Kyle Bayes
73fb61e3e2
PiperOrigin-RevId: 493076656 Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
1192 lines
47 KiB
C
1192 lines
47 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_MUJOCO_H_
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#define MUJOCO_MUJOCO_H_
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#include <mujoco/mjexport.h>
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// this is a C-API
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#if defined(__cplusplus)
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extern "C" {
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#endif
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// header version; should match the library version as returned by mj_version()
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#define mjVERSION_HEADER 231
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// needed to define size_t, fabs and log10
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#include <stdlib.h>
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#include <math.h>
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// type definitions
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjplugin.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mjvisualize.h>
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// macros
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#define mjMARKSTACK int _mark = d->pstack;
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#define mjFREESTACK d->pstack = _mark;
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#define mjDISABLED(x) (m->opt.disableflags & (x))
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#define mjENABLED(x) (m->opt.enableflags & (x))
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// user error and memory handlers
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MJAPI extern void (*mju_user_error)(const char*);
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MJAPI extern void (*mju_user_warning)(const char*);
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MJAPI extern void* (*mju_user_malloc)(size_t);
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MJAPI extern void (*mju_user_free)(void*);
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// callbacks extending computation pipeline
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MJAPI extern mjfGeneric mjcb_passive;
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MJAPI extern mjfGeneric mjcb_control;
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MJAPI extern mjfConFilt mjcb_contactfilter;
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MJAPI extern mjfSensor mjcb_sensor;
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MJAPI extern mjfTime mjcb_time;
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MJAPI extern mjfAct mjcb_act_dyn;
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MJAPI extern mjfAct mjcb_act_gain;
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MJAPI extern mjfAct mjcb_act_bias;
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// collision function table
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MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
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// string names
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MJAPI extern const char* mjDISABLESTRING[mjNDISABLE];
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MJAPI extern const char* mjENABLESTRING[mjNENABLE];
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MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
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MJAPI extern const char* mjLABELSTRING[mjNLABEL];
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MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
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MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
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MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
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//---------------------------------- Virtual file system -------------------------------------------
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// Initialize VFS to empty (no deallocation).
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MJAPI void mj_defaultVFS(mjVFS* vfs);
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// Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.
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MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
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// Make empty file in VFS, return 0: success, 1: full, 2: repeated name.
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MJAPI int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
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// Return file index in VFS, or -1 if not found in VFS.
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MJAPI int mj_findFileVFS(const mjVFS* vfs, const char* filename);
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// Delete file from VFS, return 0: success, -1: not found in VFS.
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MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
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// Delete all files from VFS.
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MJAPI void mj_deleteVFS(mjVFS* vfs);
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//---------------------------------- Parse and compile ---------------------------------------------
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// Parse XML file in MJCF or URDF format, compile it, return low-level model.
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// If vfs is not NULL, look up files in vfs before reading from disk.
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// If error is not NULL, it must have size error_sz.
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MJAPI mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
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char* error, int error_sz);
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// Update XML data structures with info from low-level model, save as MJCF.
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// If error is not NULL, it must have size error_sz.
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MJAPI int mj_saveLastXML(const char* filename, const mjModel* m,
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char* error, int error_sz);
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// Free last XML model if loaded. Called internally at each load.
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MJAPI void mj_freeLastXML(void);
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// Print internal XML schema as plain text or HTML, with style-padding or .
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MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
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int flg_html, int flg_pad);
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//---------------------------------- Main simulation -----------------------------------------------
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// Advance simulation, use control callback to obtain external force and control.
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MJAPI void mj_step(const mjModel* m, mjData* d);
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// Advance simulation in two steps: before external force and control is set by user.
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MJAPI void mj_step1(const mjModel* m, mjData* d);
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// Advance simulation in two steps: after external force and control is set by user.
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MJAPI void mj_step2(const mjModel* m, mjData* d);
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// Forward dynamics: same as mj_step but do not integrate in time.
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MJAPI void mj_forward(const mjModel* m, mjData* d);
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// Inverse dynamics: qacc must be set before calling.
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MJAPI void mj_inverse(const mjModel* m, mjData* d);
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// Forward dynamics with skip; skipstage is mjtStage.
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MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
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// Inverse dynamics with skip; skipstage is mjtStage.
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MJAPI void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
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//---------------------------------- Initialization ------------------------------------------------
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// Set default options for length range computation.
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MJAPI void mj_defaultLROpt(mjLROpt* opt);
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// Set solver parameters to default values.
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MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
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// Set physics options to default values.
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MJAPI void mj_defaultOption(mjOption* opt);
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// Set visual options to default values.
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MJAPI void mj_defaultVisual(mjVisual* vis);
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// Copy mjModel, allocate new if dest is NULL.
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MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
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// Save model to binary MJB file or memory buffer; buffer has precedence when given.
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MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
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// Load model from binary MJB file.
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// If vfs is not NULL, look up file in vfs before reading from disk.
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MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
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// Free memory allocation in model.
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MJAPI void mj_deleteModel(mjModel* m);
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// Return size of buffer needed to hold model.
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MJAPI int mj_sizeModel(const mjModel* m);
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// Allocate mjData correponding to given model.
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// If the model buffer is unallocated the initial configuration will not be set.
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MJAPI mjData* mj_makeData(const mjModel* m);
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// Copy mjData.
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// m is only required to contain the size fields from MJMODEL_INTS.
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MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
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// Reset data to defaults.
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MJAPI void mj_resetData(const mjModel* m, mjData* d);
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// Reset data to defaults, fill everything else with debug_value.
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MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
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// Reset data, set fields from specified keyframe.
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MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
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// Allocate array of specified size on mjData stack. Call mju_error on stack overflow.
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MJAPI mjtNum* mj_stackAlloc(mjData* d, int size);
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// Free memory allocation in mjData.
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MJAPI void mj_deleteData(mjData* d);
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// Reset all callbacks to NULL pointers (NULL is the default).
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MJAPI void mj_resetCallbacks(void);
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// Set constant fields of mjModel, corresponding to qpos0 configuration.
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MJAPI void mj_setConst(mjModel* m, mjData* d);
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// Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.
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MJAPI int mj_setLengthRange(mjModel* m, mjData* d, int index,
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const mjLROpt* opt, char* error, int error_sz);
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//---------------------------------- Printing ------------------------------------------------------
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// Print mjModel to text file, specifying format.
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// float_format must be a valid printf-style format string for a single float value.
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MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
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// Print model to text file.
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MJAPI void mj_printModel(const mjModel* m, const char* filename);
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// Print mjData to text file, specifying format.
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// float_format must be a valid printf-style format string for a single float value
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MJAPI void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
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const char* float_format);
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// Print data to text file.
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MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename);
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// Print matrix to screen.
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MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
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// Print sparse matrix to screen.
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MJAPI void mju_printMatSparse(const mjtNum* mat, int nr,
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const int* rownnz, const int* rowadr, const int* colind);
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//---------------------------------- Components ----------------------------------------------------
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// Run position-dependent computations.
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MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
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// Run velocity-dependent computations.
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MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
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// Compute actuator force qfrc_actuator.
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MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
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// Add up all non-constraint forces, compute qacc_unc.
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MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
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// Run selected constraint solver.
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MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
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// Euler integrator, semi-implicit in velocity.
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MJAPI void mj_Euler(const mjModel* m, mjData* d);
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// Runge-Kutta explicit order-N integrator.
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MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
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// Run position-dependent computations in inverse dynamics.
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MJAPI void mj_invPosition(const mjModel* m, mjData* d);
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// Run velocity-dependent computations in inverse dynamics.
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MJAPI void mj_invVelocity(const mjModel* m, mjData* d);
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// Apply the analytical formula for inverse constraint dynamics.
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MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
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// Compare forward and inverse dynamics, save results in fwdinv.
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MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d);
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//---------------------------------- Sub components ------------------------------------------------
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// Evaluate position-dependent sensors.
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MJAPI void mj_sensorPos(const mjModel* m, mjData* d);
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// Evaluate velocity-dependent sensors.
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MJAPI void mj_sensorVel(const mjModel* m, mjData* d);
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// Evaluate acceleration and force-dependent sensors.
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MJAPI void mj_sensorAcc(const mjModel* m, mjData* d);
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// Evaluate position-dependent energy (potential).
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MJAPI void mj_energyPos(const mjModel* m, mjData* d);
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// Evaluate velocity-dependent energy (kinetic).
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MJAPI void mj_energyVel(const mjModel* m, mjData* d);
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// Check qpos, reset if any element is too big or nan.
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MJAPI void mj_checkPos(const mjModel* m, mjData* d);
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// Check qvel, reset if any element is too big or nan.
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MJAPI void mj_checkVel(const mjModel* m, mjData* d);
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// Check qacc, reset if any element is too big or nan.
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MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
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// Run forward kinematics.
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MJAPI void mj_kinematics(const mjModel* m, mjData* d);
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// Map inertias and motion dofs to global frame centered at CoM.
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MJAPI void mj_comPos(const mjModel* m, mjData* d);
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// Compute camera and light positions and orientations.
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MJAPI void mj_camlight(const mjModel* m, mjData* d);
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// Compute tendon lengths, velocities and moment arms.
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MJAPI void mj_tendon(const mjModel* m, mjData* d);
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// Compute actuator transmission lengths and moments.
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MJAPI void mj_transmission(const mjModel* m, mjData* d);
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// Run composite rigid body inertia algorithm (CRB).
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MJAPI void mj_crb(const mjModel* m, mjData* d);
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// Compute sparse L'*D*L factorizaton of inertia matrix.
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MJAPI void mj_factorM(const mjModel* m, mjData* d);
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// Solve linear system M * x = y using factorization: x = inv(L'*D*L)*y
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MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
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// Half of linear solve: x = sqrt(inv(D))*inv(L')*y
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MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
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// Compute cvel, cdof_dot.
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MJAPI void mj_comVel(const mjModel* m, mjData* d);
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// Compute qfrc_passive from spring-dampers, viscosity and density.
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MJAPI void mj_passive(const mjModel* m, mjData* d);
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// subtree linear velocity and angular momentum
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MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
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// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.
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MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
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// RNE with complete data: compute cacc, cfrc_ext, cfrc_int.
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MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
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// Run collision detection.
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MJAPI void mj_collision(const mjModel* m, mjData* d);
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// Construct constraints.
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MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);
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// Compute inverse constaint inertia efc_AR.
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MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
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// Compute efc_vel, efc_aref.
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MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
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// Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians.
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// If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.
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MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
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mjtNum cost[1], int flg_coneHessian);
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//---------------------------------- Support -------------------------------------------------------
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// Add contact to d->contact list; return 0 if success; 1 if buffer full.
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MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
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// Determine type of friction cone.
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MJAPI int mj_isPyramidal(const mjModel* m);
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// Determine type of constraint Jacobian.
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MJAPI int mj_isSparse(const mjModel* m);
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// Determine type of solver (PGS is dual, CG and Newton are primal).
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MJAPI int mj_isDual(const mjModel* m);
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// Multiply dense or sparse constraint Jacobian by vector.
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MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
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// Multiply dense or sparse constraint Jacobian transpose by vector.
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MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
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// Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.
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MJAPI void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
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const mjtNum point[3], int body);
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// Compute body frame end-effector Jacobian.
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MJAPI void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
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// Compute body center-of-mass end-effector Jacobian.
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MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
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// Compute subtree center-of-mass end-effector Jacobian.
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MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
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// Compute geom end-effector Jacobian.
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MJAPI void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
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// Compute site end-effector Jacobian.
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MJAPI void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
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// Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
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MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
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const mjtNum point[3], const mjtNum axis[3], int body);
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// Get id of object with specified name, return -1 if not found; type is mjtObj.
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MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
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// Get name of object with specified id, return 0 if invalid type or id; type is mjtObj.
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MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
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// Convert sparse inertia matrix M into full (i.e. dense) matrix.
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MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
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// Multiply vector by inertia matrix.
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MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
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// Multiply vector by (inertia matrix)^(1/2).
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MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
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// Add inertia matrix to destination matrix.
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// Destination can be sparse uncompressed, or dense when all int* are NULL
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MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
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|
|
|
// Apply cartesian force and torque (outside xfrc_applied mechanism).
|
|
MJAPI 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);
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|
|
// Compute object 6D velocity in object-centered frame, world/local orientation.
|
|
MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
|
|
int objtype, int objid, mjtNum res[6], int flg_local);
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|
|
|
// Compute object 6D acceleration in object-centered frame, world/local orientation.
|
|
MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
|
|
int objtype, int objid, mjtNum res[6], int flg_local);
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|
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|
// Extract 6D force:torque given contact id, in the contact frame.
|
|
MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
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|
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|
// Compute velocity by finite-differencing two positions.
|
|
MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
|
|
const mjtNum* qpos1, const mjtNum* qpos2);
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|
// Integrate position with given velocity.
|
|
MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
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|
// Normalize all quaternions in qpos-type vector.
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|
MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
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|
// Map from body local to global Cartesian coordinates.
|
|
MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
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|
const mjtNum quat[4], int body, mjtByte sameframe);
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|
// Sum all body masses.
|
|
MJAPI mjtNum mj_getTotalmass(const mjModel* m);
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|
// Scale body masses and inertias to achieve specified total mass.
|
|
MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
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|
|
// Return a config attribute value of a plugin instance;
|
|
// NULL: invalid plugin instance ID or attribute name
|
|
MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
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|
// Load a dynamic library. The dynamic library is assumed to register one or more plugins.
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|
MJAPI void mj_loadPluginLibrary(const char* path);
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|
// Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
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|
// are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
|
|
// for each dynamic library encountered that registers plugins.
|
|
MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
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|
|
// Return version number: 1.0.2 is encoded as 102.
|
|
MJAPI int mj_version(void);
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|
|
|
// Return the current version of MuJoCo as a null-terminated string.
|
|
MJAPI const char* mj_versionString();
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|
|
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//---------------------------------- Ray collisions ------------------------------------------------
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|
// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
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|
// Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
|
|
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
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|
MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
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|
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
|
|
int geomid[1]);
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|
// Interect ray with hfield, return nearest distance or -1 if no intersection.
|
|
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
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|
const mjtNum pnt[3], const mjtNum vec[3]);
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// Interect ray with mesh, return nearest distance or -1 if no intersection.
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|
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
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|
const mjtNum pnt[3], const mjtNum vec[3]);
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|
|
// Interect ray with pure geom, return nearest distance or -1 if no intersection.
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|
MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
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|
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
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|
|
// Interect ray with skin, return nearest distance or -1 if no intersection,
|
|
// and also output nearest vertex id.
|
|
MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
|
|
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
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|
|
|
|
//---------------------------------- Interaction ---------------------------------------------------
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// Set default camera.
|
|
MJAPI void mjv_defaultCamera(mjvCamera* cam);
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|
|
// Set default free camera.
|
|
MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
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|
|
// Set default perturbation.
|
|
MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
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|
|
// Transform pose from room to model space.
|
|
MJAPI void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
|
|
const mjtNum roomquat[4], const mjvScene* scn);
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|
|
|
// Transform pose from model to room space.
|
|
MJAPI void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
|
|
const mjtNum modelquat[4], const mjvScene* scn);
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|
|
|
// Get camera info in model space; average left and right OpenGL cameras.
|
|
MJAPI void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
|
|
const mjvScene* scn);
|
|
|
|
// Get camera info in room space; average left and right OpenGL cameras.
|
|
MJAPI void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
|
|
const mjvScene* scn);
|
|
|
|
// Get frustum height at unit distance from camera; average left and right OpenGL cameras.
|
|
MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
|
|
|
|
// Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
|
|
MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
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|
|
|
// Move camera with mouse; action is mjtMouse.
|
|
MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
|
|
const mjvScene* scn, mjvCamera* cam);
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|
|
|
// Move perturb object with mouse; action is mjtMouse.
|
|
MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
|
|
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
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|
|
|
// Move model with mouse; action is mjtMouse.
|
|
MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
|
|
const mjtNum roomup[3], mjvScene* scn);
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|
|
|
// Copy perturb pos,quat from selected body; set scale for perturbation.
|
|
MJAPI void mjv_initPerturb(const mjModel* m, const mjData* d,
|
|
const mjvScene* scn, mjvPerturb* pert);
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|
|
|
// Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
|
|
// Write d->qpos only if flg_paused and subtree root for selected body has free joint.
|
|
MJAPI void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
|
|
int flg_paused);
|
|
|
|
// Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
|
|
MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
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|
|
|
// Return the average of two OpenGL cameras.
|
|
MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
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|
|
|
// Select geom or skin with mouse, return bodyid; -1: none selected.
|
|
MJAPI 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 skinid[1]);
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|
|
|
|
|
//---------------------------------- Visualization -------------------------------------------------
|
|
|
|
// Set default visualization options.
|
|
MJAPI void mjv_defaultOption(mjvOption* opt);
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|
|
|
// Set default figure.
|
|
MJAPI void mjv_defaultFigure(mjvFigure* fig);
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|
|
|
// Initialize given geom fields when not NULL, set the rest to their default values.
|
|
MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
|
|
const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
|
|
|
|
// Set (type, size, pos, mat) for connector-type geom between given points.
|
|
// Assume that mjv_initGeom was already called to set all other properties.
|
|
MJAPI void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
|
|
mjtNum a0, mjtNum a1, mjtNum a2,
|
|
mjtNum b0, mjtNum b1, mjtNum b2);
|
|
|
|
// Set default abstract scene.
|
|
MJAPI void mjv_defaultScene(mjvScene* scn);
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|
|
|
// Allocate resources in abstract scene.
|
|
MJAPI void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
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|
|
|
// Free abstract scene.
|
|
MJAPI void mjv_freeScene(mjvScene* scn);
|
|
|
|
// Update entire scene given model state.
|
|
MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
|
|
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
|
|
|
|
// Add geoms from selected categories.
|
|
MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
|
|
const mjvPerturb* pert, int catmask, mjvScene* scn);
|
|
|
|
// Make list of lights.
|
|
MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
|
|
|
|
// Update camera.
|
|
MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
|
|
|
|
// Update skins.
|
|
MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
|
|
|
|
|
|
//---------------------------------- OpenGL rendering ----------------------------------------------
|
|
|
|
// Set default mjrContext.
|
|
MJAPI void mjr_defaultContext(mjrContext* con);
|
|
|
|
// Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
|
|
MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
|
|
|
|
// Change font of existing context.
|
|
MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
|
|
|
|
// Add Aux buffer with given index to context; free previous Aux buffer.
|
|
MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
|
|
|
|
// Free resources in custom OpenGL context, set to default.
|
|
MJAPI void mjr_freeContext(mjrContext* con);
|
|
|
|
// Upload texture to GPU, overwriting previous upload if any.
|
|
MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
|
|
|
|
// Upload mesh to GPU, overwriting previous upload if any.
|
|
MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
|
|
|
|
// Upload height field to GPU, overwriting previous upload if any.
|
|
MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
|
|
|
|
// Make con->currentBuffer current again.
|
|
MJAPI void mjr_restoreBuffer(const mjrContext* con);
|
|
|
|
// Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN.
|
|
// If only one buffer is available, set that buffer and ignore framebuffer argument.
|
|
MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
|
|
|
|
// Read pixels from current OpenGL framebuffer to client buffer.
|
|
// Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
|
|
MJAPI void mjr_readPixels(unsigned char* rgb, float* depth,
|
|
mjrRect viewport, const mjrContext* con);
|
|
|
|
// Draw pixels from client buffer to current OpenGL framebuffer.
|
|
// Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
|
|
MJAPI void mjr_drawPixels(const unsigned char* rgb, const float* depth,
|
|
mjrRect viewport, const mjrContext* con);
|
|
|
|
// Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer.
|
|
// If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
|
|
MJAPI void mjr_blitBuffer(mjrRect src, mjrRect dst,
|
|
int flg_color, int flg_depth, const mjrContext* con);
|
|
|
|
// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
|
|
MJAPI void mjr_setAux(int index, const mjrContext* con);
|
|
|
|
// Blit from Aux buffer to con->currentBuffer.
|
|
MJAPI void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
|
|
|
|
// Draw text at (x,y) in relative coordinates; font is mjtFont.
|
|
MJAPI void mjr_text(int font, const char* txt, const mjrContext* con,
|
|
float x, float y, float r, float g, float b);
|
|
|
|
// Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
|
|
MJAPI void mjr_overlay(int font, int gridpos, mjrRect viewport,
|
|
const char* overlay, const char* overlay2, const mjrContext* con);
|
|
|
|
// Get maximum viewport for active buffer.
|
|
MJAPI mjrRect mjr_maxViewport(const mjrContext* con);
|
|
|
|
// Draw rectangle.
|
|
MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
|
|
|
|
// Draw rectangle with centered text.
|
|
MJAPI 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);
|
|
|
|
// Draw 2D figure.
|
|
MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
|
|
|
|
// Render 3D scene.
|
|
MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
|
|
|
|
// Call glFinish.
|
|
MJAPI void mjr_finish(void);
|
|
|
|
// Call glGetError and return result.
|
|
MJAPI int mjr_getError(void);
|
|
|
|
// Find first rectangle containing mouse, -1: not found.
|
|
MJAPI int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
|
|
|
|
|
|
//---------------------------------- UI framework --------------------------------------------------
|
|
|
|
// Get builtin UI theme spacing (ind: 0-1).
|
|
MJAPI mjuiThemeSpacing mjui_themeSpacing(int ind);
|
|
|
|
// Get builtin UI theme color (ind: 0-3).
|
|
MJAPI mjuiThemeColor mjui_themeColor(int ind);
|
|
|
|
// Add definitions to UI.
|
|
MJAPI void mjui_add(mjUI* ui, const mjuiDef* def);
|
|
|
|
// Add definitions to UI section.
|
|
MJAPI void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
|
|
|
|
// Compute UI sizes.
|
|
MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
|
|
|
|
// Update specific section/item; -1: update all.
|
|
MJAPI void mjui_update(int section, int item, const mjUI* ui,
|
|
const mjuiState* state, const mjrContext* con);
|
|
|
|
// Handle UI event, return pointer to changed item, NULL if no change.
|
|
MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
|
|
|
|
// Copy UI image to current buffer.
|
|
MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
|
|
|
|
|
|
//---------------------------------- Error and memory ----------------------------------------------
|
|
|
|
// Main error function; does not return to caller.
|
|
MJAPI void mju_error(const char* msg);
|
|
|
|
// Error function with int argument; msg is a printf format string.
|
|
MJAPI void mju_error_i(const char* msg, int i);
|
|
|
|
// Error function with string argument.
|
|
MJAPI void mju_error_s(const char* msg, const char* text);
|
|
|
|
// Main warning function; returns to caller.
|
|
MJAPI void mju_warning(const char* msg);
|
|
|
|
// Warning function with int argument.
|
|
MJAPI void mju_warning_i(const char* msg, int i);
|
|
|
|
// Warning function with string argument.
|
|
MJAPI void mju_warning_s(const char* msg, const char* text);
|
|
|
|
// Clear user error and memory handlers.
|
|
MJAPI void mju_clearHandlers(void);
|
|
|
|
// Allocate memory; byte-align on 64; pad size to multiple of 64.
|
|
MJAPI void* mju_malloc(size_t size);
|
|
|
|
// Free memory, using free() by default.
|
|
MJAPI void mju_free(void* ptr);
|
|
|
|
// High-level warning function: count warnings in mjData, print only the first.
|
|
MJAPI void mj_warning(mjData* d, int warning, int info);
|
|
|
|
// Write [datetime, type: message] to MUJOCO_LOG.TXT.
|
|
MJAPI void mju_writeLog(const char* type, const char* msg);
|
|
|
|
|
|
//---------------------------------- Activation ----------------------------------------------------
|
|
|
|
// Return 1 (for backward compatibility).
|
|
MJAPI int mj_activate(const char* filename);
|
|
|
|
// Do nothing (for backward compatibility).
|
|
MJAPI void mj_deactivate(void);
|
|
|
|
|
|
//---------------------------------- Standard math -------------------------------------------------
|
|
|
|
#define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
|
|
#define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
|
|
|
|
#ifdef mjUSEDOUBLE
|
|
#define mju_sqrt sqrt
|
|
#define mju_exp exp
|
|
#define mju_sin sin
|
|
#define mju_cos cos
|
|
#define mju_tan tan
|
|
#define mju_asin asin
|
|
#define mju_acos acos
|
|
#define mju_atan2 atan2
|
|
#define mju_tanh tanh
|
|
#define mju_pow pow
|
|
#define mju_abs fabs
|
|
#define mju_log log
|
|
#define mju_log10 log10
|
|
#define mju_floor floor
|
|
#define mju_ceil ceil
|
|
|
|
#else
|
|
#define mju_sqrt sqrtf
|
|
#define mju_exp expf
|
|
#define mju_sin sinf
|
|
#define mju_cos cosf
|
|
#define mju_tan tanf
|
|
#define mju_asin asinf
|
|
#define mju_acos acosf
|
|
#define mju_atan2 atan2f
|
|
#define mju_tanh tanhf
|
|
#define mju_pow powf
|
|
#define mju_abs fabsf
|
|
#define mju_log logf
|
|
#define mju_log10 log10f
|
|
#define mju_floor floorf
|
|
#define mju_ceil ceilf
|
|
#endif
|
|
|
|
|
|
//---------------------------------- Vector math ---------------------------------------------------
|
|
|
|
// Set res = 0.
|
|
MJAPI void mju_zero3(mjtNum res[3]);
|
|
|
|
// Set res = vec.
|
|
MJAPI void mju_copy3(mjtNum res[3], const mjtNum data[3]);
|
|
|
|
// Set res = vec*scl.
|
|
MJAPI void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
|
|
|
|
// Set res = vec1 + vec2.
|
|
MJAPI void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
|
|
|
|
// Set res = vec1 - vec2.
|
|
MJAPI void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
|
|
|
|
// Set res = res + vec.
|
|
MJAPI void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
|
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|
|
// Set res = res - vec.
|
|
MJAPI void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
|
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|
|
// Set res = res + vec*scl.
|
|
MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
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|
|
|
// Set res = vec1 + vec2*scl.
|
|
MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
|
|
|
|
// Normalize vector, return length before normalization.
|
|
MJAPI mjtNum mju_normalize3(mjtNum res[3]);
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|
|
|
// Return vector length (without normalizing the vector).
|
|
MJAPI mjtNum mju_norm3(const mjtNum vec[3]);
|
|
|
|
// Return dot-product of vec1 and vec2.
|
|
MJAPI mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
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|
|
|
// Return Cartesian distance between 3D vectors pos1 and pos2.
|
|
MJAPI mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
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|
|
|
// Multiply vector by 3D rotation matrix: res = mat * vec.
|
|
MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
|
|
|
|
// Multiply vector by transposed 3D rotation matrix: res = mat' * vec.
|
|
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
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|
|
|
// Compute cross-product: res = cross(a, b).
|
|
MJAPI void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
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|
|
|
// Set res = 0.
|
|
MJAPI void mju_zero4(mjtNum res[4]);
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|
|
|
// Set res = (1,0,0,0).
|
|
MJAPI void mju_unit4(mjtNum res[4]);
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|
|
|
// Set res = vec.
|
|
MJAPI void mju_copy4(mjtNum res[4], const mjtNum data[4]);
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|
|
|
// Normalize vector, return length before normalization.
|
|
MJAPI mjtNum mju_normalize4(mjtNum res[4]);
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|
|
|
// Set res = 0.
|
|
MJAPI void mju_zero(mjtNum* res, int n);
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|
|
|
// Set res = val.
|
|
MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
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|
|
|
// Set res = vec.
|
|
MJAPI void mju_copy(mjtNum* res, const mjtNum* data, int n);
|
|
|
|
// Return sum(vec).
|
|
MJAPI mjtNum mju_sum(const mjtNum* vec, int n);
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|
|
|
// Return L1 norm: sum(abs(vec)).
|
|
MJAPI mjtNum mju_L1(const mjtNum* vec, int n);
|
|
|
|
// Set res = vec*scl.
|
|
MJAPI void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
|
|
|
|
// Set res = vec1 + vec2.
|
|
MJAPI void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
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|
|
|
// Set res = vec1 - vec2.
|
|
MJAPI void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
|
|
|
|
// Set res = res + vec.
|
|
MJAPI void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
|
|
|
|
// Set res = res - vec.
|
|
MJAPI void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
|
|
|
|
// Set res = res + vec*scl.
|
|
MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
|
|
|
|
// Set res = vec1 + vec2*scl.
|
|
MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
|
|
|
|
// Normalize vector, return length before normalization.
|
|
MJAPI mjtNum mju_normalize(mjtNum* res, int n);
|
|
|
|
// Return vector length (without normalizing vector).
|
|
MJAPI mjtNum mju_norm(const mjtNum* res, int n);
|
|
|
|
// Return dot-product of vec1 and vec2.
|
|
MJAPI mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, const int n);
|
|
|
|
// Multiply matrix and vector: res = mat * vec.
|
|
MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
|
|
|
|
// Multiply transposed matrix and vector: res = mat' * vec.
|
|
MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
|
|
|
|
// Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
|
|
MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
|
|
|
|
// Transpose matrix: res = mat'.
|
|
MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
|
|
|
|
// Symmetrize square matrix res = (mat + mat')/2.
|
|
MJAPI void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
|
|
|
|
// Set mat to the identity matrix.
|
|
MJAPI void mju_eye(mjtNum* mat, int n);
|
|
|
|
// Multiply matrices: res = mat1 * mat2.
|
|
MJAPI void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
|
|
int r1, int c1, int c2);
|
|
|
|
// Multiply matrices, second argument transposed: res = mat1 * mat2'.
|
|
MJAPI void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
|
|
int r1, int c1, int r2);
|
|
|
|
// Multiply matrices, first argument transposed: res = mat1' * mat2.
|
|
MJAPI void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
|
|
int r1, int c1, int c2);
|
|
|
|
// Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.
|
|
MJAPI void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
|
|
|
|
// Coordinate transform of 6D motion or force vector in rotation:translation format.
|
|
// rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.
|
|
MJAPI 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]);
|
|
|
|
|
|
//---------------------------------- Quaternions ---------------------------------------------------
|
|
|
|
// Rotate vector by quaternion.
|
|
MJAPI void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
|
|
|
|
// Conjugate quaternion, corresponding to opposite rotation.
|
|
MJAPI void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
|
|
|
|
// Multiply quaternions.
|
|
MJAPI void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
|
|
|
|
// Multiply quaternion and axis.
|
|
MJAPI void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
|
|
|
|
// Convert axisAngle to quaternion.
|
|
MJAPI void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
|
|
|
|
// Convert quaternion (corresponding to orientation difference) to 3D velocity.
|
|
MJAPI void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
|
|
|
|
// Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
|
|
MJAPI void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
|
|
|
|
// Convert quaternion to 3D rotation matrix.
|
|
MJAPI void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
|
|
|
|
// Convert 3D rotation matrix to quaternion.
|
|
MJAPI void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
|
|
|
|
// Compute time-derivative of quaternion, given 3D rotational velocity.
|
|
MJAPI void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
|
|
|
|
// Integrate quaternion given 3D angular velocity.
|
|
MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
|
|
|
|
// Construct quaternion performing rotation from z-axis to given vector.
|
|
MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
|
|
|
|
|
|
//---------------------------------- Poses ---------------------------------------------------------
|
|
|
|
// Multiply two poses.
|
|
MJAPI 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]);
|
|
|
|
// Conjugate pose, corresponding to the opposite spatial transformation.
|
|
MJAPI void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
|
|
const mjtNum pos[3], const mjtNum quat[4]);
|
|
|
|
// Transform vector by pose.
|
|
MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
|
|
const mjtNum vec[3]);
|
|
|
|
|
|
//--------------------------------- Decompositions / Solvers ---------------------------------------
|
|
|
|
// Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
|
|
MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
|
|
|
|
// Solve mat * res = vec, where mat is Cholesky-factorized
|
|
MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
|
|
|
|
// Cholesky rank-one update: L*L' +/- x*x'; return rank.
|
|
MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
|
|
|
|
// Eigenvalue decomposition of symmetric 3x3 matrix.
|
|
MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
|
|
|
|
// minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed
|
|
// inputs:
|
|
// n - problem dimension
|
|
// H - SPD matrix n*n
|
|
// g - bias vector n
|
|
// lower - lower bounds n
|
|
// upper - upper bounds n
|
|
// res - solution warmstart n
|
|
// return value:
|
|
// nfree <= n - rank of unconstrained subspace, -1 if failure
|
|
// outputs (required):
|
|
// res - solution n
|
|
// R - subspace Cholesky factor nfree*nfree allocated: n*(n+7)
|
|
// outputs (optional):
|
|
// index - set of free dimensions nfree allocated: n
|
|
// notes:
|
|
// the initial value of res is used to warmstart the solver
|
|
// R must have allocatd size n*(n+7), but only nfree*nfree values are used in output
|
|
// index (if given) must have allocated size n, but only nfree values are used in output
|
|
// only the lower triangles of H and R and are read from and written to, respectively
|
|
// the convenience function mju_boxQPmalloc allocates the required data structures
|
|
MJAPI int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
|
|
const mjtNum* lower, const mjtNum* upper);
|
|
|
|
// allocate heap memory for box-constrained Quadratic Program
|
|
// as in mju_boxQP, index, lower, and upper are optional
|
|
// free all pointers with mju_free()
|
|
MJAPI void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
|
|
mjtNum** lower, mjtNum** upper);
|
|
|
|
//---------------------- Miscellaneous -------------------------------------------------------------
|
|
|
|
// Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
|
|
MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
|
|
mjtNum acc0, const mjtNum prm[9]);
|
|
|
|
// Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
|
|
MJAPI mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
|
|
mjtNum acc0, const mjtNum prm[9]);
|
|
|
|
// Muscle activation dynamics, prm = (tau_act, tau_deact).
|
|
MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[2]);
|
|
|
|
// Convert contact force to pyramid representation.
|
|
MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
|
|
|
|
// Convert pyramid representation to contact force.
|
|
MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
|
|
|
|
// Integrate spring-damper analytically, return pos(dt).
|
|
MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
|
|
|
|
// Return min(a,b) with single evaluation of a and b.
|
|
MJAPI mjtNum mju_min(mjtNum a, mjtNum b);
|
|
|
|
// Return max(a,b) with single evaluation of a and b.
|
|
MJAPI mjtNum mju_max(mjtNum a, mjtNum b);
|
|
|
|
// Clip x to the range [min, max].
|
|
MJAPI mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
|
|
|
|
// Return sign of x: +1, -1 or 0.
|
|
MJAPI mjtNum mju_sign(mjtNum x);
|
|
|
|
// Round x to nearest integer.
|
|
MJAPI int mju_round(mjtNum x);
|
|
|
|
// Convert type id (mjtObj) to type name.
|
|
MJAPI const char* mju_type2Str(int type);
|
|
|
|
// Convert type name to type id (mjtObj).
|
|
MJAPI int mju_str2Type(const char* str);
|
|
|
|
// Return human readable number of bytes using standard letter suffix.
|
|
MJAPI const char* mju_writeNumBytes(const size_t nbytes);
|
|
|
|
// Construct a warning message given the warning type and info.
|
|
MJAPI const char* mju_warningText(int warning, size_t info);
|
|
|
|
// Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.
|
|
MJAPI int mju_isBad(mjtNum x);
|
|
|
|
// Return 1 if all elements are 0.
|
|
MJAPI int mju_isZero(mjtNum* vec, int n);
|
|
|
|
// Standard normal random number generator (optional second number).
|
|
MJAPI mjtNum mju_standardNormal(mjtNum* num2);
|
|
|
|
// Convert from float to mjtNum.
|
|
MJAPI void mju_f2n(mjtNum* res, const float* vec, int n);
|
|
|
|
// Convert from mjtNum to float.
|
|
MJAPI void mju_n2f(float* res, const mjtNum* vec, int n);
|
|
|
|
// Convert from double to mjtNum.
|
|
MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
|
|
|
|
// Convert from mjtNum to double.
|
|
MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
|
|
|
|
// Insertion sort, resulting list is in increasing order.
|
|
MJAPI void mju_insertionSort(mjtNum* list, int n);
|
|
|
|
// Integer insertion sort, resulting list is in increasing order.
|
|
MJAPI void mju_insertionSortInt(int* list, int n);
|
|
|
|
// Generate Halton sequence.
|
|
MJAPI mjtNum mju_Halton(int index, int base);
|
|
|
|
// Call strncpy, then set dst[n-1] = 0.
|
|
MJAPI char* mju_strncpy(char *dst, const char *src, int n);
|
|
|
|
// Sigmoid function over 0<=x<=1 constructed from half-quadratics.
|
|
MJAPI mjtNum mju_sigmoid(mjtNum x);
|
|
|
|
|
|
//---------------------- Derivatives ---------------------------------------------------------------
|
|
|
|
// Finite differenced transition matrices (control theory notation)
|
|
// d(x_next) = A*dx + B*du
|
|
// d(sensor) = C*dx + D*du
|
|
// required output matrix dimensions:
|
|
// A: (2*nv+na x 2*nv+na)
|
|
// B: (2*nv+na x nu)
|
|
// D: (nsensordata x 2*nv+na)
|
|
// C: (nsensordata x nu)
|
|
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
|
|
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
|
|
|
|
|
|
|
|
//---------------------- Plugins -------------------------------------------------------------------
|
|
|
|
// Set default plugin definition.
|
|
MJAPI void mjp_defaultPlugin(mjpPlugin* plugin);
|
|
|
|
// Globally register a plugin. This function is thread-safe.
|
|
// If an identical mjpPlugin is already registered, this function does nothing.
|
|
// If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised.
|
|
// Two mjpPlugins are considered identical if all member function pointers and numbers are equal,
|
|
// and the name and attribute strings are all identical, however the char pointers to the strings
|
|
// need not be the same.
|
|
MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
|
|
|
|
// Return the number of globally registered plugins.
|
|
MJAPI int mjp_pluginCount();
|
|
|
|
// Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.
|
|
MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
|
|
|
|
// Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.
|
|
MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
|
|
|
|
|
|
#if defined(__cplusplus)
|
|
}
|
|
#endif
|
|
|
|
#endif // MUJOCO_MUJOCO_H_
|