Nimrod Gileadi
7cb7c87f70
1. Create an arena for the mjData instance used by the passive viewer visualization. When using the passive viewer, stuff gets copied from the real mjData into a minimal struct. That struct didn't have a stack, and now visualization for Flex does stack allocs. 2. Add missing a missing field in scene state for flex visualization. 3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer. 4. Add some locks in places where the render thread and Simulate::Sync collide. This fixes #1280. PiperOrigin-RevId: 591891676 Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
758 lines
47 KiB
C
758 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_MJXMACRO_H_
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#define MUJOCO_MJXMACRO_H_
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//-------------------------------- mjOption --------------------------------------------------------
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// scalar fields of mjOption
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#define MJOPTION_FLOATS \
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X( mjtNum, timestep ) \
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X( mjtNum, apirate ) \
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X( mjtNum, impratio ) \
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X( mjtNum, tolerance ) \
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X( mjtNum, ls_tolerance ) \
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X( mjtNum, noslip_tolerance ) \
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X( mjtNum, mpr_tolerance ) \
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X( mjtNum, density ) \
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X( mjtNum, viscosity ) \
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X( mjtNum, o_margin ) \
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#define MJOPTION_INTS \
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X( int, integrator ) \
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X( int, cone ) \
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X( int, jacobian ) \
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X( int, solver ) \
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X( int, iterations ) \
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X( int, ls_iterations ) \
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X( int, noslip_iterations ) \
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X( int, mpr_iterations ) \
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X( int, disableflags ) \
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X( int, enableflags ) \
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X( int, disableactuator ) \
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X( int, sdf_initpoints ) \
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X( int, sdf_iterations )
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#define MJOPTION_SCALARS \
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MJOPTION_FLOATS \
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MJOPTION_INTS
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// vector fields of mjOption
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#define MJOPTION_VECTORS \
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X( gravity, 3 ) \
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X( wind, 3 ) \
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X( magnetic, 3 ) \
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X( o_solref, mjNREF ) \
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X( o_solimp, mjNIMP ) \
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X( o_friction, 5 )
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//-------------------------------- mjModel ---------------------------------------------------------
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// int fields of mjModel
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#define MJMODEL_INTS \
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X ( nq ) \
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XMJV( nv ) \
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XMJV( nu ) \
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XMJV( na ) \
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XMJV( nbody ) \
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XMJV( nbvh ) \
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XMJV( nbvhstatic ) \
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X ( nbvhdynamic ) \
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XMJV( njnt ) \
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XMJV( ngeom ) \
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XMJV( nsite ) \
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XMJV( ncam ) \
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XMJV( nlight ) \
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XMJV( nflex ) \
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XMJV( nflexvert ) \
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X ( nflexedge ) \
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X ( nflexelem ) \
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X ( nflexelemdata ) \
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X ( nflexshelldata ) \
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X ( nflexevpair ) \
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XMJV( nflextexcoord ) \
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XMJV( 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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XMJV( nskin ) \
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XMJV( nskinvert ) \
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X ( nskintexvert ) \
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XMJV( nskinface ) \
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XMJV( nskinbone ) \
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XMJV( 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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XMJV( nmat ) \
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X ( npair ) \
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X ( nexclude ) \
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XMJV( neq ) \
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XMJV( ntendon ) \
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XMJV( nwrap ) \
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XMJV( 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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XMJV( nnames ) \
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XMJV( npaths ) \
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X ( nnames_map ) \
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X ( nM ) \
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X ( nD ) \
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X ( nB ) \
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X ( nemax ) \
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X ( njmax ) \
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X ( nconmax ) \
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XMJV( ntree ) \
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X ( nuserdata ) \
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XMJV( nsensordata ) \
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X ( npluginstate ) \
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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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// XMJV means that the field is required to construct mjvScene
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// (by default we define XMJV to be the same as X)
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#define MJMODEL_POINTERS \
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X ( mjtNum, qpos0, nq, 1 ) \
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X ( mjtNum, qpos_spring, nq, 1 ) \
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XMJV( int, body_parentid, nbody, 1 ) \
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XMJV( int, body_rootid, nbody, 1 ) \
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XMJV( int, body_weldid, nbody, 1 ) \
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XMJV( int, body_mocapid, nbody, 1 ) \
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XMJV( int, body_jntnum, nbody, 1 ) \
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XMJV( int, body_jntadr, nbody, 1 ) \
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XMJV( int, body_dofnum, nbody, 1 ) \
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XMJV( int, body_dofadr, nbody, 1 ) \
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X ( int, body_treeid, nbody, 1 ) \
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XMJV( int, body_geomnum, nbody, 1 ) \
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XMJV( 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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XMJV( mjtNum, body_iquat, nbody, 4 ) \
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XMJV( mjtNum, body_mass, nbody, 1 ) \
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X ( mjtNum, body_subtreemass, nbody, 1 ) \
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XMJV( 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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XMJV( int, body_bvhadr, nbody, 1 ) \
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XMJV( int, body_bvhnum, nbody, 1 ) \
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XMJV( int, bvh_depth, nbvh, 1 ) \
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XMJV( int, bvh_child, nbvh, 2 ) \
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XMJV( int, bvh_nodeid, nbvh, 1 ) \
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XMJV( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
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XMJV( 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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XMJV( int, jnt_bodyid, njnt, 1 ) \
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XMJV( int, jnt_group, njnt, 1 ) \
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X ( mjtByte, jnt_limited, njnt, 1 ) \
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X ( mjtByte, jnt_actfrclimited, 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_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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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_invweight0, nv, 1 ) \
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X ( mjtNum, dof_M0, nv, 1 ) \
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XMJV( int, geom_type, ngeom, 1 ) \
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XMJV( int, geom_contype, ngeom, 1 ) \
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XMJV( int, geom_conaffinity, ngeom, 1 ) \
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X ( int, geom_condim, ngeom, 1 ) \
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XMJV( int, geom_bodyid, ngeom, 1 ) \
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XMJV( int, geom_dataid, ngeom, 1 ) \
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XMJV( int, geom_matid, ngeom, 1 ) \
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XMJV( 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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XMJV( mjtNum, geom_size, ngeom, 3 ) \
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XMJV( mjtNum, geom_aabb, ngeom, 6 ) \
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XMJV( 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_fluid, ngeom, mjNFLUID ) \
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X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
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XMJV( float, geom_rgba, ngeom, 4 ) \
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XMJV( int, site_type, nsite, 1 ) \
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XMJV( int, site_bodyid, nsite, 1 ) \
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XMJV( int, site_matid, nsite, 1 ) \
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XMJV( int, site_group, nsite, 1 ) \
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X ( mjtByte, site_sameframe, nsite, 1 ) \
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XMJV( 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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XMJV( float, site_rgba, nsite, 4 ) \
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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 ( int, cam_resolution, ncam, 2 ) \
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XMJV( float, cam_sensorsize, ncam, 2 ) \
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XMJV( float, cam_intrinsic, ncam, 4 ) \
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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 ) \
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XMJV( mjtNum, cam_fovy, ncam, 1 ) \
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XMJV( mjtNum, cam_ipd, ncam, 1 ) \
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X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
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X ( int, light_mode, nlight, 1 ) \
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X ( int, light_bodyid, nlight, 1 ) \
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X ( int, light_targetbodyid, nlight, 1 ) \
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XMJV( mjtByte, light_directional, nlight, 1 ) \
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XMJV( mjtByte, light_castshadow, nlight, 1 ) \
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XMJV( mjtByte, light_active, nlight, 1 ) \
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X ( mjtNum, light_pos, nlight, 3 ) \
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X ( mjtNum, light_dir, nlight, 3 ) \
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X ( mjtNum, light_poscom0, nlight, 3 ) \
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X ( mjtNum, light_pos0, nlight, 3 ) \
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X ( mjtNum, light_dir0, nlight, 3 ) \
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XMJV( float, light_attenuation, nlight, 3 ) \
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XMJV( float, light_cutoff, nlight, 1 ) \
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XMJV( float, light_exponent, nlight, 1 ) \
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XMJV( float, light_ambient, nlight, 3 ) \
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XMJV( float, light_diffuse, nlight, 3 ) \
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XMJV( float, light_specular, nlight, 3 ) \
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X ( int, flex_contype, nflex, 1 ) \
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X ( int, flex_conaffinity, nflex, 1 ) \
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X ( int, flex_condim, nflex, 1 ) \
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X ( int, flex_priority, nflex, 1 ) \
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X ( mjtNum, flex_solmix, nflex, 1 ) \
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X ( mjtNum, flex_solref, nflex, mjNREF ) \
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X ( mjtNum, flex_solimp, nflex, mjNIMP ) \
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X ( mjtNum, flex_friction, nflex, 3 ) \
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X ( mjtNum, flex_margin, nflex, 1 ) \
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X ( mjtNum, flex_gap, nflex, 1 ) \
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X ( mjtByte, flex_internal, nflex, 1 ) \
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X ( int, flex_selfcollide, nflex, 1 ) \
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X ( int, flex_activelayers, nflex, 1 ) \
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XMJV( int, flex_dim, nflex, 1 ) \
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XMJV( int, flex_matid, nflex, 1 ) \
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XMJV( int, flex_group, nflex, 1 ) \
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XMJV( int, flex_vertadr, nflex, 1 ) \
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XMJV( int, flex_vertnum, nflex, 1 ) \
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X ( int, flex_edgeadr, nflex, 1 ) \
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X ( int, flex_edgenum, nflex, 1 ) \
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XMJV( int, flex_elemadr, nflex, 1 ) \
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XMJV( int, flex_elemnum, nflex, 1 ) \
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XMJV( int, flex_elemdataadr, nflex, 1 ) \
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XMJV( int, flex_shellnum, nflex, 1 ) \
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XMJV( int, flex_shelldataadr, nflex, 1 ) \
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X ( int, flex_evpairadr, nflex, 1 ) \
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X ( int, flex_evpairnum, nflex, 1 ) \
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XMJV( int, flex_texcoordadr, nflex, 1 ) \
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X ( int, flex_vertbodyid, nflexvert, 1 ) \
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X ( int, flex_edge, nflexedge, 2 ) \
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XMJV( int, flex_elem, nflexelemdata, 1 ) \
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XMJV( int, flex_elemlayer, nflexelem, 1 ) \
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XMJV( int, flex_shell, nflexshelldata,1 ) \
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X ( int, flex_evpair, nflexevpair, 2 ) \
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X ( mjtNum, flex_vert, nflexvert, 3 ) \
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X ( mjtNum, flex_xvert0, nflexvert, 3 ) \
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X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
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X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
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XMJV( mjtNum, flex_radius, nflex, 1 ) \
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X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
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X ( mjtNum, flex_edgedamping, nflex, 1 ) \
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X ( mjtByte, flex_edgeequality, nflex, 1 ) \
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X ( mjtByte, flex_rigid, nflex, 1 ) \
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X ( mjtByte, flexedge_rigid, nflexedge, 1 ) \
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X ( mjtByte, flex_centered, nflex, 1 ) \
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XMJV( mjtByte, flex_flatskin, nflex, 1 ) \
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XMJV( int, flex_bvhadr, nflex, 1 ) \
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XMJV( int, flex_bvhnum, nflex, 1 ) \
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XMJV( float, flex_rgba, nflex, 4 ) \
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X ( float, flex_texcoord, nflextexcoord, 2 ) \
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X ( int, mesh_vertadr, nmesh, 1 ) \
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X ( int, mesh_vertnum, nmesh, 1 ) \
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X ( int, mesh_normaladr, nmesh, 1 ) \
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X ( int, mesh_normalnum, nmesh, 1 ) \
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XMJV( int, mesh_texcoordadr, nmesh, 1 ) \
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X ( int, mesh_texcoordnum, nmesh, 1 ) \
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X ( int, mesh_faceadr, nmesh, 1 ) \
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X ( int, mesh_facenum, nmesh, 1 ) \
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XMJV( int, mesh_bvhadr, nmesh, 1 ) \
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XMJV( int, mesh_bvhnum, nmesh, 1 ) \
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XMJV( int, mesh_graphadr, nmesh, 1 ) \
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X ( mjtNum, mesh_pos, nmesh, 3 ) \
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X ( mjtNum, mesh_quat, nmesh, 4 ) \
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X ( float, mesh_vert, nmeshvert, 3 ) \
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X ( float, mesh_normal, nmeshnormal, 3 ) \
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X ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
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X ( int, mesh_face, nmeshface, 3 ) \
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X ( int, mesh_facenormal, nmeshface, 3 ) \
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X ( int, mesh_facetexcoord, nmeshface, 3 ) \
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X ( int, mesh_graph, nmeshgraph, 1 ) \
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XMJV( int, mesh_pathadr, nmesh, 1 ) \
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XMJV( int, skin_matid, nskin, 1 ) \
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XMJV( int, skin_group, nskin, 1 ) \
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XMJV( float, skin_rgba, nskin, 4 ) \
|
|
XMJV( float, skin_inflate, nskin, 1 ) \
|
|
XMJV( int, skin_vertadr, nskin, 1 ) \
|
|
XMJV( int, skin_vertnum, nskin, 1 ) \
|
|
XMJV( int, skin_texcoordadr, nskin, 1 ) \
|
|
XMJV( int, skin_faceadr, nskin, 1 ) \
|
|
XMJV( int, skin_facenum, nskin, 1 ) \
|
|
XMJV( int, skin_boneadr, nskin, 1 ) \
|
|
XMJV( int, skin_bonenum, nskin, 1 ) \
|
|
XMJV( float, skin_vert, nskinvert, 3 ) \
|
|
X ( float, skin_texcoord, nskintexvert, 2 ) \
|
|
XMJV( int, skin_face, nskinface, 3 ) \
|
|
XMJV( int, skin_bonevertadr, nskinbone, 1 ) \
|
|
XMJV( int, skin_bonevertnum, nskinbone, 1 ) \
|
|
XMJV( float, skin_bonebindpos, nskinbone, 3 ) \
|
|
XMJV( float, skin_bonebindquat, nskinbone, 4 ) \
|
|
XMJV( int, skin_bonebodyid, nskinbone, 1 ) \
|
|
XMJV( int, skin_bonevertid, nskinbonevert, 1 ) \
|
|
XMJV( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
|
XMJV( int, skin_pathadr, nskin, 1 ) \
|
|
X ( mjtNum, hfield_size, nhfield, 4 ) \
|
|
X ( int, hfield_nrow, nhfield, 1 ) \
|
|
X ( int, hfield_ncol, nhfield, 1 ) \
|
|
X ( int, hfield_adr, nhfield, 1 ) \
|
|
X ( float, hfield_data, nhfielddata, 1 ) \
|
|
XMJV( int, hfield_pathadr, nhfield, 1 ) \
|
|
X ( int, tex_type, ntex, 1 ) \
|
|
X ( int, tex_height, ntex, 1 ) \
|
|
X ( int, tex_width, ntex, 1 ) \
|
|
X ( int, tex_adr, ntex, 1 ) \
|
|
X ( mjtByte, tex_rgb, ntexdata, 1 ) \
|
|
XMJV( int, tex_pathadr, ntex, 1 ) \
|
|
XMJV( int, mat_texid, nmat, 1 ) \
|
|
XMJV( mjtByte, mat_texuniform, nmat, 1 ) \
|
|
XMJV( float, mat_texrepeat, nmat, 2 ) \
|
|
XMJV( float, mat_emission, nmat, 1 ) \
|
|
XMJV( float, mat_specular, nmat, 1 ) \
|
|
XMJV( float, mat_shininess, nmat, 1 ) \
|
|
XMJV( float, mat_reflectance, nmat, 1 ) \
|
|
XMJV( float, mat_rgba, nmat, 4 ) \
|
|
X ( int, pair_dim, npair, 1 ) \
|
|
X ( int, pair_geom1, npair, 1 ) \
|
|
X ( int, pair_geom2, npair, 1 ) \
|
|
X ( int, pair_signature, npair, 1 ) \
|
|
X ( mjtNum, pair_solref, npair, mjNREF ) \
|
|
X ( mjtNum, pair_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 ) \
|
|
X ( int, exclude_signature, nexclude, 1 ) \
|
|
XMJV( int, eq_type, neq, 1 ) \
|
|
XMJV( int, eq_obj1id, neq, 1 ) \
|
|
XMJV( int, eq_obj2id, neq, 1 ) \
|
|
X ( mjtByte, eq_active0, neq, 1 ) \
|
|
X ( mjtNum, eq_solref, neq, mjNREF ) \
|
|
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
|
|
XMJV( mjtNum, eq_data, neq, mjNEQDATA ) \
|
|
X ( int, tendon_adr, ntendon, 1 ) \
|
|
XMJV( int, tendon_num, ntendon, 1 ) \
|
|
XMJV( int, tendon_matid, ntendon, 1 ) \
|
|
XMJV( int, tendon_group, ntendon, 1 ) \
|
|
XMJV( mjtByte, tendon_limited, ntendon, 1 ) \
|
|
XMJV( mjtNum, tendon_width, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
|
|
X ( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
|
|
X ( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
|
|
X ( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
|
|
XMJV( mjtNum, tendon_range, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_margin, ntendon, 1 ) \
|
|
XMJV( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
|
XMJV( mjtNum, tendon_damping, ntendon, 1 ) \
|
|
XMJV( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
|
XMJV( mjtNum, tendon_lengthspring, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_length0, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_invweight0, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
|
|
XMJV( float, tendon_rgba, ntendon, 4 ) \
|
|
X ( int, wrap_type, nwrap, 1 ) \
|
|
X ( int, wrap_objid, nwrap, 1 ) \
|
|
X ( mjtNum, wrap_prm, nwrap, 1 ) \
|
|
XMJV( int, actuator_trntype, nu, 1 ) \
|
|
XMJV( int, actuator_dyntype, nu, 1 ) \
|
|
X ( int, actuator_gaintype, nu, 1 ) \
|
|
X ( int, actuator_biastype, nu, 1 ) \
|
|
XMJV( int, actuator_trnid, nu, 2 ) \
|
|
XMJV( int, actuator_actadr, nu, 1 ) \
|
|
XMJV( int, actuator_actnum, nu, 1 ) \
|
|
XMJV( int, actuator_group, nu, 1 ) \
|
|
XMJV( mjtByte, actuator_ctrllimited, nu, 1 ) \
|
|
X ( mjtByte, actuator_forcelimited, nu, 1 ) \
|
|
XMJV( mjtByte, actuator_actlimited, nu, 1 ) \
|
|
X ( mjtNum, actuator_dynprm, nu, mjNDYN ) \
|
|
X ( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
|
|
X ( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
|
|
X ( mjtByte, actuator_actearly, nu, 1 ) \
|
|
XMJV( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
|
X ( mjtNum, actuator_forcerange, nu, 2 ) \
|
|
XMJV( mjtNum, actuator_actrange, nu, 2 ) \
|
|
X ( mjtNum, actuator_gear, nu, 6 ) \
|
|
XMJV( mjtNum, actuator_cranklength, nu, 1 ) \
|
|
X ( mjtNum, actuator_acc0, nu, 1 ) \
|
|
X ( mjtNum, actuator_length0, nu, 1 ) \
|
|
X ( mjtNum, actuator_lengthrange, nu, 2 ) \
|
|
X ( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
|
|
X ( int, actuator_plugin, nu, 1 ) \
|
|
XMJV( int, sensor_type, nsensor, 1 ) \
|
|
X ( int, sensor_datatype, nsensor, 1 ) \
|
|
X ( int, sensor_needstage, nsensor, 1 ) \
|
|
X ( int, sensor_objtype, nsensor, 1 ) \
|
|
XMJV( int, sensor_objid, nsensor, 1 ) \
|
|
X ( int, sensor_reftype, nsensor, 1 ) \
|
|
X ( int, sensor_refid, nsensor, 1 ) \
|
|
X ( int, sensor_dim, nsensor, 1 ) \
|
|
XMJV( int, sensor_adr, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_noise, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
|
|
X ( int, sensor_plugin, nsensor, 1 ) \
|
|
X ( int, plugin, nplugin, 1 ) \
|
|
X ( int, plugin_stateadr, nplugin, 1 ) \
|
|
X ( int, plugin_statenum, nplugin, 1 ) \
|
|
X ( char, plugin_attr, npluginattr, 1 ) \
|
|
X ( int, plugin_attradr, nplugin, 1 ) \
|
|
X ( int, numeric_adr, nnumeric, 1 ) \
|
|
X ( int, numeric_size, nnumeric, 1 ) \
|
|
X ( mjtNum, numeric_data, nnumericdata, 1 ) \
|
|
X ( int, text_adr, ntext, 1 ) \
|
|
X ( int, text_size, ntext, 1 ) \
|
|
X ( char, text_data, ntextdata, 1 ) \
|
|
X ( int, tuple_adr, ntuple, 1 ) \
|
|
X ( int, tuple_size, ntuple, 1 ) \
|
|
X ( int, tuple_objtype, ntupledata, 1 ) \
|
|
X ( int, tuple_objid, ntupledata, 1 ) \
|
|
X ( mjtNum, tuple_objprm, ntupledata, 1 ) \
|
|
X ( mjtNum, key_time, nkey, 1 ) \
|
|
X ( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
|
|
X ( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
|
|
X ( mjtNum, key_act, nkey, MJ_M(na) ) \
|
|
X ( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
|
|
X ( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
|
|
X ( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
|
|
XMJV( int, name_bodyadr, nbody, 1 ) \
|
|
XMJV( int, name_jntadr, njnt, 1 ) \
|
|
XMJV( int, name_geomadr, ngeom, 1 ) \
|
|
XMJV( int, name_siteadr, nsite, 1 ) \
|
|
XMJV( int, name_camadr, ncam, 1 ) \
|
|
XMJV( int, name_lightadr, nlight, 1 ) \
|
|
X ( int, name_flexadr, nflex, 1 ) \
|
|
X ( int, name_meshadr, nmesh, 1 ) \
|
|
X ( int, name_skinadr, nskin, 1 ) \
|
|
X ( int, name_hfieldadr, nhfield, 1 ) \
|
|
X ( int, name_texadr, ntex, 1 ) \
|
|
X ( int, name_matadr, nmat, 1 ) \
|
|
X ( int, name_pairadr, npair, 1 ) \
|
|
X ( int, name_excludeadr, nexclude, 1 ) \
|
|
XMJV( int, name_eqadr, neq, 1 ) \
|
|
XMJV( int, name_tendonadr, ntendon, 1 ) \
|
|
XMJV( int, name_actuatoradr, nu, 1 ) \
|
|
X ( int, name_sensoradr, nsensor, 1 ) \
|
|
X ( int, name_numericadr, nnumeric, 1 ) \
|
|
X ( int, name_textadr, ntext, 1 ) \
|
|
X ( int, name_tupleadr, ntuple, 1 ) \
|
|
X ( int, name_keyadr, nkey, 1 ) \
|
|
X ( int, name_pluginadr, nplugin, 1 ) \
|
|
XMJV( char, names, nnames, 1 ) \
|
|
X ( int, names_map, nnames_map, 1 ) \
|
|
XMJV( char, paths, npaths, 1 ) \
|
|
|
|
//-------------------------------- mjData ----------------------------------------------------------
|
|
|
|
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
|
|
#define MJDATA_POINTERS_PREAMBLE( m ) \
|
|
int nv = m->nv;
|
|
|
|
|
|
// pointer fields of mjData
|
|
// XMJV means that the field is required to construct mjvScene
|
|
// (by default we define XMJV to be the same as X)
|
|
#define MJDATA_POINTERS \
|
|
X ( mjtNum, qpos, nq, 1 ) \
|
|
X ( mjtNum, qvel, nv, 1 ) \
|
|
XMJV( mjtNum, act, na, 1 ) \
|
|
X ( mjtNum, qacc_warmstart, nv, 1 ) \
|
|
X ( mjtNum, plugin_state, npluginstate, 1 ) \
|
|
XMJV( mjtNum, ctrl, nu, 1 ) \
|
|
X ( mjtNum, qfrc_applied, nv, 1 ) \
|
|
XMJV( mjtNum, xfrc_applied, nbody, 6 ) \
|
|
XMJV( mjtByte, eq_active, neq, 1 ) \
|
|
X ( mjtNum, mocap_pos, nmocap, 3 ) \
|
|
X ( mjtNum, mocap_quat, nmocap, 4 ) \
|
|
X ( mjtNum, qacc, nv, 1 ) \
|
|
X ( mjtNum, act_dot, na, 1 ) \
|
|
X ( mjtNum, userdata, nuserdata, 1 ) \
|
|
XMJV( mjtNum, sensordata, nsensordata, 1 ) \
|
|
X ( int, plugin, nplugin, 1 ) \
|
|
X ( uintptr_t, plugin_data, nplugin, 1 ) \
|
|
XMJV( mjtNum, xpos, nbody, 3 ) \
|
|
XMJV( mjtNum, xquat, nbody, 4 ) \
|
|
XMJV( mjtNum, xmat, nbody, 9 ) \
|
|
XMJV( mjtNum, xipos, nbody, 3 ) \
|
|
XMJV( mjtNum, ximat, nbody, 9 ) \
|
|
XMJV( mjtNum, xanchor, njnt, 3 ) \
|
|
XMJV( mjtNum, xaxis, njnt, 3 ) \
|
|
XMJV( mjtNum, geom_xpos, ngeom, 3 ) \
|
|
XMJV( mjtNum, geom_xmat, ngeom, 9 ) \
|
|
XMJV( mjtNum, site_xpos, nsite, 3 ) \
|
|
XMJV( mjtNum, site_xmat, nsite, 9 ) \
|
|
XMJV( mjtNum, cam_xpos, ncam, 3 ) \
|
|
XMJV( mjtNum, cam_xmat, ncam, 9 ) \
|
|
XMJV( mjtNum, light_xpos, nlight, 3 ) \
|
|
XMJV( mjtNum, light_xdir, nlight, 3 ) \
|
|
XMJV( mjtNum, subtree_com, nbody, 3 ) \
|
|
X ( mjtNum, cdof, nv, 6 ) \
|
|
X ( mjtNum, cinert, nbody, 10 ) \
|
|
XMJV( mjtNum, flexvert_xpos, nflexvert, 3 ) \
|
|
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
|
|
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
|
|
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
|
|
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
|
|
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
|
|
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
|
|
XMJV( int, ten_wrapadr, ntendon, 1 ) \
|
|
XMJV( int, ten_wrapnum, ntendon, 1 ) \
|
|
X ( int, ten_J_rownnz, ntendon, 1 ) \
|
|
X ( int, ten_J_rowadr, ntendon, 1 ) \
|
|
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
|
|
XMJV( mjtNum, ten_length, ntendon, 1 ) \
|
|
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
|
|
XMJV( int, wrap_obj, nwrap, 2 ) \
|
|
XMJV( mjtNum, wrap_xpos, nwrap, 6 ) \
|
|
X ( mjtNum, actuator_length, nu, 1 ) \
|
|
X ( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
|
|
X ( mjtNum, crb, nbody, 10 ) \
|
|
X ( mjtNum, qM, nM, 1 ) \
|
|
X ( mjtNum, qLD, nM, 1 ) \
|
|
X ( mjtNum, qLDiagInv, nv, 1 ) \
|
|
X ( mjtNum, qLDiagSqrtInv, nv, 1 ) \
|
|
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
|
|
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
|
|
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
|
|
X ( mjtNum, ten_velocity, ntendon, 1 ) \
|
|
X ( mjtNum, actuator_velocity, nu, 1 ) \
|
|
X ( mjtNum, cvel, nbody, 6 ) \
|
|
X ( mjtNum, cdof_dot, nv, 6 ) \
|
|
X ( mjtNum, qfrc_bias, nv, 1 ) \
|
|
X ( mjtNum, qfrc_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 ) \
|
|
X ( mjtNum, qH, nM, 1 ) \
|
|
X ( mjtNum, qHDiagInv, nv, 1 ) \
|
|
X ( int, D_rownnz, nv, 1 ) \
|
|
X ( int, D_rowadr, nv, 1 ) \
|
|
X ( int, D_colind, nD, 1 ) \
|
|
X ( int, B_rownnz, nbody, 1 ) \
|
|
X ( int, B_rowadr, nbody, 1 ) \
|
|
X ( int, B_colind, nB, 1 ) \
|
|
X ( mjtNum, qDeriv, nD, 1 ) \
|
|
X ( mjtNum, qLU, nD, 1 ) \
|
|
X ( mjtNum, actuator_force, nu, 1 ) \
|
|
X ( mjtNum, qfrc_actuator, nv, 1 ) \
|
|
X ( mjtNum, qfrc_smooth, nv, 1 ) \
|
|
X ( mjtNum, qacc_smooth, nv, 1 ) \
|
|
X ( mjtNum, qfrc_constraint, nv, 1 ) \
|
|
X ( mjtNum, qfrc_inverse, nv, 1 ) \
|
|
X ( mjtNum, cacc, nbody, 6 ) \
|
|
X ( mjtNum, cfrc_int, nbody, 6 ) \
|
|
X ( mjtNum, cfrc_ext, nbody, 6 )
|
|
|
|
|
|
// macro for annotating that an array size in an X macro is a member of mjData
|
|
// by default this macro does nothing, but users can redefine it as necessary
|
|
#define MJ_D(n) n
|
|
|
|
// array of contacts
|
|
#define MJDATA_ARENA_POINTERS_CONTACT \
|
|
X( mjContact, contact, MJ_D(ncon), 1 )
|
|
|
|
// array fields of mjData that are used in the primal problem
|
|
#define MJDATA_ARENA_POINTERS_PRIMAL \
|
|
X( int, efc_type, MJ_D(nefc), 1 ) \
|
|
X( int, efc_id, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_colind, MJ_D(nnzJ), 1 ) \
|
|
X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
|
|
X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
|
|
X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
|
|
X( int, efc_JT_colind, MJ_D(nnzJ), 1 ) \
|
|
X( mjtNum, efc_J, MJ_D(nnzJ), 1 ) \
|
|
X( mjtNum, efc_JT, MJ_D(nnzJ), 1 ) \
|
|
X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
|
|
X( mjtNum, efc_D, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_R, MJ_D(nefc), 1 ) \
|
|
X( 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( mjtNum, efc_force, MJ_D(nefc), 1 ) \
|
|
X( int, efc_state, MJ_D(nefc), 1 )
|
|
|
|
// array fields of mjData that are used in the dual problem
|
|
#define MJDATA_ARENA_POINTERS_DUAL \
|
|
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
|
|
X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
|
|
X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
|
|
X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
|
|
|
|
// array fields of mjData that are used for constraint islands
|
|
#define MJDATA_ARENA_POINTERS_ISLAND \
|
|
X( int, dof_island, MJ_M(nv), 1 ) \
|
|
X( int, island_dofnum, MJ_D(nisland), 1 ) \
|
|
X( int, island_dofadr, MJ_D(nisland), 1 ) \
|
|
X( int, island_dofind, MJ_M(nv), 1 ) \
|
|
X( int, dof_islandind, MJ_M(nv), 1 ) \
|
|
X( int, efc_island, MJ_D(nefc), 1 ) \
|
|
X( int, island_efcnum, MJ_D(nisland), 1 ) \
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X( int, island_efcadr, MJ_D(nisland), 1 ) \
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X( int, island_efcind, MJ_D(nefc), 1 )
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// array fields of mjData that live in d->arena
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#define MJDATA_ARENA_POINTERS \
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MJDATA_ARENA_POINTERS_CONTACT \
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MJDATA_ARENA_POINTERS_PRIMAL \
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MJDATA_ARENA_POINTERS_DUAL \
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MJDATA_ARENA_POINTERS_ISLAND
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// scalar fields of mjData
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#define MJDATA_SCALAR \
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X( size_t, narena ) \
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X( size_t, nbuffer ) \
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X( int, nplugin ) \
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X( size_t, pstack ) \
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X( size_t, pbase ) \
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X( size_t, parena ) \
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X( size_t, maxuse_stack ) \
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X( size_t, maxuse_arena ) \
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X( int, maxuse_con ) \
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X( int, maxuse_efc ) \
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X( int, solver_nisland ) \
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X( int, ne ) \
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X( int, nf ) \
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X( int, nl ) \
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X( int, nefc ) \
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X( int, nnzJ ) \
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X( int, ncon ) \
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X( int, nisland ) \
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X( mjtNum, time ) \
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X( uintptr_t, threadpool )
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// vector fields of mjData
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#define MJDATA_VECTOR \
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X( size_t, maxuse_threadstack, mjMAXTHREADS, 1 ) \
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X( mjWarningStat, warning, mjNWARNING, 1 ) \
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X( mjTimerStat, timer, mjNTIMER, 1 ) \
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X( mjSolverStat, solver, mjNILSAND, mjNSOLVER ) \
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X( int, solver_niter, mjNISLAND, 1 ) \
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X( int, solver_nnz, mjNISLAND, 1 ) \
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X( mjtNum, solver_fwdinv, 2, 1 ) \
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X( mjtNum, energy, 2, 1 )
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// alias XMJV to be the same as X
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// to obtain only X macros for fields that are relevant for mjvScene creation,
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// redefine X to expand to nothing, and XMJV to do what's required
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#define XMJV X
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#endif // MUJOCO_MJXMACRO_H_
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