Yuval Tassa
7667e7110e
PiperOrigin-RevId: 920201340 Change-Id: I3b19c11a00357e06a1df08b8819832955c37f9ff
135 lines
3.8 KiB
C
135 lines
3.8 KiB
C
// Copyright 2026 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_MJASSERT_H_
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#define MUJOCO_MJASSERT_H_
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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/mjspec.h>
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#include <mujoco/mjthread.h>
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#include <mujoco/mjtype.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mjvisualize.h>
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#if defined(__cplusplus)
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#define MJ_ASSERT_SIZE(type, size) \
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static_assert(sizeof(type) == (size), #type " must be " #size " bytes for MuJoCo ABI stability")
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#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
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#define MJ_ASSERT_SIZE(type, size) \
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_Static_assert(sizeof(type) == (size), #type " must be " #size " bytes for MuJoCo ABI stability")
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#else
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#define MJ_ASSERT_SIZE(type, size) \
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typedef char mj_assert_##type[sizeof(type) == (size) ? 1 : -1]
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#endif
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// primitive types
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#if !defined(mjUSESINGLE)
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MJ_ASSERT_SIZE(mjtNum, 8);
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#else
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MJ_ASSERT_SIZE(mjtNum, 4);
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#endif
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MJ_ASSERT_SIZE(mjtByte, 1);
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MJ_ASSERT_SIZE(mjtBool, 1);
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MJ_ASSERT_SIZE(mjtSize, 8);
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// mjModel enums
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MJ_ASSERT_SIZE(mjtDisableBit, 4);
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MJ_ASSERT_SIZE(mjtEnableBit, 4);
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MJ_ASSERT_SIZE(mjtJoint, 4);
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MJ_ASSERT_SIZE(mjtGeom, 4);
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MJ_ASSERT_SIZE(mjtProjection, 4);
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MJ_ASSERT_SIZE(mjtCamLight, 4);
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MJ_ASSERT_SIZE(mjtLightType, 4);
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MJ_ASSERT_SIZE(mjtTexture, 4);
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MJ_ASSERT_SIZE(mjtTextureRole, 4);
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MJ_ASSERT_SIZE(mjtColorSpace, 4);
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MJ_ASSERT_SIZE(mjtIntegrator, 4);
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MJ_ASSERT_SIZE(mjtCone, 4);
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MJ_ASSERT_SIZE(mjtJacobian, 4);
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MJ_ASSERT_SIZE(mjtSolver, 4);
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MJ_ASSERT_SIZE(mjtEq, 4);
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MJ_ASSERT_SIZE(mjtWrap, 4);
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MJ_ASSERT_SIZE(mjtTrn, 4);
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MJ_ASSERT_SIZE(mjtDyn, 4);
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MJ_ASSERT_SIZE(mjtGain, 4);
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MJ_ASSERT_SIZE(mjtBias, 4);
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MJ_ASSERT_SIZE(mjtObj, 4);
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MJ_ASSERT_SIZE(mjtSensor, 4);
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MJ_ASSERT_SIZE(mjtStage, 4);
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MJ_ASSERT_SIZE(mjtDataType, 4);
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MJ_ASSERT_SIZE(mjtConDataField, 4);
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MJ_ASSERT_SIZE(mjtRayDataField, 4);
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MJ_ASSERT_SIZE(mjtCamOutBit, 4);
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MJ_ASSERT_SIZE(mjtSameFrame, 4);
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MJ_ASSERT_SIZE(mjtSleepPolicy, 4);
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MJ_ASSERT_SIZE(mjtLRMode, 4);
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MJ_ASSERT_SIZE(mjtFlexSelf, 4);
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MJ_ASSERT_SIZE(mjtSDFType, 4);
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// mjData enums
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MJ_ASSERT_SIZE(mjtState, 4);
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MJ_ASSERT_SIZE(mjtConstraint, 4);
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MJ_ASSERT_SIZE(mjtConstraintState, 4);
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MJ_ASSERT_SIZE(mjtWarning, 4);
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MJ_ASSERT_SIZE(mjtTimer, 4);
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MJ_ASSERT_SIZE(mjtSleepState, 4);
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// mjspec.h
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MJ_ASSERT_SIZE(mjtGeomInertia, 4);
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MJ_ASSERT_SIZE(mjtMeshInertia, 4);
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MJ_ASSERT_SIZE(mjtMeshBuiltin, 4);
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MJ_ASSERT_SIZE(mjtBuiltin, 4);
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MJ_ASSERT_SIZE(mjtMark, 4);
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MJ_ASSERT_SIZE(mjtLimited, 4);
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MJ_ASSERT_SIZE(mjtAlignFree, 4);
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MJ_ASSERT_SIZE(mjtInertiaFromGeom, 4);
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MJ_ASSERT_SIZE(mjtOrientation, 4);
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// mjvisualize.h
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MJ_ASSERT_SIZE(mjtCatBit, 4);
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MJ_ASSERT_SIZE(mjtMouse, 4);
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MJ_ASSERT_SIZE(mjtPertBit, 4);
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MJ_ASSERT_SIZE(mjtCamera, 4);
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MJ_ASSERT_SIZE(mjtLabel, 4);
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MJ_ASSERT_SIZE(mjtFrame, 4);
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MJ_ASSERT_SIZE(mjtVisFlag, 4);
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MJ_ASSERT_SIZE(mjtRndFlag, 4);
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MJ_ASSERT_SIZE(mjtStereo, 4);
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// mjrender.h
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MJ_ASSERT_SIZE(mjtGridPos, 4);
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MJ_ASSERT_SIZE(mjtFramebuffer, 4);
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MJ_ASSERT_SIZE(mjtDepthMap, 4);
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MJ_ASSERT_SIZE(mjtFontScale, 4);
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MJ_ASSERT_SIZE(mjtFont, 4);
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// mjui.h
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MJ_ASSERT_SIZE(mjtButton, 4);
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MJ_ASSERT_SIZE(mjtEvent, 4);
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MJ_ASSERT_SIZE(mjtItem, 4);
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MJ_ASSERT_SIZE(mjtSection, 4);
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// mjthread.h
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MJ_ASSERT_SIZE(mjtTaskStatus, 4);
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// mjplugin.h
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MJ_ASSERT_SIZE(mjtPluginCapabilityBit, 4);
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#undef MJ_ASSERT_SIZE
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#endif // MUJOCO_MJASSERT_H_
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