Yuval Tassa
22c0b68903
PiperOrigin-RevId: 830891115 Change-Id: Ife8309b165c085b54c9f668d825d69ed12a9a8f0
64 lines
2.4 KiB
C
64 lines
2.4 KiB
C
// Copyright 2025 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_SRC_ENGINE_ENGINE_SLEEP_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_SLEEP_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// compute sleeping arrays from tree_asleep, if flg_staticawake is set, treat static bodies as awake
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void mj_updateSleepInit(const mjModel* m, mjData* d, int flg_staticawake);
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// compute {ntree,nbody,nv}_awake, {tree,body}_awake, {body,dof}_awake_ind from tree_asleep
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MJAPI void mj_updateSleep(const mjModel* m, mjData* d);
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// return the first tree in the sleep cycle that starts at i, -1 if error
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int mj_sleepCycle(const int* tree_asleep, int ntree, int i);
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// return the first tree in the sleep cycle that starts at i, -1 if error
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int mj_sleepCycle(const int* tree_asleep, int ntree, int i);
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// wake tree i and its related island cycle, return number of woke trees
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MJAPI int mj_wakeTree(int* tree_asleep, int ntree, int i, int wakeval);
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// wake trees with nonzero velocity or external forces, return number of woke trees
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int mj_wake(const mjModel* m, mjData* d);
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// wake sleeping trees that touch awake trees, return number of woke trees
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int mj_wakeCollision(const mjModel* m, mjData* d);
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// wake sleeping trees with a constrained tendon to a waking tree, return number of woke trees
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int mj_wakeTendon(const mjModel* m, mjData* d);
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// wake sleeping trees with an equality to a waking tree, return number of woke trees
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int mj_wakeEquality(const mjModel* m, mjData* d);
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// put trees to sleep according to tolerance, return number of slept trees
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int mj_sleep(const mjModel* m, mjData* d);
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// return sleep state of object i
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MJAPI mjtSleepState mj_sleepState(const mjModel* m, const mjData* d, mjtObj type, int i);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_SLEEP_H_
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