( mjtNum, xipos, nbody, 3 ) \
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|
X ( mjtNum, ximat, nbody, 9 ) \
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|
X ( mjtNum, xanchor, njnt, 3 ) \
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|
X ( mjtNum, xaxis, njnt, 3 ) \
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|
X ( mjtNum, geom_xpos, ngeom, 3 ) \
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|
X ( mjtNum, geom_xmat, ngeom, 9 ) \
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|
X ( mjtNum, site_xpos, nsite, 3 ) \
|
|
X ( mjtNum, site_xmat, nsite, 9 ) \
|
|
X ( mjtNum, cam_xpos, ncam, 3 ) \
|
|
X ( mjtNum, cam_xmat, ncam, 9 ) \
|
|
X ( mjtNum, light_xpos, nlight, 3 ) \
|
|
X ( mjtNum, light_xdir, nlight, 3 ) \
|
|
X ( mjtNum, subtree_com, nbody, 3 ) \
|
|
X ( mjtNum, cdof, nv, 6 ) \
|
|
X ( mjtNum, cinert, nbody, 10 ) \
|
|
X ( mjtNum, flexvert_xpos, nflexvert, 3 ) \
|
|
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
|
|
X ( mjtNum, flexelem_krot, nflexstiffness, 1 ) \
|
|
X ( mjtNum, flexedge_J, nJfe, 1 ) \
|
|
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
|
|
X ( mjtNum, flexvert_J, nJfv, 2 ) \
|
|
X ( mjtNum, flexvert_length, nflexvert, 2 ) \
|
|
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
|
|
X ( int, ten_wrapadr, ntendon, 1 ) \
|
|
X ( int, ten_wrapnum, ntendon, 1 ) \
|
|
X ( mjtNum, ten_J, nJten, 1 ) \
|
|
X ( mjtNum, ten_length, ntendon, 1 ) \
|
|
X ( int, wrap_obj, nwrap, 2 ) \
|
|
X ( mjtNum, wrap_xpos, nwrap, 6 ) \
|
|
X ( mjtNum, actuator_length, nout, 1 ) \
|
|
X ( int, moment_rownnz, nout, 1 ) \
|
|
X ( int, moment_rowadr, nout, 1 ) \
|
|
X ( int, moment_colind, nJmom, 1 ) \
|
|
X ( mjtNum, actuator_moment, nJmom, 1 ) \
|
|
XNV ( mjtNum, crb, nbody, 10 ) \
|
|
XNV ( mjtNum, M, nC, 1 ) \
|
|
XNV ( mjtNum, qLD, nC, 1 ) \
|
|
X ( mjtNum, qLDiagInv, nv, 1 ) \
|
|
X ( mjtBool, bvh_active, nbvh, 1 ) \
|
|
X ( int, tree_awake, ntree, 1 ) \
|
|
X ( int, body_awake, nbody, 1 ) \
|
|
X ( int, body_awake_ind, nbody, 1 ) \
|
|
X ( int, parent_awake_ind, nbody, 1 ) \
|
|
X ( int, dof_awake_ind, nv, 1 ) \
|
|
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
|
|
X ( mjtNum, ten_velocity, ntendon, 1 ) \
|
|
X ( mjtNum, actuator_velocity, nout, 1 ) \
|
|
X ( mjtNum, cvel, nbody, 6 ) \
|
|
X ( mjtNum, cdof_dot, nv, 6 ) \
|
|
X ( mjtNum, qfrc_bias, nv, 1 ) \
|
|
X ( mjtNum, qfrc_spring, nv, 1 ) \
|
|
X ( mjtNum, qfrc_damper, nv, 1 ) \
|
|
X ( mjtNum, qfrc_gravcomp, nv, 1 ) \
|
|
X ( mjtNum, qfrc_fluid, nv, 1 ) \
|
|
X ( mjtNum, qfrc_passive, nv, 1 ) \
|
|
X ( mjtNum, subtree_linvel, nbody, 3 ) \
|
|
X ( mjtNum, subtree_angmom, nbody, 3 ) \
|
|
XNV ( mjtNum, qH, nC, 1 ) \
|
|
X ( mjtNum, qHDiagInv, nv, 1 ) \
|
|
XNV ( mjtNum, qDeriv, nD, 1 ) \
|
|
XNV ( mjtNum, qLU, nD, 1 ) \
|
|
X ( mjtNum, actuator_force, nout, 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_SOLVER \
|
|
X ( int, efc_type, MJ_D(nefc), 1 ) \
|
|
X ( int, efc_id, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_colind, MJ_D(nJ), 1 ) \
|
|
XNV( mjtNum, efc_J, MJ_D(nJ), 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_diagA, 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 ( int, tendon_efcadr, MJ_M(ntendon), 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 ( int, efc_state, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_force, MJ_D(nefc), 1 )
|
|
|
|
// array fields of mjData that are used in the dual problem
|
|
#define MJDATA_ARENA_POINTERS_DUAL \
|
|
XNV( int, efc_Y_rownnz, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_Y_rowadr, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_Y_colind, MJ_D(nY), 1 ) \
|
|
XNV( mjtNum, efc_Y, MJ_D(nY), 1 ) \
|
|
XNV( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_AR_colind, MJ_D(nA), 1 ) \
|
|
XNV( mjtNum, efc_AR, MJ_D(nA), 1 )
|
|
|
|
// array fields of mjData that are used for constraint islands
|
|
#define MJDATA_ARENA_POINTERS_ISLAND \
|
|
X ( int, tree_island, MJ_M(ntree), 1 ) \
|
|
X ( int, island_ntree, MJ_D(nisland), 1 ) \
|
|
X ( int, island_itreeadr, MJ_D(nisland), 1 ) \
|
|
X ( int, map_itree2tree, MJ_M(ntree), 1 ) \
|
|
X ( int, dof_island, MJ_M(nv), 1 ) \
|
|
X ( int, island_nv, MJ_D(nisland), 1 ) \
|
|
X ( int, island_idofadr, MJ_D(nisland), 1 ) \
|
|
X ( int, island_dofadr, MJ_D(nisland), 1 ) \
|
|
X ( int, map_dof2idof, MJ_M(nv), 1 ) \
|
|
X ( int, map_idof2dof, MJ_M(nv), 1 ) \
|
|
X ( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
|
|
X ( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
|
|
X ( mjtNum, iacc, MJ_D(nidof), 1 ) \
|
|
X ( int, efc_island, MJ_D(nefc), 1 ) \
|
|
X ( int, island_ne, MJ_D(nisland), 1 ) \
|
|
X ( int, island_nf, MJ_D(nisland), 1 ) \
|
|
X ( int, island_nefc, MJ_D(nisland), 1 ) \
|
|
X ( int, island_iefcadr, MJ_D(nisland), 1 ) \
|
|
X ( int, map_efc2iefc, MJ_D(nefc), 1 ) \
|
|
X ( int, map_iefc2efc, MJ_D(nefc), 1 ) \
|
|
X ( int, iefc_type, MJ_D(nefc), 1 ) \
|
|
X ( int, iefc_id, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_aref, MJ_D(nefc), 1 ) \
|
|
X ( int, iefc_state, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_force, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, ifrc_constraint, MJ_D(nidof), 1 )
|
|
|
|
// array fields of mjData that live in d->arena
|
|
#define MJDATA_ARENA_POINTERS_EFM \
|
|
X ( mjtNum, efm_c, MJ_M(nv), 1 ) \
|
|
X ( int, efm_K_rownnz, MJ_M(nv), 1 ) \
|
|
X ( int, efm_K_rowadr, MJ_M(nv), 1 ) \
|
|
X ( int, efm_K_colind, MJ_D(nefmK), 1 ) \
|
|
X ( mjtNum, efm_K_val, MJ_D(nefmK), 1 ) \
|
|
X ( int, efm_dofid, MJ_D(nefmdof), 1 ) \
|
|
X ( int, efm_L_rownnz, MJ_D(nefmdof), 1 ) \
|
|
X ( int, efm_L_rowadr, MJ_D(nefmdof), 1 ) \
|
|
X ( int, efm_L_colind, MJ_D(nefmL), 1 ) \
|
|
X ( mjtNum, efm_L, MJ_D(nefmL), 1 )
|
|
|
|
|
|
#define MJDATA_ARENA_POINTERS \
|
|
MJDATA_ARENA_POINTERS_CONTACT \
|
|
MJDATA_ARENA_POINTERS_SOLVER \
|
|
MJDATA_ARENA_POINTERS_DUAL \
|
|
MJDATA_ARENA_POINTERS_ISLAND \
|
|
MJDATA_ARENA_POINTERS_EFM
|
|
|
|
|
|
// scalar fields of mjData
|
|
#define MJDATA_SCALAR \
|
|
X( size_t, narena ) \
|
|
X( size_t, nbuffer ) \
|
|
X( int, nplugin ) \
|
|
X( size_t, pstack ) \
|
|
X( size_t, pbase ) \
|
|
X( size_t, parena ) \
|
|
X( uintptr_t, threadpool ) \
|
|
X( size_t, maxuse_stack ) \
|
|
X( size_t, maxuse_arena ) \
|
|
X( int, maxuse_con ) \
|
|
X( int, maxuse_efc ) \
|
|
X( int, ncon ) \
|
|
X( int, ne ) \
|
|
X( int, nf ) \
|
|
X( int, nl ) \
|
|
X( int, nefc ) \
|
|
X( int, nJ ) \
|
|
X( int, efm_active ) \
|
|
X( int, nefmK ) \
|
|
X( int, nefmdof ) \
|
|
X( int, nefmL ) \
|
|
X( int, nY ) \
|
|
X( int, nA ) \
|
|
X( int, nisland ) \
|
|
X( int, nidof ) \
|
|
X( int, ntree_awake ) \
|
|
X( int, nbody_awake ) \
|
|
X( int, nparent_awake ) \
|
|
X( int, nv_awake ) \
|
|
X( mjtBool, flg_energypos ) \
|
|
X( mjtBool, flg_energyvel ) \
|
|
X( mjtBool, flg_subtreevel ) \
|
|
X( mjtBool, flg_rnepost ) \
|
|
X( mjtNum, time )
|
|
|
|
|
|
// vector fields of mjData
|
|
#define MJDATA_VECTOR \
|
|
X( mjSolverStat, solver, mjNISLAND, mjNSOLVER ) \
|
|
X( int, solver_niter, mjNISLAND, 1 ) \
|
|
X( int, solver_nnz, mjNISLAND, 1 ) \
|
|
X( mjtNum, solver_fwdinv, 2, 1 ) \
|
|
X( mjWarningStat, warning, mjNWARNING, 1 ) \
|
|
X( mjTimerStat, timer, mjNTIMER, 1 ) \
|
|
X( mjtNum, energy, 2, 1 )
|
|
|
|
// alias XNV to be the same as X
|
|
// to obtain only X macros for fields that are relevant for mjvScene creation,
|
|
// redefine XNV to expand to nothing
|
|
#define XNV X
|
|
|
|
#endif // MUJOCO_MJXMACRO_H_
|