chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
83e621d771afbadfaba3d878419fdbb004b760ca
Mujoco_WASM/wasm/codegen/generated/bindings.h
T

7665 lines
241 KiB
C++
Raw Blame History

// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
// NOLINTBEGIN(whitespace/line_length)
// NOLINTBEGIN(whitespace/semicolon)
#ifndef MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
#define MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
#include <emscripten.h>
#include <emscripten/bind.h>
#include <emscripten/em_asm.h>
#include <emscripten/val.h>
#include <algorithm>
#include <array>
#include <cstddef>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring> // NOLINT
#include <memory>
#include <optional> // NOLINT
#include <sstream>
#include <string> // NOLINT
#include <string_view>
#include <vector>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>
#include "engine/engine_util_errmem.h"
#include "wasm/unpack.h"
#include "python/mujoco/indexer_xmacro.h"
namespace mujoco::wasm {
using emscripten::enum_;
using emscripten::function;
using emscripten::typed_memory_view;
using emscripten::val;
using emscripten::return_value_policy::reference;
using emscripten::return_value_policy::take_ownership;
EMSCRIPTEN_DECLARE_VAL_TYPE(NumberOrString);
EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
EMSCRIPTEN_DECLARE_VAL_TYPE(String);
EMSCRIPTEN_DECLARE_VAL_TYPE(StringOrNull);
// Macro to define accessors for different MuJoCo object types within mjModel.
// Each line calls X_ACCESSOR with the following arguments:
// 1. NAME: The object type name in uppercase (e.g., ACTUATOR).
// 2. Name: The object type name in CamelCase (e.g., Actuator).
// 3. OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
// 4. field: The name of the array field in mjModel (e.g., actuator).
// 5. nfield: The name of the count field in mjModel (e.g., nu).
#define MJMODEL_ACCESSORS \
X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu ) \
X_ACCESSOR( BODY, Body, mjOBJ_BODY, body, nbody ) \
X_ACCESSOR( CAMERA, Camera, mjOBJ_CAMERA, cam, ncam ) \
X_ACCESSOR( EQUALITY, Equality, mjOBJ_EQUALITY, eq, neq ) \
X_ACCESSOR( EXCLUDE, Exclude, mjOBJ_EXCLUDE, exclude, nexclude ) \
X_ACCESSOR( GEOM, Geom, mjOBJ_GEOM, geom, ngeom ) \
X_ACCESSOR( HFIELD, Hfield, mjOBJ_HFIELD, hfield, nhfield ) \
X_ACCESSOR( JOINT, Joint, mjOBJ_JOINT, jnt, njnt ) \
X_ACCESSOR( LIGHT, Light, mjOBJ_LIGHT, light, nlight ) \
X_ACCESSOR( MATERIAL, Material, mjOBJ_MATERIAL, mat, nmat ) \
X_ACCESSOR( MESH, Mesh, mjOBJ_MESH, mesh, nmesh ) \
X_ACCESSOR( NUMERIC, Numeric, mjOBJ_NUMERIC, numeric, nnumeric ) \
X_ACCESSOR( PAIR, Pair, mjOBJ_PAIR, pair, npair ) \
X_ACCESSOR( SENSOR, Sensor, mjOBJ_SENSOR, sensor, nsensor ) \
X_ACCESSOR( SITE, Site, mjOBJ_SITE, site, nsite ) \
X_ACCESSOR( SKIN, Skin, mjOBJ_SKIN, skin, nskin ) \
X_ACCESSOR( TENDON, Tendon, mjOBJ_TENDON, tendon, ntendon ) \
X_ACCESSOR( TEXTURE, Texture, mjOBJ_TEXTURE, tex, ntex ) \
X_ACCESSOR( TUPLE, Tuple, mjOBJ_TUPLE, tuple, ntuple ) \
X_ACCESSOR( KEYFRAME, Keyframe, mjOBJ_KEY, key, nkey )
// Macro to define accessors for different MuJoCo object types within mjData.
// Each line calls X_ACCESSOR with the following arguments:
// 1. NAME: The object type name in uppercase (e.g., ACTUATOR).
// 2. Name: The object type name in CamelCase (e.g., Actuator).
// 3. OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
// 4. field: The name of the array field in mjData (e.g., actuator).
// 5. nfield: The name of the count field in mjModel (e.g., nu).
#define MJDATA_ACCESSORS \
X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu ) \
X_ACCESSOR( BODY, Body, mjOBJ_BODY, body, nbody ) \
X_ACCESSOR( CAMERA, Camera, mjOBJ_CAMERA, cam, ncam ) \
X_ACCESSOR( GEOM, Geom, mjOBJ_GEOM, geom, ngeom ) \
X_ACCESSOR( JOINT, Joint, mjOBJ_JOINT, jnt, njnt ) \
X_ACCESSOR( LIGHT, Light, mjOBJ_LIGHT, light, nlight ) \
X_ACCESSOR( SENSOR, Sensor, mjOBJ_SENSOR, sensor, nsensor ) \
X_ACCESSOR( SITE, Site, mjOBJ_SITE, site, nsite ) \
X_ACCESSOR( TENDON, Tendon, mjOBJ_TENDON, tendon, ntendon )
// Raises an error if the given val is null or undefined.
// A macro is used so that the error contains the name of the variable.
// TODO(matijak): Remove this when we can handle strings using UNPACK_STRING?
#define CHECK_VAL(val) \
if (val.isNull()) { \
mju_error("Invalid argument: %s is null", #val); \
} else if (val.isUndefined()) { \
mju_error("Invalid argument: %s is undefined", #val); \
}
std::string KeyErrorMessage(const mjModel* model, int objtype, int count,
std::string_view name, std::string_view accessor_name);
std::string IndexErrorMessage(int index, int count,
std::string_view accessor_name);
using mjVisualGlobal = decltype(::mjVisual::global);
using mjVisualHeadlight = decltype(::mjVisual::headlight);
using mjVisualMap = decltype(::mjVisual::map);
using mjVisualQuality = decltype(::mjVisual::quality);
using mjVisualRgba = decltype(::mjVisual::rgba);
using mjVisualScale = decltype(::mjVisual::scale);
#undef MJ_M
#define MJ_M(n) model_->n
// The X macro expands to a member function within an MjModel...Accessor struct.
// This function returns an emscripten::val, typically a typed memory view,
// providing access to array data within the underlying mjModel. The size and
// offset of the memory view are determined by the arguments:
// - type: The C++ type of the array elements (e.g., mjtNum, int).
// - prefix: The prefix of the field name in mjModel (e.g., jnt_, geom_).
// - var: The name of the field being accessed (e.g., qposadr, size).
// - dim0: Used to determine special indexing logic for dynamically sized arrays
// like joints (nq, nv), hfields, textures, numerics, and tuples.
// - dim1: The fixed dimension of the array if not dynamically sized. If "1",
// a single element is returned. Otherwise, it's used as the stride
// for the typed memory view.
#define X(type, prefix, var, dim0, dim1) \
emscripten::val get_##var() const { \
if constexpr (std::string_view(#dim0) == "nq") { \
int start = model_->jnt_qposadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
return val(typed_memory_view(end - start, model_->prefix##var + start)); \
} else if constexpr (std::string_view(#dim0) == "nv") { \
int start = model_->jnt_dofadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
return val(typed_memory_view(end - start, model_->prefix##var + start)); \
} else if constexpr (std::string_view(#dim0) == "nhfielddata") { \
int start = model_->hfield_adr[id_]; \
int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_]; \
return val(typed_memory_view(count, model_->hfield_data + start)); \
} else if constexpr (std::string_view(#dim0) == "ntexdata") { \
int start = model_->tex_adr[id_]; \
int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_]; \
return val(typed_memory_view(count, model_->tex_data + start)); \
} else if constexpr (std::string_view(#dim0) == "nnumericdata") { \
int start = model_->numeric_adr[id_]; \
int count = model_->numeric_size[id_]; \
return val(typed_memory_view(count, model_->numeric_data + start)); \
} else if constexpr (std::string_view(#dim0) == "ntupledata") { \
int start = model_->tuple_adr[id_]; \
int count = model_->tuple_size[id_]; \
return val(typed_memory_view(count, model_->prefix##var + start)); \
} else { \
if constexpr (std::string_view(#dim1) == "1") { \
return val(model_->prefix##var[id_]); \
} else { \
return val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1)); \
} \
} \
} \
void set_##var(const emscripten::val& value) { \
if constexpr (std::string_view(#dim0) == "nq") { \
int start = model_->jnt_qposadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
val(typed_memory_view(end - start, model_->prefix##var + start)) \
.call<void>("set", value); \
} else if constexpr (std::string_view(#dim0) == "nv") { \
int start = model_->jnt_dofadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
val(typed_memory_view(end - start, model_->prefix##var + start)) \
.call<void>("set", value); \
} else if constexpr (std::string_view(#dim0) == "nhfielddata") { \
int start = model_->hfield_adr[id_]; \
int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_]; \
val(typed_memory_view(count, model_->hfield_data + start)) \
.call<void>("set", value); \
} else if constexpr (std::string_view(#dim0) == "ntexdata") { \
int start = model_->tex_adr[id_]; \
int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_]; \
val(typed_memory_view(count, model_->tex_data + start)) \
.call<void>("set", value); \
} else if constexpr (std::string_view(#dim0) == "nnumericdata") { \
int start = model_->numeric_adr[id_]; \
int count = model_->numeric_size[id_]; \
val(typed_memory_view(count, model_->numeric_data + start)) \
.call<void>("set", value); \
} else if constexpr (std::string_view(#dim0) == "ntupledata") { \
int start = model_->tuple_adr[id_]; \
int count = model_->tuple_size[id_]; \
val(typed_memory_view(count, model_->prefix##var + start)) \
.call<void>("set", value); \
} else { \
if constexpr (std::string_view(#dim1) == "1") { \
model_->prefix##var[id_] = value.as<type>(); \
} else { \
val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1)) \
.call<void>("set", value); \
} \
} \
}
// Expands to a struct definition for each object type in MJMODEL_ACCESSORS.
// Each struct, named `MjModel{Name}Accessor`, provides:
// - A constructor taking an `mjModel*` and an integer `id`.
// - An `id()` method to get the object's index.
// - A `name()` method to get the object's name using `mj_id2name`.
// - Member functions generated by the `MJMODEL_##NAME` macro, which in turn
// uses the `X` macro to define accessors for fields within `mjModel`.
#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield) \
struct MjModel##Name##Accessor { \
MjModel##Name##Accessor(mjModel* model, int id) : model_(model), id_(id) {} \
\
int id() const { return id_; } \
std::string name() const { \
const char* name = mj_id2name(model_, OBJTYPE, id_); \
return name ? name : ""; \
} \
\
MJMODEL_##NAME \
\
private: \
mjModel* model_; \
int id_; \
};
MJMODEL_ACCESSORS
#undef X_ACCESSOR
// Expands to a struct definition for each object type in MJDATA_ACCESSORS.
// Each struct, named `MjData{Name}Accessor`, provides:
// - A constructor taking an `mjData*`, an `mjModel*`, and an integer `id`.
// - An `id()` method to get the object's index.
// - A `name()` method to get the object's name using `mj_id2name`.
// - Member functions generated by the `MJDATA_##NAME` macro, which in turn
// uses the `X` macro to define accessors for fields within `mjData`.
#undef MJ_M
#define MJ_M(n) model_->n
#undef X
#define X(type, prefix, var, dim0, dim1) \
emscripten::val get_##var() const { \
if constexpr (std::string_view(#dim0) == "nq") { \
int start = model_->jnt_qposadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
return val(typed_memory_view(end - start, data_->prefix##var + start)); \
} else if constexpr (std::string_view(#dim0) == "nv") { \
int start = model_->jnt_dofadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
if constexpr (std::string_view(#dim1) == "1") { \
return val(typed_memory_view(end - start, data_->prefix##var + start)); \
} else { \
return val(typed_memory_view( \
(end - start) * dim1, data_->prefix##var + start * dim1)); \
} \
} else if constexpr (std::string_view(#dim0) == "nsensordata") { \
int start = model_->sensor_adr[id_]; \
int count = model_->sensor_dim[id_]; \
return val(typed_memory_view(count, data_->sensordata + start)); \
} else { \
if constexpr (std::string_view(#dim1) == "1") { \
return val(data_->prefix##var[id_]); \
} else { \
return val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1)); \
} \
} \
} \
void set_##var(const emscripten::val& value) { \
if constexpr (std::string_view(#dim0) == "nq") { \
int start = model_->jnt_qposadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq; \
val(typed_memory_view(end - start, data_->prefix##var + start)) \
.call<void>("set", value); \
} else if constexpr (std::string_view(#dim0) == "nv") { \
int start = model_->jnt_dofadr[id_]; \
int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv; \
if constexpr (std::string_view(#dim1) == "1") { \
val(typed_memory_view(end - start, data_->prefix##var + start)) \
.call<void>("set", value); \
} else { \
val(typed_memory_view((end - start) * dim1, \
data_->prefix##var + start * dim1)) \
.call<void>("set", value); \
} \
} else if constexpr (std::string_view(#dim0) == "nsensordata") { \
int start = model_->sensor_adr[id_]; \
int count = model_->sensor_dim[id_]; \
val(typed_memory_view(count, data_->sensordata + start)) \
.call<void>("set", value); \
} else { \
if constexpr (std::string_view(#dim1) == "1") { \
data_->prefix##var[id_] = value.as<type>(); \
} else { \
val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1)) \
.call<void>("set", value); \
} \
} \
}
#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield) \
struct MjData##Name##Accessor { \
MjData##Name##Accessor(mjData* data, mjModel* model, int id) : data_(data), model_(model), id_(id) {} \
\
int id() const { return id_; } \
std::string name() const { \
const char* name = mj_id2name(model_, OBJTYPE, id_); \
return name ? name : ""; \
} \
\
MJDATA_##NAME \
\
private: \
mjData* data_; \
mjModel* model_; \
int id_; \
};
MJDATA_ACCESSORS
#undef X_ACCESSOR
#undef X
#undef MJ_M
struct MjContact {
~MjContact();
MjContact();
explicit MjContact(mjContact *ptr);
MjContact(const MjContact &);
MjContact &operator=(const MjContact &);
std::unique_ptr<MjContact> copy();
mjContact* get() const;
void set(mjContact* ptr);
mjtNum dist() const {
return ptr_->dist;
}
void set_dist(mjtNum value) {
ptr_->dist = value;
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val frame() const {
return emscripten::val(emscripten::typed_memory_view(9, ptr_->frame));
}
mjtNum includemargin() const {
return ptr_->includemargin;
}
void set_includemargin(mjtNum value) {
ptr_->includemargin = value;
}
emscripten::val friction() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->friction));
}
emscripten::val solref() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
}
emscripten::val solreffriction() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solreffriction));
}
emscripten::val solimp() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
}
mjtNum adhesion() const {
return ptr_->adhesion;
}
void set_adhesion(mjtNum value) {
ptr_->adhesion = value;
}
mjtNum mu() const {
return ptr_->mu;
}
void set_mu(mjtNum value) {
ptr_->mu = value;
}
emscripten::val H() const {
return emscripten::val(emscripten::typed_memory_view(36, ptr_->H));
}
int dim() const {
return ptr_->dim;
}
void set_dim(int value) {
ptr_->dim = value;
}
int geom1() const {
return ptr_->geom1;
}
void set_geom1(int value) {
ptr_->geom1 = value;
}
int geom2() const {
return ptr_->geom2;
}
void set_geom2(int value) {
ptr_->geom2 = value;
}
emscripten::val geom() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->geom));
}
emscripten::val flex() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->flex));
}
emscripten::val elem() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->elem));
}
emscripten::val vert() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->vert));
}
int exclude() const {
return ptr_->exclude;
}
void set_exclude(int value) {
ptr_->exclude = value;
}
int efc_address() const {
return ptr_->efc_address;
}
void set_efc_address(int value) {
ptr_->efc_address = value;
}
private:
mjContact* ptr_;
bool owned_ = false;
};
struct MjLROpt {
~MjLROpt();
MjLROpt();
explicit MjLROpt(mjLROpt *ptr);
MjLROpt(const MjLROpt &);
MjLROpt &operator=(const MjLROpt &);
std::unique_ptr<MjLROpt> copy();
mjLROpt* get() const;
void set(mjLROpt* ptr);
int mode() const {
return ptr_->mode;
}
void set_mode(int value) {
ptr_->mode = value;
}
int useexisting() const {
return ptr_->useexisting;
}
void set_useexisting(int value) {
ptr_->useexisting = value;
}
int uselimit() const {
return ptr_->uselimit;
}
void set_uselimit(int value) {
ptr_->uselimit = value;
}
mjtNum accel() const {
return ptr_->accel;
}
void set_accel(mjtNum value) {
ptr_->accel = value;
}
mjtNum maxforce() const {
return ptr_->maxforce;
}
void set_maxforce(mjtNum value) {
ptr_->maxforce = value;
}
mjtNum timeconst() const {
return ptr_->timeconst;
}
void set_timeconst(mjtNum value) {
ptr_->timeconst = value;
}
mjtNum timestep() const {
return ptr_->timestep;
}
void set_timestep(mjtNum value) {
ptr_->timestep = value;
}
mjtNum inttotal() const {
return ptr_->inttotal;
}
void set_inttotal(mjtNum value) {
ptr_->inttotal = value;
}
mjtNum interval() const {
return ptr_->interval;
}
void set_interval(mjtNum value) {
ptr_->interval = value;
}
mjtNum tolrange() const {
return ptr_->tolrange;
}
void set_tolrange(mjtNum value) {
ptr_->tolrange = value;
}
private:
mjLROpt* ptr_;
bool owned_ = false;
};
struct MjLogConfig {
~MjLogConfig();
MjLogConfig();
explicit MjLogConfig(mjLogConfig *ptr);
MjLogConfig(const MjLogConfig &);
MjLogConfig &operator=(const MjLogConfig &);
std::unique_ptr<MjLogConfig> copy();
mjLogConfig* get() const;
void set(mjLogConfig* ptr);
mjtBool logto_console() const {
return ptr_->logto_console;
}
void set_logto_console(mjtBool value) {
ptr_->logto_console = value;
}
mjtBool logto_file() const {
return ptr_->logto_file;
}
void set_logto_file(mjtBool value) {
ptr_->logto_file = value;
}
emscripten::val logfile() const {
return emscripten::val(emscripten::typed_memory_view(1024, ptr_->logfile));
}
int topics() const {
return ptr_->topics;
}
void set_topics(int value) {
ptr_->topics = value;
}
private:
mjLogConfig* ptr_;
bool owned_ = false;
};
struct MjLogMessage {
~MjLogMessage();
MjLogMessage();
explicit MjLogMessage(mjLogMessage *ptr);
mjLogMessage* get() const;
void set(mjLogMessage* ptr);
int level() const {
return ptr_->level;
}
void set_level(int value) {
ptr_->level = value;
}
int topic() const {
return ptr_->topic;
}
void set_topic(int value) {
ptr_->topic = value;
}
emscripten::val subject() const {
return emscripten::val(emscripten::typed_memory_view(1024, ptr_->subject));
}
std::string body() const {
return ptr_->body ? std::string(ptr_->body) : "";
}
std::string func() const {
return ptr_->func ? std::string(ptr_->func) : "";
}
std::string file() const {
return ptr_->file ? std::string(ptr_->file) : "";
}
int line() const {
return ptr_->line;
}
void set_line(int value) {
ptr_->line = value;
}
mjtBool timestamp() const {
return ptr_->timestamp;
}
void set_timestamp(mjtBool value) {
ptr_->timestamp = value;
}
private:
mjLogMessage* ptr_;
bool owned_ = false;
};
struct MjOption {
~MjOption();
MjOption();
explicit MjOption(mjOption *ptr);
MjOption(const MjOption &);
MjOption &operator=(const MjOption &);
std::unique_ptr<MjOption> copy();
mjOption* get() const;
void set(mjOption* ptr);
mjtNum timestep() const {
return ptr_->timestep;
}
void set_timestep(mjtNum value) {
ptr_->timestep = value;
}
mjtNum impratio() const {
return ptr_->impratio;
}
void set_impratio(mjtNum value) {
ptr_->impratio = value;
}
mjtNum tolerance() const {
return ptr_->tolerance;
}
void set_tolerance(mjtNum value) {
ptr_->tolerance = value;
}
mjtNum ls_tolerance() const {
return ptr_->ls_tolerance;
}
void set_ls_tolerance(mjtNum value) {
ptr_->ls_tolerance = value;
}
mjtNum noslip_tolerance() const {
return ptr_->noslip_tolerance;
}
void set_noslip_tolerance(mjtNum value) {
ptr_->noslip_tolerance = value;
}
mjtNum ccd_tolerance() const {
return ptr_->ccd_tolerance;
}
void set_ccd_tolerance(mjtNum value) {
ptr_->ccd_tolerance = value;
}
mjtNum sleep_tolerance() const {
return ptr_->sleep_tolerance;
}
void set_sleep_tolerance(mjtNum value) {
ptr_->sleep_tolerance = value;
}
emscripten::val gravity() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
}
emscripten::val wind() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->wind));
}
emscripten::val magnetic() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->magnetic));
}
mjtNum density() const {
return ptr_->density;
}
void set_density(mjtNum value) {
ptr_->density = value;
}
mjtNum viscosity() const {
return ptr_->viscosity;
}
void set_viscosity(mjtNum value) {
ptr_->viscosity = value;
}
mjtNum o_margin() const {
return ptr_->o_margin;
}
void set_o_margin(mjtNum value) {
ptr_->o_margin = value;
}
emscripten::val o_solref() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->o_solref));
}
emscripten::val o_solimp() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->o_solimp));
}
emscripten::val o_friction() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->o_friction));
}
int integrator() const {
return ptr_->integrator;
}
void set_integrator(int value) {
ptr_->integrator = value;
}
int cone() const {
return ptr_->cone;
}
void set_cone(int value) {
ptr_->cone = value;
}
int jacobian() const {
return ptr_->jacobian;
}
void set_jacobian(int value) {
ptr_->jacobian = value;
}
int solver() const {
return ptr_->solver;
}
void set_solver(int value) {
ptr_->solver = value;
}
int iterations() const {
return ptr_->iterations;
}
void set_iterations(int value) {
ptr_->iterations = value;
}
int ls_iterations() const {
return ptr_->ls_iterations;
}
void set_ls_iterations(int value) {
ptr_->ls_iterations = value;
}
int noslip_iterations() const {
return ptr_->noslip_iterations;
}
void set_noslip_iterations(int value) {
ptr_->noslip_iterations = value;
}
int ccd_iterations() const {
return ptr_->ccd_iterations;
}
void set_ccd_iterations(int value) {
ptr_->ccd_iterations = value;
}
int disableflags() const {
return ptr_->disableflags;
}
void set_disableflags(int value) {
ptr_->disableflags = value;
}
int enableflags() const {
return ptr_->enableflags;
}
void set_enableflags(int value) {
ptr_->enableflags = value;
}
int disableactuator() const {
return ptr_->disableactuator;
}
void set_disableactuator(int value) {
ptr_->disableactuator = value;
}
int sdf_initpoints() const {
return ptr_->sdf_initpoints;
}
void set_sdf_initpoints(int value) {
ptr_->sdf_initpoints = value;
}
int sdf_iterations() const {
return ptr_->sdf_iterations;
}
void set_sdf_iterations(int value) {
ptr_->sdf_iterations = value;
}
private:
mjOption* ptr_;
bool owned_ = false;
};
struct MjPreContact {
~MjPreContact();
MjPreContact();
explicit MjPreContact(mjPreContact *ptr);
MjPreContact(const MjPreContact &);
MjPreContact &operator=(const MjPreContact &);
std::unique_ptr<MjPreContact> copy();
mjPreContact* get() const;
void set(mjPreContact* ptr);
mjtNum dist() const {
return ptr_->dist;
}
void set_dist(mjtNum value) {
ptr_->dist = value;
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val normal() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->normal));
}
emscripten::val tangent() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->tangent));
}
private:
mjPreContact* ptr_;
bool owned_ = false;
};
struct MjSolverStat {
~MjSolverStat();
MjSolverStat();
explicit MjSolverStat(mjSolverStat *ptr);
MjSolverStat(const MjSolverStat &);
MjSolverStat &operator=(const MjSolverStat &);
std::unique_ptr<MjSolverStat> copy();
mjSolverStat* get() const;
void set(mjSolverStat* ptr);
mjtNum improvement() const {
return ptr_->improvement;
}
void set_improvement(mjtNum value) {
ptr_->improvement = value;
}
mjtNum gradient() const {
return ptr_->gradient;
}
void set_gradient(mjtNum value) {
ptr_->gradient = value;
}
mjtNum lineslope() const {
return ptr_->lineslope;
}
void set_lineslope(mjtNum value) {
ptr_->lineslope = value;
}
int nactive() const {
return ptr_->nactive;
}
void set_nactive(int value) {
ptr_->nactive = value;
}
int nchange() const {
return ptr_->nchange;
}
void set_nchange(int value) {
ptr_->nchange = value;
}
int neval() const {
return ptr_->neval;
}
void set_neval(int value) {
ptr_->neval = value;
}
int nupdate() const {
return ptr_->nupdate;
}
void set_nupdate(int value) {
ptr_->nupdate = value;
}
private:
mjSolverStat* ptr_;
bool owned_ = false;
};
struct MjStatistic {
~MjStatistic();
MjStatistic();
explicit MjStatistic(mjStatistic *ptr);
MjStatistic(const MjStatistic &);
MjStatistic &operator=(const MjStatistic &);
std::unique_ptr<MjStatistic> copy();
mjStatistic* get() const;
void set(mjStatistic* ptr);
mjtNum meaninertia() const {
return ptr_->meaninertia;
}
void set_meaninertia(mjtNum value) {
ptr_->meaninertia = value;
}
mjtNum meanmass() const {
return ptr_->meanmass;
}
void set_meanmass(mjtNum value) {
ptr_->meanmass = value;
}
mjtNum meansize() const {
return ptr_->meansize;
}
void set_meansize(mjtNum value) {
ptr_->meansize = value;
}
mjtNum extent() const {
return ptr_->extent;
}
void set_extent(mjtNum value) {
ptr_->extent = value;
}
emscripten::val center() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->center));
}
private:
mjStatistic* ptr_;
bool owned_ = false;
};
struct MjTimerStat {
~MjTimerStat();
MjTimerStat();
explicit MjTimerStat(mjTimerStat *ptr);
MjTimerStat(const MjTimerStat &);
MjTimerStat &operator=(const MjTimerStat &);
std::unique_ptr<MjTimerStat> copy();
mjTimerStat* get() const;
void set(mjTimerStat* ptr);
mjtNum duration() const {
return ptr_->duration;
}
void set_duration(mjtNum value) {
ptr_->duration = value;
}
int number() const {
return ptr_->number;
}
void set_number(int value) {
ptr_->number = value;
}
private:
mjTimerStat* ptr_;
bool owned_ = false;
};
struct MjVisualGlobal {
~MjVisualGlobal();
MjVisualGlobal();
explicit MjVisualGlobal(mjVisualGlobal *ptr);
MjVisualGlobal(const MjVisualGlobal &);
MjVisualGlobal &operator=(const MjVisualGlobal &);
std::unique_ptr<MjVisualGlobal> copy();
mjVisualGlobal* get() const;
void set(mjVisualGlobal* ptr);
int cameraid() const {
return ptr_->cameraid;
}
void set_cameraid(int value) {
ptr_->cameraid = value;
}
int orthographic() const {
return ptr_->orthographic;
}
void set_orthographic(int value) {
ptr_->orthographic = value;
}
float fovy() const {
return ptr_->fovy;
}
void set_fovy(float value) {
ptr_->fovy = value;
}
float ipd() const {
return ptr_->ipd;
}
void set_ipd(float value) {
ptr_->ipd = value;
}
float azimuth() const {
return ptr_->azimuth;
}
void set_azimuth(float value) {
ptr_->azimuth = value;
}
float elevation() const {
return ptr_->elevation;
}
void set_elevation(float value) {
ptr_->elevation = value;
}
float linewidth() const {
return ptr_->linewidth;
}
void set_linewidth(float value) {
ptr_->linewidth = value;
}
float glow() const {
return ptr_->glow;
}
void set_glow(float value) {
ptr_->glow = value;
}
float realtime() const {
return ptr_->realtime;
}
void set_realtime(float value) {
ptr_->realtime = value;
}
int offwidth() const {
return ptr_->offwidth;
}
void set_offwidth(int value) {
ptr_->offwidth = value;
}
int offheight() const {
return ptr_->offheight;
}
void set_offheight(int value) {
ptr_->offheight = value;
}
int ellipsoidinertia() const {
return ptr_->ellipsoidinertia;
}
void set_ellipsoidinertia(int value) {
ptr_->ellipsoidinertia = value;
}
int bvactive() const {
return ptr_->bvactive;
}
void set_bvactive(int value) {
ptr_->bvactive = value;
}
private:
mjVisualGlobal* ptr_;
bool owned_ = false;
};
struct MjVisualHeadlight {
~MjVisualHeadlight();
MjVisualHeadlight();
explicit MjVisualHeadlight(mjVisualHeadlight *ptr);
MjVisualHeadlight(const MjVisualHeadlight &);
MjVisualHeadlight &operator=(const MjVisualHeadlight &);
std::unique_ptr<MjVisualHeadlight> copy();
mjVisualHeadlight* get() const;
void set(mjVisualHeadlight* ptr);
emscripten::val ambient() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->ambient));
}
emscripten::val diffuse() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->diffuse));
}
emscripten::val specular() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->specular));
}
int active() const {
return ptr_->active;
}
void set_active(int value) {
ptr_->active = value;
}
private:
mjVisualHeadlight* ptr_;
bool owned_ = false;
};
struct MjVisualMap {
~MjVisualMap();
MjVisualMap();
explicit MjVisualMap(mjVisualMap *ptr);
MjVisualMap(const MjVisualMap &);
MjVisualMap &operator=(const MjVisualMap &);
std::unique_ptr<MjVisualMap> copy();
mjVisualMap* get() const;
void set(mjVisualMap* ptr);
float stiffness() const {
return ptr_->stiffness;
}
void set_stiffness(float value) {
ptr_->stiffness = value;
}
float stiffnessrot() const {
return ptr_->stiffnessrot;
}
void set_stiffnessrot(float value) {
ptr_->stiffnessrot = value;
}
float force() const {
return ptr_->force;
}
void set_force(float value) {
ptr_->force = value;
}
float torque() const {
return ptr_->torque;
}
void set_torque(float value) {
ptr_->torque = value;
}
float alpha() const {
return ptr_->alpha;
}
void set_alpha(float value) {
ptr_->alpha = value;
}
float fogstart() const {
return ptr_->fogstart;
}
void set_fogstart(float value) {
ptr_->fogstart = value;
}
float fogend() const {
return ptr_->fogend;
}
void set_fogend(float value) {
ptr_->fogend = value;
}
float znear() const {
return ptr_->znear;
}
void set_znear(float value) {
ptr_->znear = value;
}
float zfar() const {
return ptr_->zfar;
}
void set_zfar(float value) {
ptr_->zfar = value;
}
float haze() const {
return ptr_->haze;
}
void set_haze(float value) {
ptr_->haze = value;
}
float shadowclip() const {
return ptr_->shadowclip;
}
void set_shadowclip(float value) {
ptr_->shadowclip = value;
}
float shadowscale() const {
return ptr_->shadowscale;
}
void set_shadowscale(float value) {
ptr_->shadowscale = value;
}
float actuatortendon() const {
return ptr_->actuatortendon;
}
void set_actuatortendon(float value) {
ptr_->actuatortendon = value;
}
private:
mjVisualMap* ptr_;
bool owned_ = false;
};
struct MjVisualQuality {
~MjVisualQuality();
MjVisualQuality();
explicit MjVisualQuality(mjVisualQuality *ptr);
MjVisualQuality(const MjVisualQuality &);
MjVisualQuality &operator=(const MjVisualQuality &);
std::unique_ptr<MjVisualQuality> copy();
mjVisualQuality* get() const;
void set(mjVisualQuality* ptr);
int shadowsize() const {
return ptr_->shadowsize;
}
void set_shadowsize(int value) {
ptr_->shadowsize = value;
}
int offsamples() const {
return ptr_->offsamples;
}
void set_offsamples(int value) {
ptr_->offsamples = value;
}
int numslices() const {
return ptr_->numslices;
}
void set_numslices(int value) {
ptr_->numslices = value;
}
int numstacks() const {
return ptr_->numstacks;
}
void set_numstacks(int value) {
ptr_->numstacks = value;
}
int numquads() const {
return ptr_->numquads;
}
void set_numquads(int value) {
ptr_->numquads = value;
}
private:
mjVisualQuality* ptr_;
bool owned_ = false;
};
struct MjVisualRgba {
~MjVisualRgba();
MjVisualRgba();
explicit MjVisualRgba(mjVisualRgba *ptr);
MjVisualRgba(const MjVisualRgba &);
MjVisualRgba &operator=(const MjVisualRgba &);
std::unique_ptr<MjVisualRgba> copy();
mjVisualRgba* get() const;
void set(mjVisualRgba* ptr);
emscripten::val fog() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->fog));
}
emscripten::val haze() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->haze));
}
emscripten::val force() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->force));
}
emscripten::val inertia() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->inertia));
}
emscripten::val joint() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->joint));
}
emscripten::val actuator() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->actuator));
}
emscripten::val actuatornegative() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->actuatornegative));
}
emscripten::val actuatorpositive() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->actuatorpositive));
}
emscripten::val com() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->com));
}
emscripten::val camera() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->camera));
}
emscripten::val light() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->light));
}
emscripten::val selectpoint() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->selectpoint));
}
emscripten::val connect() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->connect));
}
emscripten::val contactpoint() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactpoint));
}
emscripten::val contactforce() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactforce));
}
emscripten::val contactfriction() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactfriction));
}
emscripten::val contacttorque() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->contacttorque));
}
emscripten::val contactgap() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactgap));
}
emscripten::val rangefinder() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rangefinder));
}
emscripten::val constraint() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->constraint));
}
emscripten::val slidercrank() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->slidercrank));
}
emscripten::val crankbroken() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->crankbroken));
}
emscripten::val frustum() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->frustum));
}
emscripten::val bv() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->bv));
}
emscripten::val bvactive() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->bvactive));
}
private:
mjVisualRgba* ptr_;
bool owned_ = false;
};
struct MjVisualScale {
~MjVisualScale();
MjVisualScale();
explicit MjVisualScale(mjVisualScale *ptr);
MjVisualScale(const MjVisualScale &);
MjVisualScale &operator=(const MjVisualScale &);
std::unique_ptr<MjVisualScale> copy();
mjVisualScale* get() const;
void set(mjVisualScale* ptr);
float forcewidth() const {
return ptr_->forcewidth;
}
void set_forcewidth(float value) {
ptr_->forcewidth = value;
}
float contactwidth() const {
return ptr_->contactwidth;
}
void set_contactwidth(float value) {
ptr_->contactwidth = value;
}
float contactheight() const {
return ptr_->contactheight;
}
void set_contactheight(float value) {
ptr_->contactheight = value;
}
float connect() const {
return ptr_->connect;
}
void set_connect(float value) {
ptr_->connect = value;
}
float com() const {
return ptr_->com;
}
void set_com(float value) {
ptr_->com = value;
}
float camera() const {
return ptr_->camera;
}
void set_camera(float value) {
ptr_->camera = value;
}
float light() const {
return ptr_->light;
}
void set_light(float value) {
ptr_->light = value;
}
float selectpoint() const {
return ptr_->selectpoint;
}
void set_selectpoint(float value) {
ptr_->selectpoint = value;
}
float jointlength() const {
return ptr_->jointlength;
}
void set_jointlength(float value) {
ptr_->jointlength = value;
}
float jointwidth() const {
return ptr_->jointwidth;
}
void set_jointwidth(float value) {
ptr_->jointwidth = value;
}
float actuatorlength() const {
return ptr_->actuatorlength;
}
void set_actuatorlength(float value) {
ptr_->actuatorlength = value;
}
float actuatorwidth() const {
return ptr_->actuatorwidth;
}
void set_actuatorwidth(float value) {
ptr_->actuatorwidth = value;
}
float framelength() const {
return ptr_->framelength;
}
void set_framelength(float value) {
ptr_->framelength = value;
}
float framewidth() const {
return ptr_->framewidth;
}
void set_framewidth(float value) {
ptr_->framewidth = value;
}
float constraint() const {
return ptr_->constraint;
}
void set_constraint(float value) {
ptr_->constraint = value;
}
float slidercrank() const {
return ptr_->slidercrank;
}
void set_slidercrank(float value) {
ptr_->slidercrank = value;
}
float frustum() const {
return ptr_->frustum;
}
void set_frustum(float value) {
ptr_->frustum = value;
}
private:
mjVisualScale* ptr_;
bool owned_ = false;
};
struct MjWarningStat {
~MjWarningStat();
MjWarningStat();
explicit MjWarningStat(mjWarningStat *ptr);
MjWarningStat(const MjWarningStat &);
MjWarningStat &operator=(const MjWarningStat &);
std::unique_ptr<MjWarningStat> copy();
mjWarningStat* get() const;
void set(mjWarningStat* ptr);
int lastinfo() const {
return ptr_->lastinfo;
}
void set_lastinfo(int value) {
ptr_->lastinfo = value;
}
int number() const {
return ptr_->number;
}
void set_number(int value) {
ptr_->number = value;
}
private:
mjWarningStat* ptr_;
bool owned_ = false;
};
struct MjsAuthored {
explicit MjsAuthored(mjsAuthored *ptr);
mjsAuthored* get() const;
void set(mjsAuthored* ptr);
uint64_t option() const {
return ptr_->option;
}
void set_option(uint64_t value) {
ptr_->option = value;
}
int disableflags() const {
return ptr_->disableflags;
}
void set_disableflags(int value) {
ptr_->disableflags = value;
}
int enableflags() const {
return ptr_->enableflags;
}
void set_enableflags(int value) {
ptr_->enableflags = value;
}
int disableactuator() const {
return ptr_->disableactuator;
}
void set_disableactuator(int value) {
ptr_->disableactuator = value;
}
uint64_t visual_global() const {
return ptr_->visual_global;
}
void set_visual_global(uint64_t value) {
ptr_->visual_global = value;
}
uint64_t visual_quality() const {
return ptr_->visual_quality;
}
void set_visual_quality(uint64_t value) {
ptr_->visual_quality = value;
}
uint64_t visual_headlight() const {
return ptr_->visual_headlight;
}
void set_visual_headlight(uint64_t value) {
ptr_->visual_headlight = value;
}
uint64_t visual_map() const {
return ptr_->visual_map;
}
void set_visual_map(uint64_t value) {
ptr_->visual_map = value;
}
uint64_t visual_scale() const {
return ptr_->visual_scale;
}
void set_visual_scale(uint64_t value) {
ptr_->visual_scale = value;
}
uint64_t visual_rgba() const {
return ptr_->visual_rgba;
}
void set_visual_rgba(uint64_t value) {
ptr_->visual_rgba = value;
}
private:
mjsAuthored* ptr_;
};
struct MjsElement {
explicit MjsElement(mjsElement *ptr);
mjsElement* get() const;
void set(mjsElement* ptr);
mjtObj elemtype() const {
return ptr_->elemtype;
}
void set_elemtype(mjtObj value) {
ptr_->elemtype = value;
}
uint64_t signature() const {
return ptr_->signature;
}
void set_signature(uint64_t value) {
ptr_->signature = value;
}
private:
mjsElement* ptr_;
};
struct MjsOrientation {
explicit MjsOrientation(mjsOrientation *ptr);
mjsOrientation* get() const;
void set(mjsOrientation* ptr);
mjtOrientation type() const {
return ptr_->type;
}
void set_type(mjtOrientation value) {
ptr_->type = value;
}
emscripten::val axisangle() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->axisangle));
}
emscripten::val xyaxes() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->xyaxes));
}
emscripten::val zaxis() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->zaxis));
}
emscripten::val euler() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->euler));
}
private:
mjsOrientation* ptr_;
};
struct MjvCamera {
~MjvCamera();
MjvCamera();
explicit MjvCamera(mjvCamera *ptr);
MjvCamera(const MjvCamera &);
MjvCamera &operator=(const MjvCamera &);
std::unique_ptr<MjvCamera> copy();
mjvCamera* get() const;
void set(mjvCamera* ptr);
int type() const {
return ptr_->type;
}
void set_type(int value) {
ptr_->type = value;
}
int fixedcamid() const {
return ptr_->fixedcamid;
}
void set_fixedcamid(int value) {
ptr_->fixedcamid = value;
}
int trackbodyid() const {
return ptr_->trackbodyid;
}
void set_trackbodyid(int value) {
ptr_->trackbodyid = value;
}
emscripten::val lookat() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->lookat));
}
mjtNum distance() const {
return ptr_->distance;
}
void set_distance(mjtNum value) {
ptr_->distance = value;
}
mjtNum azimuth() const {
return ptr_->azimuth;
}
void set_azimuth(mjtNum value) {
ptr_->azimuth = value;
}
mjtNum elevation() const {
return ptr_->elevation;
}
void set_elevation(mjtNum value) {
ptr_->elevation = value;
}
int orthographic() const {
return ptr_->orthographic;
}
void set_orthographic(int value) {
ptr_->orthographic = value;
}
private:
mjvCamera* ptr_;
bool owned_ = false;
};
struct MjvFigure {
~MjvFigure();
MjvFigure();
explicit MjvFigure(mjvFigure *ptr);
MjvFigure(const MjvFigure &);
MjvFigure &operator=(const MjvFigure &);
std::unique_ptr<MjvFigure> copy();
mjvFigure* get() const;
void set(mjvFigure* ptr);
int flg_legend() const {
return ptr_->flg_legend;
}
void set_flg_legend(int value) {
ptr_->flg_legend = value;
}
emscripten::val flg_ticklabel() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->flg_ticklabel));
}
int flg_extend() const {
return ptr_->flg_extend;
}
void set_flg_extend(int value) {
ptr_->flg_extend = value;
}
int flg_barplot() const {
return ptr_->flg_barplot;
}
void set_flg_barplot(int value) {
ptr_->flg_barplot = value;
}
int flg_selection() const {
return ptr_->flg_selection;
}
void set_flg_selection(int value) {
ptr_->flg_selection = value;
}
int flg_symmetric() const {
return ptr_->flg_symmetric;
}
void set_flg_symmetric(int value) {
ptr_->flg_symmetric = value;
}
float linewidth() const {
return ptr_->linewidth;
}
void set_linewidth(float value) {
ptr_->linewidth = value;
}
float gridwidth() const {
return ptr_->gridwidth;
}
void set_gridwidth(float value) {
ptr_->gridwidth = value;
}
emscripten::val gridsize() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->gridsize));
}
emscripten::val gridrgb() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->gridrgb));
}
emscripten::val figurergba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->figurergba));
}
emscripten::val panergba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->panergba));
}
emscripten::val legendrgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->legendrgba));
}
emscripten::val textrgb() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->textrgb));
}
emscripten::val linergb() const {
return emscripten::val(emscripten::typed_memory_view(300, reinterpret_cast<float*>(ptr_->linergb)));
}
emscripten::val range() const {
return emscripten::val(emscripten::typed_memory_view(4, reinterpret_cast<float*>(ptr_->range)));
}
emscripten::val xformat() const {
return emscripten::val(emscripten::typed_memory_view(20, ptr_->xformat));
}
emscripten::val yformat() const {
return emscripten::val(emscripten::typed_memory_view(20, ptr_->yformat));
}
emscripten::val minwidth() const {
return emscripten::val(emscripten::typed_memory_view(20, ptr_->minwidth));
}
emscripten::val title() const {
return emscripten::val(emscripten::typed_memory_view(1000, ptr_->title));
}
emscripten::val xlabel() const {
return emscripten::val(emscripten::typed_memory_view(100, ptr_->xlabel));
}
emscripten::val linename() const {
return emscripten::val(emscripten::typed_memory_view(10000, reinterpret_cast<char*>(ptr_->linename)));
}
int legendoffset() const {
return ptr_->legendoffset;
}
void set_legendoffset(int value) {
ptr_->legendoffset = value;
}
int subplot() const {
return ptr_->subplot;
}
void set_subplot(int value) {
ptr_->subplot = value;
}
emscripten::val highlight() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->highlight));
}
int highlightid() const {
return ptr_->highlightid;
}
void set_highlightid(int value) {
ptr_->highlightid = value;
}
float selection() const {
return ptr_->selection;
}
void set_selection(float value) {
ptr_->selection = value;
}
emscripten::val linepnt() const {
return emscripten::val(emscripten::typed_memory_view(100, ptr_->linepnt));
}
emscripten::val linedata() const {
return emscripten::val(emscripten::typed_memory_view(200200, reinterpret_cast<float*>(ptr_->linedata)));
}
emscripten::val xaxispixel() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->xaxispixel));
}
emscripten::val yaxispixel() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->yaxispixel));
}
emscripten::val xaxisdata() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->xaxisdata));
}
emscripten::val yaxisdata() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->yaxisdata));
}
private:
mjvFigure* ptr_;
bool owned_ = false;
};
struct MjvGLCamera {
~MjvGLCamera();
MjvGLCamera();
explicit MjvGLCamera(mjvGLCamera *ptr);
MjvGLCamera(const MjvGLCamera &);
MjvGLCamera &operator=(const MjvGLCamera &);
std::unique_ptr<MjvGLCamera> copy();
mjvGLCamera* get() const;
void set(mjvGLCamera* ptr);
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val forward() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->forward));
}
emscripten::val up() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->up));
}
float frustum_center() const {
return ptr_->frustum_center;
}
void set_frustum_center(float value) {
ptr_->frustum_center = value;
}
float frustum_width() const {
return ptr_->frustum_width;
}
void set_frustum_width(float value) {
ptr_->frustum_width = value;
}
float frustum_bottom() const {
return ptr_->frustum_bottom;
}
void set_frustum_bottom(float value) {
ptr_->frustum_bottom = value;
}
float frustum_top() const {
return ptr_->frustum_top;
}
void set_frustum_top(float value) {
ptr_->frustum_top = value;
}
float frustum_near() const {
return ptr_->frustum_near;
}
void set_frustum_near(float value) {
ptr_->frustum_near = value;
}
float frustum_far() const {
return ptr_->frustum_far;
}
void set_frustum_far(float value) {
ptr_->frustum_far = value;
}
int orthographic() const {
return ptr_->orthographic;
}
void set_orthographic(int value) {
ptr_->orthographic = value;
}
private:
mjvGLCamera* ptr_;
bool owned_ = false;
};
struct MjvGeom {
~MjvGeom();
MjvGeom();
explicit MjvGeom(mjvGeom *ptr);
MjvGeom(const MjvGeom &);
MjvGeom &operator=(const MjvGeom &);
std::unique_ptr<MjvGeom> copy();
mjvGeom* get() const;
void set(mjvGeom* ptr);
int type() const {
return ptr_->type;
}
void set_type(int value) {
ptr_->type = value;
}
int dataid() const {
return ptr_->dataid;
}
void set_dataid(int value) {
ptr_->dataid = value;
}
int objtype() const {
return ptr_->objtype;
}
void set_objtype(int value) {
ptr_->objtype = value;
}
int objid() const {
return ptr_->objid;
}
void set_objid(int value) {
ptr_->objid = value;
}
int category() const {
return ptr_->category;
}
void set_category(int value) {
ptr_->category = value;
}
int matid() const {
return ptr_->matid;
}
void set_matid(int value) {
ptr_->matid = value;
}
int texid() const {
return ptr_->texid;
}
void set_texid(int value) {
ptr_->texid = value;
}
int texuniform() const {
return ptr_->texuniform;
}
void set_texuniform(int value) {
ptr_->texuniform = value;
}
int texcoord() const {
return ptr_->texcoord;
}
void set_texcoord(int value) {
ptr_->texcoord = value;
}
int segid() const {
return ptr_->segid;
}
void set_segid(int value) {
ptr_->segid = value;
}
emscripten::val size() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val mat() const {
return emscripten::val(emscripten::typed_memory_view(9, ptr_->mat));
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
float emission() const {
return ptr_->emission;
}
void set_emission(float value) {
ptr_->emission = value;
}
float specular() const {
return ptr_->specular;
}
void set_specular(float value) {
ptr_->specular = value;
}
float shininess() const {
return ptr_->shininess;
}
void set_shininess(float value) {
ptr_->shininess = value;
}
float reflectance() const {
return ptr_->reflectance;
}
void set_reflectance(float value) {
ptr_->reflectance = value;
}
emscripten::val texrepeat() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->texrepeat));
}
emscripten::val label() const {
return emscripten::val(emscripten::typed_memory_view(100, ptr_->label));
}
float camdist() const {
return ptr_->camdist;
}
void set_camdist(float value) {
ptr_->camdist = value;
}
float modelrbound() const {
return ptr_->modelrbound;
}
void set_modelrbound(float value) {
ptr_->modelrbound = value;
}
mjtByte transparent() const {
return ptr_->transparent;
}
void set_transparent(mjtByte value) {
ptr_->transparent = value;
}
private:
mjvGeom* ptr_;
bool owned_ = false;
};
struct MjvLight {
~MjvLight();
MjvLight();
explicit MjvLight(mjvLight *ptr);
MjvLight(const MjvLight &);
MjvLight &operator=(const MjvLight &);
std::unique_ptr<MjvLight> copy();
mjvLight* get() const;
void set(mjvLight* ptr);
int id() const {
return ptr_->id;
}
void set_id(int value) {
ptr_->id = value;
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val dir() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->dir));
}
int type() const {
return ptr_->type;
}
void set_type(int value) {
ptr_->type = value;
}
int texid() const {
return ptr_->texid;
}
void set_texid(int value) {
ptr_->texid = value;
}
emscripten::val attenuation() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->attenuation));
}
float cutoff() const {
return ptr_->cutoff;
}
void set_cutoff(float value) {
ptr_->cutoff = value;
}
float exponent() const {
return ptr_->exponent;
}
void set_exponent(float value) {
ptr_->exponent = value;
}
emscripten::val ambient() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->ambient));
}
emscripten::val diffuse() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->diffuse));
}
emscripten::val specular() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->specular));
}
mjtByte headlight() const {
return ptr_->headlight;
}
void set_headlight(mjtByte value) {
ptr_->headlight = value;
}
mjtByte castshadow() const {
return ptr_->castshadow;
}
void set_castshadow(mjtByte value) {
ptr_->castshadow = value;
}
float bulbradius() const {
return ptr_->bulbradius;
}
void set_bulbradius(float value) {
ptr_->bulbradius = value;
}
float intensity() const {
return ptr_->intensity;
}
void set_intensity(float value) {
ptr_->intensity = value;
}
float range() const {
return ptr_->range;
}
void set_range(float value) {
ptr_->range = value;
}
float softness() const {
return ptr_->softness;
}
void set_softness(float value) {
ptr_->softness = value;
}
private:
mjvLight* ptr_;
bool owned_ = false;
};
struct MjvOption {
~MjvOption();
MjvOption();
explicit MjvOption(mjvOption *ptr);
MjvOption(const MjvOption &);
MjvOption &operator=(const MjvOption &);
std::unique_ptr<MjvOption> copy();
mjvOption* get() const;
void set(mjvOption* ptr);
int label() const {
return ptr_->label;
}
void set_label(int value) {
ptr_->label = value;
}
int frame() const {
return ptr_->frame;
}
void set_frame(int value) {
ptr_->frame = value;
}
emscripten::val geomgroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->geomgroup));
}
emscripten::val sitegroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->sitegroup));
}
emscripten::val jointgroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->jointgroup));
}
emscripten::val tendongroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->tendongroup));
}
emscripten::val actuatorgroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->actuatorgroup));
}
emscripten::val flexgroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->flexgroup));
}
emscripten::val skingroup() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->skingroup));
}
emscripten::val flags() const {
return emscripten::val(emscripten::typed_memory_view(31, ptr_->flags));
}
int bvh_depth() const {
return ptr_->bvh_depth;
}
void set_bvh_depth(int value) {
ptr_->bvh_depth = value;
}
int flex_layer() const {
return ptr_->flex_layer;
}
void set_flex_layer(int value) {
ptr_->flex_layer = value;
}
private:
mjvOption* ptr_;
bool owned_ = false;
};
struct MjvPerturb {
~MjvPerturb();
MjvPerturb();
explicit MjvPerturb(mjvPerturb *ptr);
MjvPerturb(const MjvPerturb &);
MjvPerturb &operator=(const MjvPerturb &);
std::unique_ptr<MjvPerturb> copy();
mjvPerturb* get() const;
void set(mjvPerturb* ptr);
int select() const {
return ptr_->select;
}
void set_select(int value) {
ptr_->select = value;
}
int flexselect() const {
return ptr_->flexselect;
}
void set_flexselect(int value) {
ptr_->flexselect = value;
}
int skinselect() const {
return ptr_->skinselect;
}
void set_skinselect(int value) {
ptr_->skinselect = value;
}
int active() const {
return ptr_->active;
}
void set_active(int value) {
ptr_->active = value;
}
int active2() const {
return ptr_->active2;
}
void set_active2(int value) {
ptr_->active2 = value;
}
emscripten::val refpos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->refpos));
}
emscripten::val refquat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->refquat));
}
emscripten::val refselpos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->refselpos));
}
emscripten::val localpos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->localpos));
}
mjtNum localmass() const {
return ptr_->localmass;
}
void set_localmass(mjtNum value) {
ptr_->localmass = value;
}
mjtNum scale() const {
return ptr_->scale;
}
void set_scale(mjtNum value) {
ptr_->scale = value;
}
private:
mjvPerturb* ptr_;
bool owned_ = false;
};
struct MjsCompiler {
explicit MjsCompiler(mjsCompiler *ptr);
mjsCompiler* get() const;
void set(mjsCompiler* ptr);
mjtBool autolimits() const {
return ptr_->autolimits;
}
void set_autolimits(mjtBool value) {
ptr_->autolimits = value;
}
double boundmass() const {
return ptr_->boundmass;
}
void set_boundmass(double value) {
ptr_->boundmass = value;
}
double boundinertia() const {
return ptr_->boundinertia;
}
void set_boundinertia(double value) {
ptr_->boundinertia = value;
}
double settotalmass() const {
return ptr_->settotalmass;
}
void set_settotalmass(double value) {
ptr_->settotalmass = value;
}
mjtBool balanceinertia() const {
return ptr_->balanceinertia;
}
void set_balanceinertia(mjtBool value) {
ptr_->balanceinertia = value;
}
mjtBool fitaabb() const {
return ptr_->fitaabb;
}
void set_fitaabb(mjtBool value) {
ptr_->fitaabb = value;
}
mjtBool degree() const {
return ptr_->degree;
}
void set_degree(mjtBool value) {
ptr_->degree = value;
}
emscripten::val eulerseq() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->eulerseq));
}
mjtBool discardvisual() const {
return ptr_->discardvisual;
}
void set_discardvisual(mjtBool value) {
ptr_->discardvisual = value;
}
mjtBool usethread() const {
return ptr_->usethread;
}
void set_usethread(mjtBool value) {
ptr_->usethread = value;
}
mjtBool fusestatic() const {
return ptr_->fusestatic;
}
void set_fusestatic(mjtBool value) {
ptr_->fusestatic = value;
}
mjtInertiaFromGeom inertiafromgeom() const {
return ptr_->inertiafromgeom;
}
void set_inertiafromgeom(mjtInertiaFromGeom value) {
ptr_->inertiafromgeom = value;
}
emscripten::val inertiagrouprange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->inertiagrouprange));
}
mjtBool saveinertial() const {
return ptr_->saveinertial;
}
void set_saveinertial(mjtBool value) {
ptr_->saveinertial = value;
}
mjtBool alignfree() const {
return ptr_->alignfree;
}
void set_alignfree(mjtBool value) {
ptr_->alignfree = value;
}
mjtConflict conflict() const {
return ptr_->conflict;
}
void set_conflict(mjtConflict value) {
ptr_->conflict = value;
}
mjString meshdir() const {
return (ptr_ && ptr_->meshdir) ? *(ptr_->meshdir) : "";
}
void set_meshdir(const mjString& value) {
if (ptr_ && ptr_->meshdir) {
*(ptr_->meshdir) = value;
}
}
mjString texturedir() const {
return (ptr_ && ptr_->texturedir) ? *(ptr_->texturedir) : "";
}
void set_texturedir(const mjString& value) {
if (ptr_ && ptr_->texturedir) {
*(ptr_->texturedir) = value;
}
}
uint64_t authored() const {
return ptr_->authored;
}
void set_authored(uint64_t value) {
ptr_->authored = value;
}
private:
mjsCompiler* ptr_;
public:
MjLROpt LRopt;
};
struct MjVisual {
~MjVisual();
MjVisual();
explicit MjVisual(mjVisual *ptr);
MjVisual(const MjVisual &);
MjVisual &operator=(const MjVisual &);
std::unique_ptr<MjVisual> copy();
mjVisual* get() const;
void set(mjVisual* ptr);
private:
mjVisual* ptr_;
bool owned_ = false;
public:
MjVisualGlobal global;
MjVisualQuality quality;
MjVisualHeadlight headlight;
MjVisualMap map;
MjVisualScale scale;
MjVisualRgba rgba;
};
struct MjsEquality {
explicit MjsEquality(mjsEquality *ptr);
mjsEquality* get() const;
void set(mjsEquality* ptr);
mjtEq type() const {
return ptr_->type;
}
void set_type(mjtEq value) {
ptr_->type = value;
}
emscripten::val data() const {
return emscripten::val(emscripten::typed_memory_view(11, ptr_->data));
}
mjtBool active() const {
return ptr_->active;
}
void set_active(mjtBool value) {
ptr_->active = value;
}
mjString name1() const {
return (ptr_ && ptr_->name1) ? *(ptr_->name1) : "";
}
void set_name1(const mjString& value) {
if (ptr_ && ptr_->name1) {
*(ptr_->name1) = value;
}
}
mjString name2() const {
return (ptr_ && ptr_->name2) ? *(ptr_->name2) : "";
}
void set_name2(const mjString& value) {
if (ptr_ && ptr_->name2) {
*(ptr_->name2) = value;
}
}
mjtObj objtype() const {
return ptr_->objtype;
}
void set_objtype(mjtObj value) {
ptr_->objtype = value;
}
emscripten::val solref() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
}
emscripten::val solimp() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsEquality* ptr_;
public:
MjsElement element;
};
struct MjsExclude {
explicit MjsExclude(mjsExclude *ptr);
mjsExclude* get() const;
void set(mjsExclude* ptr);
mjString bodyname1() const {
return (ptr_ && ptr_->bodyname1) ? *(ptr_->bodyname1) : "";
}
void set_bodyname1(const mjString& value) {
if (ptr_ && ptr_->bodyname1) {
*(ptr_->bodyname1) = value;
}
}
mjString bodyname2() const {
return (ptr_ && ptr_->bodyname2) ? *(ptr_->bodyname2) : "";
}
void set_bodyname2(const mjString& value) {
if (ptr_ && ptr_->bodyname2) {
*(ptr_->bodyname2) = value;
}
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsExclude* ptr_;
public:
MjsElement element;
};
struct MjsFlex {
explicit MjsFlex(mjsFlex *ptr);
mjsFlex* get() const;
void set(mjsFlex* ptr);
int contype() const {
return ptr_->contype;
}
void set_contype(int value) {
ptr_->contype = value;
}
int conaffinity() const {
return ptr_->conaffinity;
}
void set_conaffinity(int value) {
ptr_->conaffinity = value;
}
int condim() const {
return ptr_->condim;
}
void set_condim(int value) {
ptr_->condim = value;
}
int priority() const {
return ptr_->priority;
}
void set_priority(int value) {
ptr_->priority = value;
}
emscripten::val friction() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->friction));
}
double solmix() const {
return ptr_->solmix;
}
void set_solmix(double value) {
ptr_->solmix = value;
}
emscripten::val solref() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
}
emscripten::val solimp() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
}
double margin() const {
return ptr_->margin;
}
void set_margin(double value) {
ptr_->margin = value;
}
double gap() const {
return ptr_->gap;
}
void set_gap(double value) {
ptr_->gap = value;
}
int dim() const {
return ptr_->dim;
}
void set_dim(int value) {
ptr_->dim = value;
}
double radius() const {
return ptr_->radius;
}
void set_radius(double value) {
ptr_->radius = value;
}
emscripten::val size() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
}
mjtBool internal() const {
return ptr_->internal;
}
void set_internal(mjtBool value) {
ptr_->internal = value;
}
mjtBool flatskin() const {
return ptr_->flatskin;
}
void set_flatskin(mjtBool value) {
ptr_->flatskin = value;
}
mjtFlexSelf selfcollide() const {
return ptr_->selfcollide;
}
void set_selfcollide(mjtFlexSelf value) {
ptr_->selfcollide = value;
}
int passive() const {
return ptr_->passive;
}
void set_passive(int value) {
ptr_->passive = value;
}
int activelayers() const {
return ptr_->activelayers;
}
void set_activelayers(int value) {
ptr_->activelayers = value;
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
double edgestiffness() const {
return ptr_->edgestiffness;
}
void set_edgestiffness(double value) {
ptr_->edgestiffness = value;
}
double edgedamping() const {
return ptr_->edgedamping;
}
void set_edgedamping(double value) {
ptr_->edgedamping = value;
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
mjString material() const {
return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
}
void set_material(const mjString& value) {
if (ptr_ && ptr_->material) {
*(ptr_->material) = value;
}
}
double young() const {
return ptr_->young;
}
void set_young(double value) {
ptr_->young = value;
}
double poisson() const {
return ptr_->poisson;
}
void set_poisson(double value) {
ptr_->poisson = value;
}
double damping() const {
return ptr_->damping;
}
void set_damping(double value) {
ptr_->damping = value;
}
double thickness() const {
return ptr_->thickness;
}
void set_thickness(double value) {
ptr_->thickness = value;
}
int elastic2d() const {
return ptr_->elastic2d;
}
void set_elastic2d(int value) {
ptr_->elastic2d = value;
}
emscripten::val cellcount() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->cellcount));
}
int order() const {
return ptr_->order;
}
void set_order(int value) {
ptr_->order = value;
}
mjStringVec &nodebody() const {
return *(ptr_->nodebody);
}
mjStringVec &vertbody() const {
return *(ptr_->vertbody);
}
mjDoubleVec &node() const {
return *(ptr_->node);
}
mjDoubleVec &vert() const {
return *(ptr_->vert);
}
mjIntVec &elem() const {
return *(ptr_->elem);
}
mjFloatVec &texcoord() const {
return *(ptr_->texcoord);
}
mjIntVec &elemtexcoord() const {
return *(ptr_->elemtexcoord);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsFlex* ptr_;
public:
MjsElement element;
};
struct MjsHField {
explicit MjsHField(mjsHField *ptr);
mjsHField* get() const;
void set(mjsHField* ptr);
mjString content_type() const {
return (ptr_ && ptr_->content_type) ? *(ptr_->content_type) : "";
}
void set_content_type(const mjString& value) {
if (ptr_ && ptr_->content_type) {
*(ptr_->content_type) = value;
}
}
mjString file() const {
return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
}
void set_file(const mjString& value) {
if (ptr_ && ptr_->file) {
*(ptr_->file) = value;
}
}
emscripten::val size() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->size));
}
int nrow() const {
return ptr_->nrow;
}
void set_nrow(int value) {
ptr_->nrow = value;
}
int ncol() const {
return ptr_->ncol;
}
void set_ncol(int value) {
ptr_->ncol = value;
}
mjFloatVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsHField* ptr_;
public:
MjsElement element;
};
struct MjsJoint {
explicit MjsJoint(mjsJoint *ptr);
mjsJoint* get() const;
void set(mjsJoint* ptr);
mjtJoint type() const {
return ptr_->type;
}
void set_type(mjtJoint value) {
ptr_->type = value;
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val axis() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->axis));
}
double ref() const {
return ptr_->ref;
}
void set_ref(double value) {
ptr_->ref = value;
}
mjtAlignFree align() const {
return ptr_->align;
}
void set_align(mjtAlignFree value) {
ptr_->align = value;
}
emscripten::val stiffness() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->stiffness));
}
double springref() const {
return ptr_->springref;
}
void set_springref(double value) {
ptr_->springref = value;
}
emscripten::val springdamper() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->springdamper));
}
mjtLimited limited() const {
return ptr_->limited;
}
void set_limited(mjtLimited value) {
ptr_->limited = value;
}
emscripten::val range() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->range));
}
double margin() const {
return ptr_->margin;
}
void set_margin(double value) {
ptr_->margin = value;
}
emscripten::val solref_limit() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_limit));
}
emscripten::val solimp_limit() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_limit));
}
mjtLimited actfrclimited() const {
return ptr_->actfrclimited;
}
void set_actfrclimited(mjtLimited value) {
ptr_->actfrclimited = value;
}
emscripten::val actfrcrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->actfrcrange));
}
double armature() const {
return ptr_->armature;
}
void set_armature(double value) {
ptr_->armature = value;
}
emscripten::val damping() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
}
double frictionloss() const {
return ptr_->frictionloss;
}
void set_frictionloss(double value) {
ptr_->frictionloss = value;
}
emscripten::val solref_friction() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_friction));
}
emscripten::val solimp_friction() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_friction));
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
mjtBool actgravcomp() const {
return ptr_->actgravcomp;
}
void set_actgravcomp(mjtBool value) {
ptr_->actgravcomp = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsJoint* ptr_;
public:
MjsElement element;
};
struct MjsKey {
explicit MjsKey(mjsKey *ptr);
mjsKey* get() const;
void set(mjsKey* ptr);
double time() const {
return ptr_->time;
}
void set_time(double value) {
ptr_->time = value;
}
mjDoubleVec &qpos() const {
return *(ptr_->qpos);
}
mjDoubleVec &qvel() const {
return *(ptr_->qvel);
}
mjDoubleVec &act() const {
return *(ptr_->act);
}
mjDoubleVec &mpos() const {
return *(ptr_->mpos);
}
mjDoubleVec &mquat() const {
return *(ptr_->mquat);
}
mjDoubleVec &ctrl() const {
return *(ptr_->ctrl);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsKey* ptr_;
public:
MjsElement element;
};
struct MjsLight {
explicit MjsLight(mjsLight *ptr);
mjsLight* get() const;
void set(mjsLight* ptr);
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val dir() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->dir));
}
mjtCamLight mode() const {
return ptr_->mode;
}
void set_mode(mjtCamLight value) {
ptr_->mode = value;
}
mjString targetbody() const {
return (ptr_ && ptr_->targetbody) ? *(ptr_->targetbody) : "";
}
void set_targetbody(const mjString& value) {
if (ptr_ && ptr_->targetbody) {
*(ptr_->targetbody) = value;
}
}
mjtBool active() const {
return ptr_->active;
}
void set_active(mjtBool value) {
ptr_->active = value;
}
mjtLightType type() const {
return ptr_->type;
}
void set_type(mjtLightType value) {
ptr_->type = value;
}
mjString texture() const {
return (ptr_ && ptr_->texture) ? *(ptr_->texture) : "";
}
void set_texture(const mjString& value) {
if (ptr_ && ptr_->texture) {
*(ptr_->texture) = value;
}
}
mjtBool castshadow() const {
return ptr_->castshadow;
}
void set_castshadow(mjtBool value) {
ptr_->castshadow = value;
}
float bulbradius() const {
return ptr_->bulbradius;
}
void set_bulbradius(float value) {
ptr_->bulbradius = value;
}
float intensity() const {
return ptr_->intensity;
}
void set_intensity(float value) {
ptr_->intensity = value;
}
float range() const {
return ptr_->range;
}
void set_range(float value) {
ptr_->range = value;
}
emscripten::val attenuation() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->attenuation));
}
float cutoff() const {
return ptr_->cutoff;
}
void set_cutoff(float value) {
ptr_->cutoff = value;
}
float softness() const {
return ptr_->softness;
}
void set_softness(float value) {
ptr_->softness = value;
}
float exponent() const {
return ptr_->exponent;
}
void set_exponent(float value) {
ptr_->exponent = value;
}
emscripten::val ambient() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->ambient));
}
emscripten::val diffuse() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->diffuse));
}
emscripten::val specular() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->specular));
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsLight* ptr_;
public:
MjsElement element;
};
struct MjsMaterial {
explicit MjsMaterial(mjsMaterial *ptr);
mjsMaterial* get() const;
void set(mjsMaterial* ptr);
mjStringVec &textures() const {
return *(ptr_->textures);
}
mjtBool texuniform() const {
return ptr_->texuniform;
}
void set_texuniform(mjtBool value) {
ptr_->texuniform = value;
}
emscripten::val texrepeat() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->texrepeat));
}
float emission() const {
return ptr_->emission;
}
void set_emission(float value) {
ptr_->emission = value;
}
float specular() const {
return ptr_->specular;
}
void set_specular(float value) {
ptr_->specular = value;
}
float shininess() const {
return ptr_->shininess;
}
void set_shininess(float value) {
ptr_->shininess = value;
}
float reflectance() const {
return ptr_->reflectance;
}
void set_reflectance(float value) {
ptr_->reflectance = value;
}
float metallic() const {
return ptr_->metallic;
}
void set_metallic(float value) {
ptr_->metallic = value;
}
float roughness() const {
return ptr_->roughness;
}
void set_roughness(float value) {
ptr_->roughness = value;
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsMaterial* ptr_;
public:
MjsElement element;
};
struct MjsNumeric {
explicit MjsNumeric(mjsNumeric *ptr);
mjsNumeric* get() const;
void set(mjsNumeric* ptr);
mjDoubleVec &data() const {
return *(ptr_->data);
}
int size() const {
return ptr_->size;
}
void set_size(int value) {
ptr_->size = value;
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsNumeric* ptr_;
public:
MjsElement element;
};
struct MjsPair {
explicit MjsPair(mjsPair *ptr);
mjsPair* get() const;
void set(mjsPair* ptr);
mjString geomname1() const {
return (ptr_ && ptr_->geomname1) ? *(ptr_->geomname1) : "";
}
void set_geomname1(const mjString& value) {
if (ptr_ && ptr_->geomname1) {
*(ptr_->geomname1) = value;
}
}
mjString geomname2() const {
return (ptr_ && ptr_->geomname2) ? *(ptr_->geomname2) : "";
}
void set_geomname2(const mjString& value) {
if (ptr_ && ptr_->geomname2) {
*(ptr_->geomname2) = value;
}
}
int condim() const {
return ptr_->condim;
}
void set_condim(int value) {
ptr_->condim = value;
}
emscripten::val solref() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
}
emscripten::val solreffriction() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solreffriction));
}
emscripten::val solimp() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
}
double margin() const {
return ptr_->margin;
}
void set_margin(double value) {
ptr_->margin = value;
}
double gap() const {
return ptr_->gap;
}
void set_gap(double value) {
ptr_->gap = value;
}
double adhesion() const {
return ptr_->adhesion;
}
void set_adhesion(double value) {
ptr_->adhesion = value;
}
emscripten::val friction() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->friction));
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsPair* ptr_;
public:
MjsElement element;
};
struct MjsPlugin {
explicit MjsPlugin(mjsPlugin *ptr);
mjsPlugin* get() const;
void set(mjsPlugin* ptr);
mjString name() const {
return (ptr_ && ptr_->name) ? *(ptr_->name) : "";
}
void set_name(const mjString& value) {
if (ptr_ && ptr_->name) {
*(ptr_->name) = value;
}
}
mjString plugin_name() const {
return (ptr_ && ptr_->plugin_name) ? *(ptr_->plugin_name) : "";
}
void set_plugin_name(const mjString& value) {
if (ptr_ && ptr_->plugin_name) {
*(ptr_->plugin_name) = value;
}
}
mjtBool active() const {
return ptr_->active;
}
void set_active(mjtBool value) {
ptr_->active = value;
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsPlugin* ptr_;
public:
MjsElement element;
};
struct MjsSkin {
explicit MjsSkin(mjsSkin *ptr);
mjsSkin* get() const;
void set(mjsSkin* ptr);
mjString file() const {
return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
}
void set_file(const mjString& value) {
if (ptr_ && ptr_->file) {
*(ptr_->file) = value;
}
}
mjString material() const {
return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
}
void set_material(const mjString& value) {
if (ptr_ && ptr_->material) {
*(ptr_->material) = value;
}
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
float inflate() const {
return ptr_->inflate;
}
void set_inflate(float value) {
ptr_->inflate = value;
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
mjFloatVec &vert() const {
return *(ptr_->vert);
}
mjFloatVec &texcoord() const {
return *(ptr_->texcoord);
}
mjIntVec &face() const {
return *(ptr_->face);
}
mjStringVec &bodyname() const {
return *(ptr_->bodyname);
}
mjFloatVec &bindpos() const {
return *(ptr_->bindpos);
}
mjFloatVec &bindquat() const {
return *(ptr_->bindquat);
}
mjIntVecVec &vertid() const {
return *(ptr_->vertid);
}
mjFloatVecVec &vertweight() const {
return *(ptr_->vertweight);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsSkin* ptr_;
public:
MjsElement element;
};
struct MjsTendon {
explicit MjsTendon(mjsTendon *ptr);
mjsTendon* get() const;
void set(mjsTendon* ptr);
emscripten::val stiffness() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->stiffness));
}
emscripten::val springlength() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->springlength));
}
emscripten::val damping() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
}
double frictionloss() const {
return ptr_->frictionloss;
}
void set_frictionloss(double value) {
ptr_->frictionloss = value;
}
emscripten::val solref_friction() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_friction));
}
emscripten::val solimp_friction() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_friction));
}
double armature() const {
return ptr_->armature;
}
void set_armature(double value) {
ptr_->armature = value;
}
mjtLimited limited() const {
return ptr_->limited;
}
void set_limited(mjtLimited value) {
ptr_->limited = value;
}
mjtLimited actfrclimited() const {
return ptr_->actfrclimited;
}
void set_actfrclimited(mjtLimited value) {
ptr_->actfrclimited = value;
}
emscripten::val range() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->range));
}
emscripten::val actfrcrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->actfrcrange));
}
double margin() const {
return ptr_->margin;
}
void set_margin(double value) {
ptr_->margin = value;
}
emscripten::val solref_limit() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_limit));
}
emscripten::val solimp_limit() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_limit));
}
mjString material() const {
return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
}
void set_material(const mjString& value) {
if (ptr_ && ptr_->material) {
*(ptr_->material) = value;
}
}
double width() const {
return ptr_->width;
}
void set_width(double value) {
ptr_->width = value;
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsTendon* ptr_;
public:
MjsElement element;
};
struct MjsText {
explicit MjsText(mjsText *ptr);
mjsText* get() const;
void set(mjsText* ptr);
mjString data() const {
return (ptr_ && ptr_->data) ? *(ptr_->data) : "";
}
void set_data(const mjString& value) {
if (ptr_ && ptr_->data) {
*(ptr_->data) = value;
}
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsText* ptr_;
public:
MjsElement element;
};
struct MjsTexture {
explicit MjsTexture(mjsTexture *ptr);
mjsTexture* get() const;
void set(mjsTexture* ptr);
mjtTexture type() const {
return ptr_->type;
}
void set_type(mjtTexture value) {
ptr_->type = value;
}
mjtColorSpace colorspace() const {
return ptr_->colorspace;
}
void set_colorspace(mjtColorSpace value) {
ptr_->colorspace = value;
}
mjtBuiltin builtin() const {
return ptr_->builtin;
}
void set_builtin(mjtBuiltin value) {
ptr_->builtin = value;
}
mjtMark mark() const {
return ptr_->mark;
}
void set_mark(mjtMark value) {
ptr_->mark = value;
}
emscripten::val rgb1() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->rgb1));
}
emscripten::val rgb2() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->rgb2));
}
emscripten::val markrgb() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->markrgb));
}
double random() const {
return ptr_->random;
}
void set_random(double value) {
ptr_->random = value;
}
int height() const {
return ptr_->height;
}
void set_height(int value) {
ptr_->height = value;
}
int width() const {
return ptr_->width;
}
void set_width(int value) {
ptr_->width = value;
}
int nchannel() const {
return ptr_->nchannel;
}
void set_nchannel(int value) {
ptr_->nchannel = value;
}
mjString content_type() const {
return (ptr_ && ptr_->content_type) ? *(ptr_->content_type) : "";
}
void set_content_type(const mjString& value) {
if (ptr_ && ptr_->content_type) {
*(ptr_->content_type) = value;
}
}
mjString file() const {
return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
}
void set_file(const mjString& value) {
if (ptr_ && ptr_->file) {
*(ptr_->file) = value;
}
}
emscripten::val gridsize() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->gridsize));
}
emscripten::val gridlayout() const {
return emscripten::val(emscripten::typed_memory_view(12, ptr_->gridlayout));
}
mjStringVec &cubefiles() const {
return *(ptr_->cubefiles);
}
std::vector<uint8_t> &data() const {
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->data));
}
mjtBool hflip() const {
return ptr_->hflip;
}
void set_hflip(mjtBool value) {
ptr_->hflip = value;
}
mjtBool vflip() const {
return ptr_->vflip;
}
void set_vflip(mjtBool value) {
ptr_->vflip = value;
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsTexture* ptr_;
public:
MjsElement element;
};
struct MjsTuple {
explicit MjsTuple(mjsTuple *ptr);
mjsTuple* get() const;
void set(mjsTuple* ptr);
mjIntVec &objtype() const {
return *(ptr_->objtype);
}
mjStringVec &objname() const {
return *(ptr_->objname);
}
mjDoubleVec &objprm() const {
return *(ptr_->objprm);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsTuple* ptr_;
public:
MjsElement element;
};
struct MjsWrap {
explicit MjsWrap(mjsWrap *ptr);
mjsWrap* get() const;
void set(mjsWrap* ptr);
mjtWrap type() const {
return ptr_->type;
}
void set_type(mjtWrap value) {
ptr_->type = value;
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsWrap* ptr_;
public:
MjsElement element;
};
struct MjsCamera {
explicit MjsCamera(mjsCamera *ptr);
mjsCamera* get() const;
void set(mjsCamera* ptr);
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val quat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
}
mjtCamLight mode() const {
return ptr_->mode;
}
void set_mode(mjtCamLight value) {
ptr_->mode = value;
}
mjString targetbody() const {
return (ptr_ && ptr_->targetbody) ? *(ptr_->targetbody) : "";
}
void set_targetbody(const mjString& value) {
if (ptr_ && ptr_->targetbody) {
*(ptr_->targetbody) = value;
}
}
mjtProjection proj() const {
return ptr_->proj;
}
void set_proj(mjtProjection value) {
ptr_->proj = value;
}
emscripten::val resolution() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->resolution));
}
int output() const {
return ptr_->output;
}
void set_output(int value) {
ptr_->output = value;
}
double fovy() const {
return ptr_->fovy;
}
void set_fovy(double value) {
ptr_->fovy = value;
}
double ipd() const {
return ptr_->ipd;
}
void set_ipd(double value) {
ptr_->ipd = value;
}
emscripten::val intrinsic() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->intrinsic));
}
emscripten::val sensor_size() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->sensor_size));
}
emscripten::val focal_length() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->focal_length));
}
emscripten::val focal_pixel() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->focal_pixel));
}
emscripten::val principal_length() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->principal_length));
}
emscripten::val principal_pixel() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->principal_pixel));
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsCamera* ptr_;
public:
MjsElement element;
MjsOrientation alt;
};
struct MjsFrame {
explicit MjsFrame(mjsFrame *ptr);
mjsFrame* get() const;
void set(mjsFrame* ptr);
mjString childclass() const {
return (ptr_ && ptr_->childclass) ? *(ptr_->childclass) : "";
}
void set_childclass(const mjString& value) {
if (ptr_ && ptr_->childclass) {
*(ptr_->childclass) = value;
}
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val quat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsFrame* ptr_;
public:
MjsElement element;
MjsOrientation alt;
};
struct MjsSite {
explicit MjsSite(mjsSite *ptr);
mjsSite* get() const;
void set(mjsSite* ptr);
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val quat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
}
emscripten::val fromto() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->fromto));
}
emscripten::val size() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
}
mjtGeom type() const {
return ptr_->type;
}
void set_type(mjtGeom value) {
ptr_->type = value;
}
mjString material() const {
return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
}
void set_material(const mjString& value) {
if (ptr_ && ptr_->material) {
*(ptr_->material) = value;
}
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsSite* ptr_;
public:
MjsElement element;
MjsOrientation alt;
};
struct MjModel {
~MjModel();
explicit MjModel(mjModel *ptr);
MjModel(const MjModel &);
std::unique_ptr<MjModel> copy();
mjModel* get() const;
void set(mjModel* ptr);
int nq() const {
return static_cast<int>(ptr_->nq);
}
void set_nq(int value) {
ptr_->nq = static_cast<mjtSize>(value);
}
int nv() const {
return static_cast<int>(ptr_->nv);
}
void set_nv(int value) {
ptr_->nv = static_cast<mjtSize>(value);
}
int nu() const {
return static_cast<int>(ptr_->nu);
}
void set_nu(int value) {
ptr_->nu = static_cast<mjtSize>(value);
}
int nactuator() const {
return static_cast<int>(ptr_->nactuator);
}
void set_nactuator(int value) {
ptr_->nactuator = static_cast<mjtSize>(value);
}
int nout() const {
return static_cast<int>(ptr_->nout);
}
void set_nout(int value) {
ptr_->nout = static_cast<mjtSize>(value);
}
int na() const {
return static_cast<int>(ptr_->na);
}
void set_na(int value) {
ptr_->na = static_cast<mjtSize>(value);
}
int nbody() const {
return static_cast<int>(ptr_->nbody);
}
void set_nbody(int value) {
ptr_->nbody = static_cast<mjtSize>(value);
}
int nbvh() const {
return static_cast<int>(ptr_->nbvh);
}
void set_nbvh(int value) {
ptr_->nbvh = static_cast<mjtSize>(value);
}
int nbvhstatic() const {
return static_cast<int>(ptr_->nbvhstatic);
}
void set_nbvhstatic(int value) {
ptr_->nbvhstatic = static_cast<mjtSize>(value);
}
int nbvhdynamic() const {
return static_cast<int>(ptr_->nbvhdynamic);
}
void set_nbvhdynamic(int value) {
ptr_->nbvhdynamic = static_cast<mjtSize>(value);
}
int noct() const {
return static_cast<int>(ptr_->noct);
}
void set_noct(int value) {
ptr_->noct = static_cast<mjtSize>(value);
}
int njnt() const {
return static_cast<int>(ptr_->njnt);
}
void set_njnt(int value) {
ptr_->njnt = static_cast<mjtSize>(value);
}
int ntree() const {
return static_cast<int>(ptr_->ntree);
}
void set_ntree(int value) {
ptr_->ntree = static_cast<mjtSize>(value);
}
int nM() const {
return static_cast<int>(ptr_->nM);
}
void set_nM(int value) {
ptr_->nM = static_cast<mjtSize>(value);
}
int nB() const {
return static_cast<int>(ptr_->nB);
}
void set_nB(int value) {
ptr_->nB = static_cast<mjtSize>(value);
}
int nC() const {
return static_cast<int>(ptr_->nC);
}
void set_nC(int value) {
ptr_->nC = static_cast<mjtSize>(value);
}
int nD() const {
return static_cast<int>(ptr_->nD);
}
void set_nD(int value) {
ptr_->nD = static_cast<mjtSize>(value);
}
int ngeom() const {
return static_cast<int>(ptr_->ngeom);
}
void set_ngeom(int value) {
ptr_->ngeom = static_cast<mjtSize>(value);
}
int nsite() const {
return static_cast<int>(ptr_->nsite);
}
void set_nsite(int value) {
ptr_->nsite = static_cast<mjtSize>(value);
}
int ncam() const {
return static_cast<int>(ptr_->ncam);
}
void set_ncam(int value) {
ptr_->ncam = static_cast<mjtSize>(value);
}
int nlight() const {
return static_cast<int>(ptr_->nlight);
}
void set_nlight(int value) {
ptr_->nlight = static_cast<mjtSize>(value);
}
int nflex() const {
return static_cast<int>(ptr_->nflex);
}
void set_nflex(int value) {
ptr_->nflex = static_cast<mjtSize>(value);
}
int nflexnode() const {
return static_cast<int>(ptr_->nflexnode);
}
void set_nflexnode(int value) {
ptr_->nflexnode = static_cast<mjtSize>(value);
}
int nflexvert() const {
return static_cast<int>(ptr_->nflexvert);
}
void set_nflexvert(int value) {
ptr_->nflexvert = static_cast<mjtSize>(value);
}
int nflexedge() const {
return static_cast<int>(ptr_->nflexedge);
}
void set_nflexedge(int value) {
ptr_->nflexedge = static_cast<mjtSize>(value);
}
int nflexelem() const {
return static_cast<int>(ptr_->nflexelem);
}
void set_nflexelem(int value) {
ptr_->nflexelem = static_cast<mjtSize>(value);
}
int nflexelemdata() const {
return static_cast<int>(ptr_->nflexelemdata);
}
void set_nflexelemdata(int value) {
ptr_->nflexelemdata = static_cast<mjtSize>(value);
}
int nflexstiffness() const {
return static_cast<int>(ptr_->nflexstiffness);
}
void set_nflexstiffness(int value) {
ptr_->nflexstiffness = static_cast<mjtSize>(value);
}
int nflexbending() const {
return static_cast<int>(ptr_->nflexbending);
}
void set_nflexbending(int value) {
ptr_->nflexbending = static_cast<mjtSize>(value);
}
int nefm0dof() const {
return static_cast<int>(ptr_->nefm0dof);
}
void set_nefm0dof(int value) {
ptr_->nefm0dof = static_cast<mjtSize>(value);
}
int nefm0L() const {
return static_cast<int>(ptr_->nefm0L);
}
void set_nefm0L(int value) {
ptr_->nefm0L = static_cast<mjtSize>(value);
}
int nflexelemedge() const {
return static_cast<int>(ptr_->nflexelemedge);
}
void set_nflexelemedge(int value) {
ptr_->nflexelemedge = static_cast<mjtSize>(value);
}
int nflexshelldata() const {
return static_cast<int>(ptr_->nflexshelldata);
}
void set_nflexshelldata(int value) {
ptr_->nflexshelldata = static_cast<mjtSize>(value);
}
int nflexevpair() const {
return static_cast<int>(ptr_->nflexevpair);
}
void set_nflexevpair(int value) {
ptr_->nflexevpair = static_cast<mjtSize>(value);
}
int nflextexcoord() const {
return static_cast<int>(ptr_->nflextexcoord);
}
void set_nflextexcoord(int value) {
ptr_->nflextexcoord = static_cast<mjtSize>(value);
}
int nJfe() const {
return static_cast<int>(ptr_->nJfe);
}
void set_nJfe(int value) {
ptr_->nJfe = static_cast<mjtSize>(value);
}
int nJfv() const {
return static_cast<int>(ptr_->nJfv);
}
void set_nJfv(int value) {
ptr_->nJfv = static_cast<mjtSize>(value);
}
int nmesh() const {
return static_cast<int>(ptr_->nmesh);
}
void set_nmesh(int value) {
ptr_->nmesh = static_cast<mjtSize>(value);
}
int nmeshvert() const {
return static_cast<int>(ptr_->nmeshvert);
}
void set_nmeshvert(int value) {
ptr_->nmeshvert = static_cast<mjtSize>(value);
}
int nmeshnormal() const {
return static_cast<int>(ptr_->nmeshnormal);
}
void set_nmeshnormal(int value) {
ptr_->nmeshnormal = static_cast<mjtSize>(value);
}
int nmeshtexcoord() const {
return static_cast<int>(ptr_->nmeshtexcoord);
}
void set_nmeshtexcoord(int value) {
ptr_->nmeshtexcoord = static_cast<mjtSize>(value);
}
int nmeshface() const {
return static_cast<int>(ptr_->nmeshface);
}
void set_nmeshface(int value) {
ptr_->nmeshface = static_cast<mjtSize>(value);
}
int nmeshgraph() const {
return static_cast<int>(ptr_->nmeshgraph);
}
void set_nmeshgraph(int value) {
ptr_->nmeshgraph = static_cast<mjtSize>(value);
}
int nmeshpoly() const {
return static_cast<int>(ptr_->nmeshpoly);
}
void set_nmeshpoly(int value) {
ptr_->nmeshpoly = static_cast<mjtSize>(value);
}
int nmeshpolyvert() const {
return static_cast<int>(ptr_->nmeshpolyvert);
}
void set_nmeshpolyvert(int value) {
ptr_->nmeshpolyvert = static_cast<mjtSize>(value);
}
int nmeshpolymap() const {
return static_cast<int>(ptr_->nmeshpolymap);
}
void set_nmeshpolymap(int value) {
ptr_->nmeshpolymap = static_cast<mjtSize>(value);
}
int nskin() const {
return static_cast<int>(ptr_->nskin);
}
void set_nskin(int value) {
ptr_->nskin = static_cast<mjtSize>(value);
}
int nskinvert() const {
return static_cast<int>(ptr_->nskinvert);
}
void set_nskinvert(int value) {
ptr_->nskinvert = static_cast<mjtSize>(value);
}
int nskintexvert() const {
return static_cast<int>(ptr_->nskintexvert);
}
void set_nskintexvert(int value) {
ptr_->nskintexvert = static_cast<mjtSize>(value);
}
int nskinface() const {
return static_cast<int>(ptr_->nskinface);
}
void set_nskinface(int value) {
ptr_->nskinface = static_cast<mjtSize>(value);
}
int nskinbone() const {
return static_cast<int>(ptr_->nskinbone);
}
void set_nskinbone(int value) {
ptr_->nskinbone = static_cast<mjtSize>(value);
}
int nskinbonevert() const {
return static_cast<int>(ptr_->nskinbonevert);
}
void set_nskinbonevert(int value) {
ptr_->nskinbonevert = static_cast<mjtSize>(value);
}
int nhfield() const {
return static_cast<int>(ptr_->nhfield);
}
void set_nhfield(int value) {
ptr_->nhfield = static_cast<mjtSize>(value);
}
int nhfielddata() const {
return static_cast<int>(ptr_->nhfielddata);
}
void set_nhfielddata(int value) {
ptr_->nhfielddata = static_cast<mjtSize>(value);
}
int ntex() const {
return static_cast<int>(ptr_->ntex);
}
void set_ntex(int value) {
ptr_->ntex = static_cast<mjtSize>(value);
}
int ntexdata() const {
return static_cast<int>(ptr_->ntexdata);
}
void set_ntexdata(int value) {
ptr_->ntexdata = static_cast<mjtSize>(value);
}
int nmat() const {
return static_cast<int>(ptr_->nmat);
}
void set_nmat(int value) {
ptr_->nmat = static_cast<mjtSize>(value);
}
int npair() const {
return static_cast<int>(ptr_->npair);
}
void set_npair(int value) {
ptr_->npair = static_cast<mjtSize>(value);
}
int nexclude() const {
return static_cast<int>(ptr_->nexclude);
}
void set_nexclude(int value) {
ptr_->nexclude = static_cast<mjtSize>(value);
}
int neq() const {
return static_cast<int>(ptr_->neq);
}
void set_neq(int value) {
ptr_->neq = static_cast<mjtSize>(value);
}
int ntendon() const {
return static_cast<int>(ptr_->ntendon);
}
void set_ntendon(int value) {
ptr_->ntendon = static_cast<mjtSize>(value);
}
int nJten() const {
return static_cast<int>(ptr_->nJten);
}
void set_nJten(int value) {
ptr_->nJten = static_cast<mjtSize>(value);
}
int nwrap() const {
return static_cast<int>(ptr_->nwrap);
}
void set_nwrap(int value) {
ptr_->nwrap = static_cast<mjtSize>(value);
}
int nsensor() const {
return static_cast<int>(ptr_->nsensor);
}
void set_nsensor(int value) {
ptr_->nsensor = static_cast<mjtSize>(value);
}
int nnumeric() const {
return static_cast<int>(ptr_->nnumeric);
}
void set_nnumeric(int value) {
ptr_->nnumeric = static_cast<mjtSize>(value);
}
int nnumericdata() const {
return static_cast<int>(ptr_->nnumericdata);
}
void set_nnumericdata(int value) {
ptr_->nnumericdata = static_cast<mjtSize>(value);
}
int ntext() const {
return static_cast<int>(ptr_->ntext);
}
void set_ntext(int value) {
ptr_->ntext = static_cast<mjtSize>(value);
}
int ntextdata() const {
return static_cast<int>(ptr_->ntextdata);
}
void set_ntextdata(int value) {
ptr_->ntextdata = static_cast<mjtSize>(value);
}
int ntuple() const {
return static_cast<int>(ptr_->ntuple);
}
void set_ntuple(int value) {
ptr_->ntuple = static_cast<mjtSize>(value);
}
int ntupledata() const {
return static_cast<int>(ptr_->ntupledata);
}
void set_ntupledata(int value) {
ptr_->ntupledata = static_cast<mjtSize>(value);
}
int nkey() const {
return static_cast<int>(ptr_->nkey);
}
void set_nkey(int value) {
ptr_->nkey = static_cast<mjtSize>(value);
}
int nmocap() const {
return static_cast<int>(ptr_->nmocap);
}
void set_nmocap(int value) {
ptr_->nmocap = static_cast<mjtSize>(value);
}
int nplugin() const {
return static_cast<int>(ptr_->nplugin);
}
void set_nplugin(int value) {
ptr_->nplugin = static_cast<mjtSize>(value);
}
int npluginattr() const {
return static_cast<int>(ptr_->npluginattr);
}
void set_npluginattr(int value) {
ptr_->npluginattr = static_cast<mjtSize>(value);
}
int nuser_body() const {
return static_cast<int>(ptr_->nuser_body);
}
void set_nuser_body(int value) {
ptr_->nuser_body = static_cast<mjtSize>(value);
}
int nuser_jnt() const {
return static_cast<int>(ptr_->nuser_jnt);
}
void set_nuser_jnt(int value) {
ptr_->nuser_jnt = static_cast<mjtSize>(value);
}
int nuser_geom() const {
return static_cast<int>(ptr_->nuser_geom);
}
void set_nuser_geom(int value) {
ptr_->nuser_geom = static_cast<mjtSize>(value);
}
int nuser_site() const {
return static_cast<int>(ptr_->nuser_site);
}
void set_nuser_site(int value) {
ptr_->nuser_site = static_cast<mjtSize>(value);
}
int nuser_cam() const {
return static_cast<int>(ptr_->nuser_cam);
}
void set_nuser_cam(int value) {
ptr_->nuser_cam = static_cast<mjtSize>(value);
}
int nuser_tendon() const {
return static_cast<int>(ptr_->nuser_tendon);
}
void set_nuser_tendon(int value) {
ptr_->nuser_tendon = static_cast<mjtSize>(value);
}
int nuser_actuator() const {
return static_cast<int>(ptr_->nuser_actuator);
}
void set_nuser_actuator(int value) {
ptr_->nuser_actuator = static_cast<mjtSize>(value);
}
int nuser_sensor() const {
return static_cast<int>(ptr_->nuser_sensor);
}
void set_nuser_sensor(int value) {
ptr_->nuser_sensor = static_cast<mjtSize>(value);
}
int nnames() const {
return static_cast<int>(ptr_->nnames);
}
void set_nnames(int value) {
ptr_->nnames = static_cast<mjtSize>(value);
}
int npaths() const {
return static_cast<int>(ptr_->npaths);
}
void set_npaths(int value) {
ptr_->npaths = static_cast<mjtSize>(value);
}
int nnames_map() const {
return static_cast<int>(ptr_->nnames_map);
}
void set_nnames_map(int value) {
ptr_->nnames_map = static_cast<mjtSize>(value);
}
int nJmom() const {
return static_cast<int>(ptr_->nJmom);
}
void set_nJmom(int value) {
ptr_->nJmom = static_cast<mjtSize>(value);
}
int ngravcomp() const {
return static_cast<int>(ptr_->ngravcomp);
}
void set_ngravcomp(int value) {
ptr_->ngravcomp = static_cast<mjtSize>(value);
}
int nemax() const {
return static_cast<int>(ptr_->nemax);
}
void set_nemax(int value) {
ptr_->nemax = static_cast<mjtSize>(value);
}
int njmax() const {
return static_cast<int>(ptr_->njmax);
}
void set_njmax(int value) {
ptr_->njmax = static_cast<mjtSize>(value);
}
int nconmax() const {
return static_cast<int>(ptr_->nconmax);
}
void set_nconmax(int value) {
ptr_->nconmax = static_cast<mjtSize>(value);
}
int npolygonmax() const {
return static_cast<int>(ptr_->npolygonmax);
}
void set_npolygonmax(int value) {
ptr_->npolygonmax = static_cast<mjtSize>(value);
}
int nmeshdegmax() const {
return static_cast<int>(ptr_->nmeshdegmax);
}
void set_nmeshdegmax(int value) {
ptr_->nmeshdegmax = static_cast<mjtSize>(value);
}
int nuserdata() const {
return static_cast<int>(ptr_->nuserdata);
}
void set_nuserdata(int value) {
ptr_->nuserdata = static_cast<mjtSize>(value);
}
int nsensordata() const {
return static_cast<int>(ptr_->nsensordata);
}
void set_nsensordata(int value) {
ptr_->nsensordata = static_cast<mjtSize>(value);
}
int npluginstate() const {
return static_cast<int>(ptr_->npluginstate);
}
void set_npluginstate(int value) {
ptr_->npluginstate = static_cast<mjtSize>(value);
}
int nhistory() const {
return static_cast<int>(ptr_->nhistory);
}
void set_nhistory(int value) {
ptr_->nhistory = static_cast<mjtSize>(value);
}
int narena() const {
return static_cast<int>(ptr_->narena);
}
void set_narena(int value) {
ptr_->narena = static_cast<mjtSize>(value);
}
int nbuffer() const {
return static_cast<int>(ptr_->nbuffer);
}
void set_nbuffer(int value) {
ptr_->nbuffer = static_cast<mjtSize>(value);
}
mjtBool flg_gravcomp() const {
return ptr_->flg_gravcomp;
}
void set_flg_gravcomp(mjtBool value) {
ptr_->flg_gravcomp = value;
}
mjtBool flg_surfacevel() const {
return ptr_->flg_surfacevel;
}
void set_flg_surfacevel(mjtBool value) {
ptr_->flg_surfacevel = value;
}
mjtBool flg_adhesion() const {
return ptr_->flg_adhesion;
}
void set_flg_adhesion(mjtBool value) {
ptr_->flg_adhesion = value;
}
emscripten::val buffer() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
}
emscripten::val qpos0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nq, ptr_->qpos0));
}
emscripten::val qpos_spring() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nq, ptr_->qpos_spring));
}
emscripten::val body_parentid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_parentid));
}
emscripten::val body_rootid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_rootid));
}
emscripten::val body_weldid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_weldid));
}
emscripten::val body_mocapid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_mocapid));
}
emscripten::val body_jntnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_jntnum));
}
emscripten::val body_jntadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_jntadr));
}
emscripten::val body_dofnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_dofnum));
}
emscripten::val body_dofadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_dofadr));
}
emscripten::val body_treeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_treeid));
}
emscripten::val body_geomnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_geomnum));
}
emscripten::val body_geomadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_geomadr));
}
emscripten::val body_simple() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_simple));
}
emscripten::val body_sameframe() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_sameframe));
}
emscripten::val body_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 3, ptr_->body_pos));
}
emscripten::val body_quat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 4, ptr_->body_quat));
}
emscripten::val body_ipos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 3, ptr_->body_ipos));
}
emscripten::val body_iquat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 4, ptr_->body_iquat));
}
emscripten::val body_mass() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_mass));
}
emscripten::val body_subtreemass() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_subtreemass));
}
emscripten::val body_inertia() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 3, ptr_->body_inertia));
}
emscripten::val body_invweight0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 2, ptr_->body_invweight0));
}
emscripten::val body_gravcomp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_gravcomp));
}
emscripten::val body_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_margin));
}
emscripten::val body_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * ptr_->nuser_body, ptr_->body_user));
}
emscripten::val body_plugin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_plugin));
}
emscripten::val body_contype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_contype));
}
emscripten::val body_conaffinity() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_conaffinity));
}
emscripten::val body_bvhadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_bvhadr));
}
emscripten::val body_bvhnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_bvhnum));
}
emscripten::val bvh_depth() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbvh, ptr_->bvh_depth));
}
emscripten::val bvh_child() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbvh * 2, ptr_->bvh_child));
}
emscripten::val bvh_nodeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbvh, ptr_->bvh_nodeid));
}
emscripten::val bvh_aabb() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbvhstatic * 6, ptr_->bvh_aabb));
}
emscripten::val oct_depth() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->noct, ptr_->oct_depth));
}
emscripten::val oct_child() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->noct * 8, ptr_->oct_child));
}
emscripten::val oct_aabb() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->noct * 6, ptr_->oct_aabb));
}
emscripten::val oct_coeff() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->noct * 8, ptr_->oct_coeff));
}
emscripten::val jnt_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_type));
}
emscripten::val jnt_qposadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_qposadr));
}
emscripten::val jnt_dofadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_dofadr));
}
emscripten::val jnt_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_bodyid));
}
emscripten::val jnt_actuatorid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actuatorid));
}
emscripten::val jnt_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_group));
}
emscripten::val jnt_limited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_limited));
}
emscripten::val jnt_actfrclimited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actfrclimited));
}
emscripten::val jnt_actgravcomp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actgravcomp));
}
emscripten::val jnt_solref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * mjNREF, ptr_->jnt_solref));
}
emscripten::val jnt_solimp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * mjNIMP, ptr_->jnt_solimp));
}
emscripten::val jnt_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 3, ptr_->jnt_pos));
}
emscripten::val jnt_axis() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 3, ptr_->jnt_axis));
}
emscripten::val jnt_stiffness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_stiffness));
}
emscripten::val jnt_stiffnesspoly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * mjNPOLY, ptr_->jnt_stiffnesspoly));
}
emscripten::val jnt_range() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 2, ptr_->jnt_range));
}
emscripten::val jnt_actfrcrange() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 2, ptr_->jnt_actfrcrange));
}
emscripten::val jnt_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_margin));
}
emscripten::val jnt_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * ptr_->nuser_jnt, ptr_->jnt_user));
}
emscripten::val dof_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_bodyid));
}
emscripten::val dof_jntid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_jntid));
}
emscripten::val dof_parentid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_parentid));
}
emscripten::val dof_treeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_treeid));
}
emscripten::val dof_Madr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_Madr));
}
emscripten::val dof_simplenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_simplenum));
}
emscripten::val dof_solref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv * mjNREF, ptr_->dof_solref));
}
emscripten::val dof_solimp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv * mjNIMP, ptr_->dof_solimp));
}
emscripten::val dof_frictionloss() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_frictionloss));
}
emscripten::val dof_armature() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_armature));
}
emscripten::val dof_damping() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_damping));
}
emscripten::val dof_dampingpoly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv * mjNPOLY, ptr_->dof_dampingpoly));
}
emscripten::val dof_invweight0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_invweight0));
}
emscripten::val dof_M0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_M0));
}
emscripten::val dof_length() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_length));
}
emscripten::val tree_bodyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_bodyadr));
}
emscripten::val tree_bodynum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_bodynum));
}
emscripten::val tree_dofadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_dofadr));
}
emscripten::val tree_dofnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_dofnum));
}
emscripten::val tree_sleep_policy() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_sleep_policy));
}
emscripten::val geom_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_type));
}
emscripten::val geom_contype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_contype));
}
emscripten::val geom_conaffinity() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_conaffinity));
}
emscripten::val geom_condim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_condim));
}
emscripten::val geom_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_bodyid));
}
emscripten::val geom_dataid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_dataid));
}
emscripten::val geom_matid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_matid));
}
emscripten::val geom_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_group));
}
emscripten::val geom_priority() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_priority));
}
emscripten::val geom_plugin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_plugin));
}
emscripten::val geom_sameframe() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_sameframe));
}
emscripten::val geom_solmix() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_solmix));
}
emscripten::val geom_solref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * mjNREF, ptr_->geom_solref));
}
emscripten::val geom_solimp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * mjNIMP, ptr_->geom_solimp));
}
emscripten::val geom_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 3, ptr_->geom_size));
}
emscripten::val geom_aabb() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 6, ptr_->geom_aabb));
}
emscripten::val geom_rbound() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_rbound));
}
emscripten::val geom_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 3, ptr_->geom_pos));
}
emscripten::val geom_quat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_quat));
}
emscripten::val geom_friction() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 3, ptr_->geom_friction));
}
emscripten::val geom_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_margin));
}
emscripten::val geom_gap() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_gap));
}
emscripten::val geom_surfacevel() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 6, ptr_->geom_surfacevel));
}
emscripten::val geom_adhesion() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_adhesion));
}
emscripten::val geom_fluid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * mjNFLUID, ptr_->geom_fluid));
}
emscripten::val geom_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * ptr_->nuser_geom, ptr_->geom_user));
}
emscripten::val geom_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
}
emscripten::val site_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_type));
}
emscripten::val site_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_bodyid));
}
emscripten::val site_matid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_matid));
}
emscripten::val site_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_group));
}
emscripten::val site_sameframe() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_sameframe));
}
emscripten::val site_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 3, ptr_->site_size));
}
emscripten::val site_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 3, ptr_->site_pos));
}
emscripten::val site_quat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 4, ptr_->site_quat));
}
emscripten::val site_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * ptr_->nuser_site, ptr_->site_user));
}
emscripten::val site_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 4, ptr_->site_rgba));
}
emscripten::val cam_mode() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_mode));
}
emscripten::val cam_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_bodyid));
}
emscripten::val cam_targetbodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_targetbodyid));
}
emscripten::val cam_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 3, ptr_->cam_pos));
}
emscripten::val cam_quat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 4, ptr_->cam_quat));
}
emscripten::val cam_poscom0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 3, ptr_->cam_poscom0));
}
emscripten::val cam_pos0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 3, ptr_->cam_pos0));
}
emscripten::val cam_mat0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 9, ptr_->cam_mat0));
}
emscripten::val cam_projection() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_projection));
}
emscripten::val cam_fovy() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_fovy));
}
emscripten::val cam_ipd() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_ipd));
}
emscripten::val cam_resolution() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_resolution));
}
emscripten::val cam_output() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_output));
}
emscripten::val cam_sensorsize() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_sensorsize));
}
emscripten::val cam_intrinsic() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 4, ptr_->cam_intrinsic));
}
emscripten::val cam_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * ptr_->nuser_cam, ptr_->cam_user));
}
emscripten::val light_mode() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_mode));
}
emscripten::val light_bodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_bodyid));
}
emscripten::val light_targetbodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_targetbodyid));
}
emscripten::val light_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_type));
}
emscripten::val light_texid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_texid));
}
emscripten::val light_castshadow() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_castshadow));
}
emscripten::val light_bulbradius() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_bulbradius));
}
emscripten::val light_intensity() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_intensity));
}
emscripten::val light_range() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_range));
}
emscripten::val light_active() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_active));
}
emscripten::val light_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_pos));
}
emscripten::val light_dir() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_dir));
}
emscripten::val light_poscom0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_poscom0));
}
emscripten::val light_pos0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_pos0));
}
emscripten::val light_dir0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_dir0));
}
emscripten::val light_attenuation() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_attenuation));
}
emscripten::val light_cutoff() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_cutoff));
}
emscripten::val light_softness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_softness));
}
emscripten::val light_exponent() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_exponent));
}
emscripten::val light_ambient() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_ambient));
}
emscripten::val light_diffuse() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_diffuse));
}
emscripten::val light_specular() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_specular));
}
emscripten::val flex_contype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_contype));
}
emscripten::val flex_conaffinity() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_conaffinity));
}
emscripten::val flex_condim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_condim));
}
emscripten::val flex_priority() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_priority));
}
emscripten::val flex_solmix() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_solmix));
}
emscripten::val flex_solref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * mjNREF, ptr_->flex_solref));
}
emscripten::val flex_solimp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * mjNIMP, ptr_->flex_solimp));
}
emscripten::val flex_friction() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_friction));
}
emscripten::val flex_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_margin));
}
emscripten::val flex_gap() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_gap));
}
emscripten::val flex_internal() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_internal));
}
emscripten::val flex_selfcollide() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_selfcollide));
}
emscripten::val flex_activelayers() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_activelayers));
}
emscripten::val flex_passive() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_passive));
}
emscripten::val flex_dim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_dim));
}
emscripten::val flex_matid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_matid));
}
emscripten::val flex_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_group));
}
emscripten::val flex_interp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_interp));
}
emscripten::val flex_cellnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_cellnum));
}
emscripten::val flex_nodeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_nodeadr));
}
emscripten::val flex_nodenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_nodenum));
}
emscripten::val flex_vertadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_vertadr));
}
emscripten::val flex_vertnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_vertnum));
}
emscripten::val flex_edgeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgeadr));
}
emscripten::val flex_edgenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgenum));
}
emscripten::val flex_elemadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemadr));
}
emscripten::val flex_elemnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemnum));
}
emscripten::val flex_elemdataadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemdataadr));
}
emscripten::val flex_stiffnessadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_stiffnessadr));
}
emscripten::val flex_elemedgeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemedgeadr));
}
emscripten::val flex_bendingadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bendingadr));
}
emscripten::val flex_shellnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_shellnum));
}
emscripten::val flex_shelldataadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_shelldataadr));
}
emscripten::val flex_evpairadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_evpairadr));
}
emscripten::val flex_evpairnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_evpairnum));
}
emscripten::val flex_texcoordadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_texcoordadr));
}
emscripten::val flex_nodebodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode, ptr_->flex_nodebodyid));
}
emscripten::val flex_vertbodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertbodyid));
}
emscripten::val flex_vertedgeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertedgeadr));
}
emscripten::val flex_vertedgenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertedgenum));
}
emscripten::val flex_vertedge() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_vertedge));
}
emscripten::val flex_edge() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_edge));
}
emscripten::val flex_edgeflap() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_edgeflap));
}
emscripten::val flex_elem() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelemdata, ptr_->flex_elem));
}
emscripten::val flex_elemtexcoord() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelemdata, ptr_->flex_elemtexcoord));
}
emscripten::val flex_elemedge() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelemedge, ptr_->flex_elemedge));
}
emscripten::val flex_elemlayer() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelem, ptr_->flex_elemlayer));
}
emscripten::val flex_shell() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexshelldata, ptr_->flex_shell));
}
emscripten::val flex_evpair() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexevpair * 2, ptr_->flex_evpair));
}
emscripten::val flex_vert() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 3, ptr_->flex_vert));
}
emscripten::val flex_vert0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 3, ptr_->flex_vert0));
}
emscripten::val flex_vertmetric() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 4, ptr_->flex_vertmetric));
}
emscripten::val flex_node() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode * 3, ptr_->flex_node));
}
emscripten::val flex_node0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode * 3, ptr_->flex_node0));
}
emscripten::val flexedge_length0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_length0));
}
emscripten::val flexedge_invweight0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_invweight0));
}
emscripten::val flex_radius() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_radius));
}
emscripten::val flex_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_size));
}
emscripten::val flex_stiffness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexstiffness, ptr_->flex_stiffness));
}
emscripten::val flex_bending() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexbending, ptr_->flex_bending));
}
emscripten::val efm0_dofid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0dof, ptr_->efm0_dofid));
}
emscripten::val efm0_L_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0dof, ptr_->efm0_L_rownnz));
}
emscripten::val efm0_L_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0dof, ptr_->efm0_L_rowadr));
}
emscripten::val efm0_L_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0L, ptr_->efm0_L_colind));
}
emscripten::val efm0_L() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0L, ptr_->efm0_L));
}
emscripten::val flex_damping() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_damping));
}
emscripten::val flex_edgestiffness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgestiffness));
}
emscripten::val flex_edgedamping() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgedamping));
}
emscripten::val flex_edgeequality() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgeequality));
}
emscripten::val flex_rigid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_rigid));
}
emscripten::val flexedge_rigid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_rigid));
}
emscripten::val flex_centered() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_centered));
}
emscripten::val flex_flatskin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_flatskin));
}
emscripten::val flex_bvhadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bvhadr));
}
emscripten::val flex_bvhnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bvhnum));
}
emscripten::val flexedge_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rownnz));
}
emscripten::val flexedge_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rowadr));
}
emscripten::val flexedge_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJfe, ptr_->flexedge_J_colind));
}
emscripten::val flexvert_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 2, ptr_->flexvert_J_rownnz));
}
emscripten::val flexvert_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 2, ptr_->flexvert_J_rowadr));
}
emscripten::val flexvert_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJfv * 2, ptr_->flexvert_J_colind));
}
emscripten::val flex_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 4, ptr_->flex_rgba));
}
emscripten::val flex_texcoord() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflextexcoord * 2, ptr_->flex_texcoord));
}
emscripten::val mesh_vertadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_vertadr));
}
emscripten::val mesh_vertnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_vertnum));
}
emscripten::val mesh_faceadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_faceadr));
}
emscripten::val mesh_facenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_facenum));
}
emscripten::val mesh_bvhadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_bvhadr));
}
emscripten::val mesh_bvhnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_bvhnum));
}
emscripten::val mesh_octadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_octadr));
}
emscripten::val mesh_octnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_octnum));
}
emscripten::val mesh_normaladr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_normaladr));
}
emscripten::val mesh_normalnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_normalnum));
}
emscripten::val mesh_texcoordadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_texcoordadr));
}
emscripten::val mesh_texcoordnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_texcoordnum));
}
emscripten::val mesh_graphadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_graphadr));
}
emscripten::val mesh_extrema() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 27, ptr_->mesh_extrema));
}
emscripten::val mesh_vert() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert * 3, ptr_->mesh_vert));
}
emscripten::val mesh_normal() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshnormal * 3, ptr_->mesh_normal));
}
emscripten::val mesh_texcoord() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshtexcoord * 2, ptr_->mesh_texcoord));
}
emscripten::val mesh_face() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshface * 3, ptr_->mesh_face));
}
emscripten::val mesh_facenormal() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshface * 3, ptr_->mesh_facenormal));
}
emscripten::val mesh_facetexcoord() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshface * 3, ptr_->mesh_facetexcoord));
}
emscripten::val mesh_graph() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshgraph, ptr_->mesh_graph));
}
emscripten::val mesh_scale() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 3, ptr_->mesh_scale));
}
emscripten::val mesh_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 3, ptr_->mesh_pos));
}
emscripten::val mesh_quat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 4, ptr_->mesh_quat));
}
emscripten::val mesh_pathadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_pathadr));
}
emscripten::val mesh_polynum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_polynum));
}
emscripten::val mesh_polyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_polyadr));
}
emscripten::val mesh_polynormal() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpoly * 3, ptr_->mesh_polynormal));
}
emscripten::val mesh_polyvertadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpoly, ptr_->mesh_polyvertadr));
}
emscripten::val mesh_polyvertnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpoly, ptr_->mesh_polyvertnum));
}
emscripten::val mesh_polyvert() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpolyvert, ptr_->mesh_polyvert));
}
emscripten::val mesh_polymapadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert, ptr_->mesh_polymapadr));
}
emscripten::val mesh_polymapnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert, ptr_->mesh_polymapnum));
}
emscripten::val mesh_polymap() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpolymap, ptr_->mesh_polymap));
}
emscripten::val skin_matid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_matid));
}
emscripten::val skin_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_group));
}
emscripten::val skin_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin * 4, ptr_->skin_rgba));
}
emscripten::val skin_inflate() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_inflate));
}
emscripten::val skin_vertadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_vertadr));
}
emscripten::val skin_vertnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_vertnum));
}
emscripten::val skin_texcoordadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_texcoordadr));
}
emscripten::val skin_faceadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_faceadr));
}
emscripten::val skin_facenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_facenum));
}
emscripten::val skin_boneadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_boneadr));
}
emscripten::val skin_bonenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_bonenum));
}
emscripten::val skin_vert() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinvert * 3, ptr_->skin_vert));
}
emscripten::val skin_texcoord() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskintexvert * 2, ptr_->skin_texcoord));
}
emscripten::val skin_face() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinface * 3, ptr_->skin_face));
}
emscripten::val skin_bonevertadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone, ptr_->skin_bonevertadr));
}
emscripten::val skin_bonevertnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone, ptr_->skin_bonevertnum));
}
emscripten::val skin_bonebindpos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone * 3, ptr_->skin_bonebindpos));
}
emscripten::val skin_bonebindquat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone * 4, ptr_->skin_bonebindquat));
}
emscripten::val skin_bonebodyid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone, ptr_->skin_bonebodyid));
}
emscripten::val skin_bonevertid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbonevert, ptr_->skin_bonevertid));
}
emscripten::val skin_bonevertweight() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbonevert, ptr_->skin_bonevertweight));
}
emscripten::val skin_pathadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_pathadr));
}
emscripten::val hfield_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield * 4, ptr_->hfield_size));
}
emscripten::val hfield_nrow() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_nrow));
}
emscripten::val hfield_ncol() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_ncol));
}
emscripten::val hfield_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_adr));
}
emscripten::val hfield_data() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfielddata, ptr_->hfield_data));
}
emscripten::val hfield_pathadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_pathadr));
}
emscripten::val tex_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_type));
}
emscripten::val tex_colorspace() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_colorspace));
}
emscripten::val tex_height() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_height));
}
emscripten::val tex_width() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_width));
}
emscripten::val tex_nchannel() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_nchannel));
}
emscripten::val tex_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_adr));
}
emscripten::val tex_data() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntexdata, ptr_->tex_data));
}
emscripten::val tex_pathadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_pathadr));
}
emscripten::val mat_texid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat * mjNTEXROLE, ptr_->mat_texid));
}
emscripten::val mat_texuniform() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_texuniform));
}
emscripten::val mat_texrepeat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat * 2, ptr_->mat_texrepeat));
}
emscripten::val mat_emission() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_emission));
}
emscripten::val mat_specular() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_specular));
}
emscripten::val mat_shininess() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_shininess));
}
emscripten::val mat_reflectance() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_reflectance));
}
emscripten::val mat_metallic() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_metallic));
}
emscripten::val mat_roughness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_roughness));
}
emscripten::val mat_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat * 4, ptr_->mat_rgba));
}
emscripten::val pair_dim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_dim));
}
emscripten::val pair_geom1() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_geom1));
}
emscripten::val pair_geom2() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_geom2));
}
emscripten::val pair_signature() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_signature));
}
emscripten::val pair_solref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair * mjNREF, ptr_->pair_solref));
}
emscripten::val pair_solreffriction() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair * mjNREF, ptr_->pair_solreffriction));
}
emscripten::val pair_solimp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair * mjNIMP, ptr_->pair_solimp));
}
emscripten::val pair_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_margin));
}
emscripten::val pair_gap() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_gap));
}
emscripten::val pair_adhesion() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_adhesion));
}
emscripten::val pair_friction() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair * 5, ptr_->pair_friction));
}
emscripten::val exclude_signature() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nexclude, ptr_->exclude_signature));
}
emscripten::val eq_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_type));
}
emscripten::val eq_obj1id() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_obj1id));
}
emscripten::val eq_obj2id() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_obj2id));
}
emscripten::val eq_objtype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_objtype));
}
emscripten::val eq_active0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_active0));
}
emscripten::val eq_solref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq * mjNREF, ptr_->eq_solref));
}
emscripten::val eq_solimp() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq * mjNIMP, ptr_->eq_solimp));
}
emscripten::val eq_data() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq * mjNEQDATA, ptr_->eq_data));
}
emscripten::val tendon_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_adr));
}
emscripten::val tendon_num() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_num));
}
emscripten::val tendon_matid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_matid));
}
emscripten::val tendon_actuatorid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_actuatorid));
}
emscripten::val tendon_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_group));
}
emscripten::val tendon_treenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_treenum));
}
emscripten::val tendon_treeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_treeid));
}
emscripten::val ten_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rownnz));
}
emscripten::val ten_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rowadr));
}
emscripten::val ten_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJten, ptr_->ten_J_colind));
}
emscripten::val tendon_limited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_limited));
}
emscripten::val tendon_actfrclimited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_actfrclimited));
}
emscripten::val tendon_width() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_width));
}
emscripten::val tendon_solref_lim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNREF, ptr_->tendon_solref_lim));
}
emscripten::val tendon_solimp_lim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNIMP, ptr_->tendon_solimp_lim));
}
emscripten::val tendon_solref_fri() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNREF, ptr_->tendon_solref_fri));
}
emscripten::val tendon_solimp_fri() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNIMP, ptr_->tendon_solimp_fri));
}
emscripten::val tendon_range() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_range));
}
emscripten::val tendon_actfrcrange() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_actfrcrange));
}
emscripten::val tendon_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_margin));
}
emscripten::val tendon_stiffness() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_stiffness));
}
emscripten::val tendon_stiffnesspoly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNPOLY, ptr_->tendon_stiffnesspoly));
}
emscripten::val tendon_damping() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_damping));
}
emscripten::val tendon_dampingpoly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNPOLY, ptr_->tendon_dampingpoly));
}
emscripten::val tendon_armature() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_armature));
}
emscripten::val tendon_frictionloss() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_frictionloss));
}
emscripten::val tendon_lengthspring() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_lengthspring));
}
emscripten::val tendon_length0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_length0));
}
emscripten::val tendon_invweight0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_invweight0));
}
emscripten::val tendon_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * ptr_->nuser_tendon, ptr_->tendon_user));
}
emscripten::val tendon_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 4, ptr_->tendon_rgba));
}
emscripten::val wrap_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nwrap, ptr_->wrap_type));
}
emscripten::val wrap_objid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nwrap, ptr_->wrap_objid));
}
emscripten::val wrap_prm() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nwrap, ptr_->wrap_prm));
}
emscripten::val actuator_trntype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_trntype));
}
emscripten::val actuator_dyntype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_dyntype));
}
emscripten::val actuator_gaintype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_gaintype));
}
emscripten::val actuator_biastype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_biastype));
}
emscripten::val actuator_ctrladr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_ctrladr));
}
emscripten::val actuator_ctrlnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_ctrlnum));
}
emscripten::val actuator_ctrlspec() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_ctrlspec));
}
emscripten::val actuator_outadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_outadr));
}
emscripten::val actuator_outnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_outnum));
}
emscripten::val actuator_actadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actadr));
}
emscripten::val actuator_actnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actnum));
}
emscripten::val actuator_trnid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_trnid));
}
emscripten::val actuator_cranklength() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_cranklength));
}
emscripten::val actuator_dynprm() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNDYN, ptr_->actuator_dynprm));
}
emscripten::val actuator_gainprm() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNGAIN, ptr_->actuator_gainprm));
}
emscripten::val actuator_biasprm() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNBIAS, ptr_->actuator_biasprm));
}
emscripten::val actuator_actlimited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actlimited));
}
emscripten::val actuator_actrange() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_actrange));
}
emscripten::val actuator_actearly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actearly));
}
emscripten::val actuator_history() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_history));
}
emscripten::val actuator_historyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_historyadr));
}
emscripten::val actuator_delay() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_delay));
}
emscripten::val actuator_damping() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_damping));
}
emscripten::val actuator_dampingpoly() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNPOLY, ptr_->actuator_dampingpoly));
}
emscripten::val actuator_armature() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_armature));
}
emscripten::val actuator_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_group));
}
emscripten::val actuator_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * ptr_->nuser_actuator, ptr_->actuator_user));
}
emscripten::val actuator_plugin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_plugin));
}
emscripten::val actuator_forcelimited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_forcelimited));
}
emscripten::val actuator_forcerange() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_forcerange));
}
emscripten::val actuator_ctrllimited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_ctrllimited));
}
emscripten::val actuator_ctrlrange() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu * 2, ptr_->actuator_ctrlrange));
}
emscripten::val actuator_gear() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nout * 6, ptr_->actuator_gear));
}
emscripten::val actuator_acc0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nout, ptr_->actuator_acc0));
}
emscripten::val actuator_length0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nout, ptr_->actuator_length0));
}
emscripten::val actuator_lengthrange() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nout * 2, ptr_->actuator_lengthrange));
}
emscripten::val sensor_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_type));
}
emscripten::val sensor_datatype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_datatype));
}
emscripten::val sensor_needstage() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_needstage));
}
emscripten::val sensor_objtype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_objtype));
}
emscripten::val sensor_objid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_objid));
}
emscripten::val sensor_reftype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_reftype));
}
emscripten::val sensor_refid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_refid));
}
emscripten::val sensor_intprm() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * mjNSENS, ptr_->sensor_intprm));
}
emscripten::val sensor_dim() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_dim));
}
emscripten::val sensor_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_adr));
}
emscripten::val sensor_cutoff() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_cutoff));
}
emscripten::val sensor_noise() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_noise));
}
emscripten::val sensor_history() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * 2, ptr_->sensor_history));
}
emscripten::val sensor_historyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_historyadr));
}
emscripten::val sensor_delay() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_delay));
}
emscripten::val sensor_interval() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * 2, ptr_->sensor_interval));
}
emscripten::val sensor_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * ptr_->nuser_sensor, ptr_->sensor_user));
}
emscripten::val sensor_plugin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_plugin));
}
emscripten::val plugin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin));
}
emscripten::val plugin_stateadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin_stateadr));
}
emscripten::val plugin_statenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin_statenum));
}
emscripten::val plugin_attr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npluginattr, ptr_->plugin_attr));
}
emscripten::val plugin_attradr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin_attradr));
}
emscripten::val numeric_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nnumeric, ptr_->numeric_adr));
}
emscripten::val numeric_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nnumeric, ptr_->numeric_size));
}
emscripten::val numeric_data() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nnumericdata, ptr_->numeric_data));
}
emscripten::val text_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntext, ptr_->text_adr));
}
emscripten::val text_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntext, ptr_->text_size));
}
emscripten::val text_data() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntextdata, ptr_->text_data));
}
emscripten::val tuple_adr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntuple, ptr_->tuple_adr));
}
emscripten::val tuple_size() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntuple, ptr_->tuple_size));
}
emscripten::val tuple_objtype() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntupledata, ptr_->tuple_objtype));
}
emscripten::val tuple_objid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntupledata, ptr_->tuple_objid));
}
emscripten::val tuple_objprm() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntupledata, ptr_->tuple_objprm));
}
emscripten::val key_time() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey, ptr_->key_time));
}
emscripten::val key_qpos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nq, ptr_->key_qpos));
}
emscripten::val key_qvel() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nv, ptr_->key_qvel));
}
emscripten::val key_act() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->na, ptr_->key_act));
}
emscripten::val key_mpos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nmocap*3, ptr_->key_mpos));
}
emscripten::val key_mquat() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nmocap*4, ptr_->key_mquat));
}
emscripten::val key_ctrl() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nu, ptr_->key_ctrl));
}
emscripten::val name_bodyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->name_bodyadr));
}
emscripten::val name_jntadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->name_jntadr));
}
emscripten::val name_geomadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->name_geomadr));
}
emscripten::val name_siteadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->name_siteadr));
}
emscripten::val name_camadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->name_camadr));
}
emscripten::val name_lightadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->name_lightadr));
}
emscripten::val name_flexadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->name_flexadr));
}
emscripten::val name_meshadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->name_meshadr));
}
emscripten::val name_skinadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->name_skinadr));
}
emscripten::val name_hfieldadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->name_hfieldadr));
}
emscripten::val name_texadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->name_texadr));
}
emscripten::val name_matadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->name_matadr));
}
emscripten::val name_pairadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->name_pairadr));
}
emscripten::val name_excludeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nexclude, ptr_->name_excludeadr));
}
emscripten::val name_eqadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->name_eqadr));
}
emscripten::val name_tendonadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->name_tendonadr));
}
emscripten::val name_actuatoradr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->name_actuatoradr));
}
emscripten::val name_sensoradr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->name_sensoradr));
}
emscripten::val name_numericadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nnumeric, ptr_->name_numericadr));
}
emscripten::val name_textadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntext, ptr_->name_textadr));
}
emscripten::val name_tupleadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntuple, ptr_->name_tupleadr));
}
emscripten::val name_keyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nkey, ptr_->name_keyadr));
}
emscripten::val name_pluginadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->name_pluginadr));
}
emscripten::val names() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nnames, ptr_->names));
}
emscripten::val names_map() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nnames_map, ptr_->names_map));
}
emscripten::val paths() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->npaths, ptr_->paths));
}
emscripten::val B_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->B_rownnz));
}
emscripten::val B_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->B_rowadr));
}
emscripten::val B_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nB, ptr_->B_colind));
}
emscripten::val M_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->M_rownnz));
}
emscripten::val M_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->M_rowadr));
}
emscripten::val M_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nC, ptr_->M_colind));
}
emscripten::val mapM2M() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nC, ptr_->mapM2M));
}
emscripten::val D_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->D_rownnz));
}
emscripten::val D_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->D_rowadr));
}
emscripten::val D_diag() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->D_diag));
}
emscripten::val D_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nD, ptr_->D_colind));
}
emscripten::val mapM2D() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nD, ptr_->mapM2D));
}
emscripten::val mapD2M() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nC, ptr_->mapD2M));
}
uint64_t signature() const {
return ptr_->signature;
}
void set_signature(uint64_t value) {
ptr_->signature = value;
}
// Generates functions to return accessor classes.
#define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield) \
MjModel##Name##Accessor accessor_name(const NumberOrString& val) const { \
if (val.isString()) { \
int id = mj_name2id(ptr_, OBJTYPE, val.as<std::string>().c_str()); \
if (id == -1) { \
mju_error("%s", KeyErrorMessage(ptr_, OBJTYPE, ptr_->nfield, val.as<std::string>(), #accessor_name).c_str()); \
} \
return MjModel##Name##Accessor(ptr_, id); \
} else if (val.isNumber()) { \
int id = val.as<int>(); \
if (id < 0 || id >= ptr_->nfield) { \
mju_error("%s", IndexErrorMessage(id, ptr_->nfield, #accessor_name).c_str()); \
} \
return MjModel##Name##Accessor(ptr_, id); \
} else { \
mju_error(#accessor_name "() argument must be a string or number"); \
return MjModel##Name##Accessor(nullptr, 0); \
} \
}
MJMODEL_ACCESSORS
#undef X_ACCESSOR
private:
mjModel* ptr_;
public:
MjOption opt;
MjVisual vis;
MjStatistic stat;
};
struct MjSpec {
~MjSpec();
MjSpec();
explicit MjSpec(mjSpec *ptr);
MjSpec(const MjSpec &);
MjSpec &operator=(const MjSpec &);
std::unique_ptr<MjSpec> copy();
mjSpec* get() const;
void set(mjSpec* ptr);
emscripten::val timer() const;
mjString modelname() const {
return (ptr_ && ptr_->modelname) ? *(ptr_->modelname) : "";
}
void set_modelname(const mjString& value) {
if (ptr_ && ptr_->modelname) {
*(ptr_->modelname) = value;
}
}
mjtBool strippath() const {
return ptr_->strippath;
}
void set_strippath(mjtBool value) {
ptr_->strippath = value;
}
int memory() const {
return static_cast<int>(ptr_->memory);
}
void set_memory(int value) {
ptr_->memory = static_cast<mjtSize>(value);
}
int nemax() const {
return ptr_->nemax;
}
void set_nemax(int value) {
ptr_->nemax = value;
}
int nuserdata() const {
return ptr_->nuserdata;
}
void set_nuserdata(int value) {
ptr_->nuserdata = value;
}
int nuser_body() const {
return ptr_->nuser_body;
}
void set_nuser_body(int value) {
ptr_->nuser_body = value;
}
int nuser_jnt() const {
return ptr_->nuser_jnt;
}
void set_nuser_jnt(int value) {
ptr_->nuser_jnt = value;
}
int nuser_geom() const {
return ptr_->nuser_geom;
}
void set_nuser_geom(int value) {
ptr_->nuser_geom = value;
}
int nuser_site() const {
return ptr_->nuser_site;
}
void set_nuser_site(int value) {
ptr_->nuser_site = value;
}
int nuser_cam() const {
return ptr_->nuser_cam;
}
void set_nuser_cam(int value) {
ptr_->nuser_cam = value;
}
int nuser_tendon() const {
return ptr_->nuser_tendon;
}
void set_nuser_tendon(int value) {
ptr_->nuser_tendon = value;
}
int nuser_actuator() const {
return ptr_->nuser_actuator;
}
void set_nuser_actuator(int value) {
ptr_->nuser_actuator = value;
}
int nuser_sensor() const {
return ptr_->nuser_sensor;
}
void set_nuser_sensor(int value) {
ptr_->nuser_sensor = value;
}
int nkey() const {
return ptr_->nkey;
}
void set_nkey(int value) {
ptr_->nkey = value;
}
int njmax() const {
return ptr_->njmax;
}
void set_njmax(int value) {
ptr_->njmax = value;
}
int nconmax() const {
return ptr_->nconmax;
}
void set_nconmax(int value) {
ptr_->nconmax = value;
}
int nstack() const {
return static_cast<int>(ptr_->nstack);
}
void set_nstack(int value) {
ptr_->nstack = static_cast<mjtSize>(value);
}
mjString comment() const {
return (ptr_ && ptr_->comment) ? *(ptr_->comment) : "";
}
void set_comment(const mjString& value) {
if (ptr_ && ptr_->comment) {
*(ptr_->comment) = value;
}
}
mjString modelfiledir() const {
return (ptr_ && ptr_->modelfiledir) ? *(ptr_->modelfiledir) : "";
}
void set_modelfiledir(const mjString& value) {
if (ptr_ && ptr_->modelfiledir) {
*(ptr_->modelfiledir) = value;
}
}
mjtBool hasImplicitPluginElem() const {
return ptr_->hasImplicitPluginElem;
}
void set_hasImplicitPluginElem(mjtBool value) {
ptr_->hasImplicitPluginElem = value;
}
private:
mjSpec* ptr_;
bool owned_ = false;
public:
MjsElement element;
MjsCompiler compiler;
MjOption option;
MjVisual visual;
MjStatistic stat;
MjsAuthored authored;
};
struct MjsActuator {
explicit MjsActuator(mjsActuator *ptr);
mjsActuator* get() const;
void set(mjsActuator* ptr);
mjtGain gaintype() const {
return ptr_->gaintype;
}
void set_gaintype(mjtGain value) {
ptr_->gaintype = value;
}
emscripten::val gainprm() const {
return emscripten::val(emscripten::typed_memory_view(10, ptr_->gainprm));
}
mjtBias biastype() const {
return ptr_->biastype;
}
void set_biastype(mjtBias value) {
ptr_->biastype = value;
}
emscripten::val biasprm() const {
return emscripten::val(emscripten::typed_memory_view(10, ptr_->biasprm));
}
mjtDyn dyntype() const {
return ptr_->dyntype;
}
void set_dyntype(mjtDyn value) {
ptr_->dyntype = value;
}
emscripten::val dynprm() const {
return emscripten::val(emscripten::typed_memory_view(10, ptr_->dynprm));
}
int actdim() const {
return ptr_->actdim;
}
void set_actdim(int value) {
ptr_->actdim = value;
}
int ctrlspec() const {
return ptr_->ctrlspec;
}
void set_ctrlspec(int value) {
ptr_->ctrlspec = value;
}
emscripten::val velrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->velrange));
}
emscripten::val ffrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->ffrange));
}
mjtBool actearly() const {
return ptr_->actearly;
}
void set_actearly(mjtBool value) {
ptr_->actearly = value;
}
mjtTrn trntype() const {
return ptr_->trntype;
}
void set_trntype(mjtTrn value) {
ptr_->trntype = value;
}
emscripten::val gear() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->gear));
}
mjString target() const {
return (ptr_ && ptr_->target) ? *(ptr_->target) : "";
}
void set_target(const mjString& value) {
if (ptr_ && ptr_->target) {
*(ptr_->target) = value;
}
}
mjString refsite() const {
return (ptr_ && ptr_->refsite) ? *(ptr_->refsite) : "";
}
void set_refsite(const mjString& value) {
if (ptr_ && ptr_->refsite) {
*(ptr_->refsite) = value;
}
}
mjString slidersite() const {
return (ptr_ && ptr_->slidersite) ? *(ptr_->slidersite) : "";
}
void set_slidersite(const mjString& value) {
if (ptr_ && ptr_->slidersite) {
*(ptr_->slidersite) = value;
}
}
double cranklength() const {
return ptr_->cranklength;
}
void set_cranklength(double value) {
ptr_->cranklength = value;
}
emscripten::val lengthrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->lengthrange));
}
double inheritrange() const {
return ptr_->inheritrange;
}
void set_inheritrange(double value) {
ptr_->inheritrange = value;
}
emscripten::val damping() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
}
double armature() const {
return ptr_->armature;
}
void set_armature(double value) {
ptr_->armature = value;
}
mjtLimited ctrllimited() const {
return ptr_->ctrllimited;
}
void set_ctrllimited(mjtLimited value) {
ptr_->ctrllimited = value;
}
emscripten::val ctrlrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->ctrlrange));
}
mjtLimited forcelimited() const {
return ptr_->forcelimited;
}
void set_forcelimited(mjtLimited value) {
ptr_->forcelimited = value;
}
emscripten::val forcerange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->forcerange));
}
mjtLimited actlimited() const {
return ptr_->actlimited;
}
void set_actlimited(mjtLimited value) {
ptr_->actlimited = value;
}
emscripten::val actrange() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->actrange));
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
int nsample() const {
return ptr_->nsample;
}
void set_nsample(int value) {
ptr_->nsample = value;
}
int interp() const {
return ptr_->interp;
}
void set_interp(int value) {
ptr_->interp = value;
}
double delay() const {
return ptr_->delay;
}
void set_delay(double value) {
ptr_->delay = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsActuator* ptr_;
public:
MjsElement element;
MjsPlugin plugin;
};
struct MjsBody {
explicit MjsBody(mjsBody *ptr);
mjsBody* get() const;
void set(mjsBody* ptr);
mjString childclass() const {
return (ptr_ && ptr_->childclass) ? *(ptr_->childclass) : "";
}
void set_childclass(const mjString& value) {
if (ptr_ && ptr_->childclass) {
*(ptr_->childclass) = value;
}
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val quat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
}
double mass() const {
return ptr_->mass;
}
void set_mass(double value) {
ptr_->mass = value;
}
emscripten::val ipos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->ipos));
}
emscripten::val iquat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->iquat));
}
emscripten::val inertia() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->inertia));
}
emscripten::val fullinertia() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->fullinertia));
}
mjtBool mocap() const {
return ptr_->mocap;
}
void set_mocap(mjtBool value) {
ptr_->mocap = value;
}
double gravcomp() const {
return ptr_->gravcomp;
}
void set_gravcomp(double value) {
ptr_->gravcomp = value;
}
mjtSleepPolicy sleep() const {
return ptr_->sleep;
}
void set_sleep(mjtSleepPolicy value) {
ptr_->sleep = value;
}
mjtByte simple() const {
return ptr_->simple;
}
void set_simple(mjtByte value) {
ptr_->simple = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjtBool explicitinertial() const {
return ptr_->explicitinertial;
}
void set_explicitinertial(mjtBool value) {
ptr_->explicitinertial = value;
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsBody* ptr_;
public:
MjsElement element;
MjsOrientation alt;
MjsOrientation ialt;
MjsPlugin plugin;
};
struct MjsGeom {
explicit MjsGeom(mjsGeom *ptr);
mjsGeom* get() const;
void set(mjsGeom* ptr);
mjtGeom type() const {
return ptr_->type;
}
void set_type(mjtGeom value) {
ptr_->type = value;
}
emscripten::val pos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
}
emscripten::val quat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
}
emscripten::val fromto() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->fromto));
}
emscripten::val size() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
}
int contype() const {
return ptr_->contype;
}
void set_contype(int value) {
ptr_->contype = value;
}
int conaffinity() const {
return ptr_->conaffinity;
}
void set_conaffinity(int value) {
ptr_->conaffinity = value;
}
int condim() const {
return ptr_->condim;
}
void set_condim(int value) {
ptr_->condim = value;
}
int priority() const {
return ptr_->priority;
}
void set_priority(int value) {
ptr_->priority = value;
}
emscripten::val friction() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->friction));
}
double solmix() const {
return ptr_->solmix;
}
void set_solmix(double value) {
ptr_->solmix = value;
}
emscripten::val solref() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
}
emscripten::val solimp() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
}
double margin() const {
return ptr_->margin;
}
void set_margin(double value) {
ptr_->margin = value;
}
double gap() const {
return ptr_->gap;
}
void set_gap(double value) {
ptr_->gap = value;
}
emscripten::val surfacevel() const {
return emscripten::val(emscripten::typed_memory_view(6, ptr_->surfacevel));
}
double adhesion() const {
return ptr_->adhesion;
}
void set_adhesion(double value) {
ptr_->adhesion = value;
}
double mass() const {
return ptr_->mass;
}
void set_mass(double value) {
ptr_->mass = value;
}
double density() const {
return ptr_->density;
}
void set_density(double value) {
ptr_->density = value;
}
mjtGeomInertia typeinertia() const {
return ptr_->typeinertia;
}
void set_typeinertia(mjtGeomInertia value) {
ptr_->typeinertia = value;
}
mjtNum fluid_ellipsoid() const {
return ptr_->fluid_ellipsoid;
}
void set_fluid_ellipsoid(mjtNum value) {
ptr_->fluid_ellipsoid = value;
}
emscripten::val fluid_coefs() const {
return emscripten::val(emscripten::typed_memory_view(5, ptr_->fluid_coefs));
}
mjString material() const {
return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
}
void set_material(const mjString& value) {
if (ptr_ && ptr_->material) {
*(ptr_->material) = value;
}
}
emscripten::val rgba() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
}
int group() const {
return ptr_->group;
}
void set_group(int value) {
ptr_->group = value;
}
mjString hfieldname() const {
return (ptr_ && ptr_->hfieldname) ? *(ptr_->hfieldname) : "";
}
void set_hfieldname(const mjString& value) {
if (ptr_ && ptr_->hfieldname) {
*(ptr_->hfieldname) = value;
}
}
mjString meshname() const {
return (ptr_ && ptr_->meshname) ? *(ptr_->meshname) : "";
}
void set_meshname(const mjString& value) {
if (ptr_ && ptr_->meshname) {
*(ptr_->meshname) = value;
}
}
double fitscale() const {
return ptr_->fitscale;
}
void set_fitscale(double value) {
ptr_->fitscale = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsGeom* ptr_;
public:
MjsElement element;
MjsOrientation alt;
MjsPlugin plugin;
};
struct MjsMesh {
explicit MjsMesh(mjsMesh *ptr);
mjsMesh* get() const;
void set(mjsMesh* ptr);
mjString content_type() const {
return (ptr_ && ptr_->content_type) ? *(ptr_->content_type) : "";
}
void set_content_type(const mjString& value) {
if (ptr_ && ptr_->content_type) {
*(ptr_->content_type) = value;
}
}
mjString file() const {
return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
}
void set_file(const mjString& value) {
if (ptr_ && ptr_->file) {
*(ptr_->file) = value;
}
}
emscripten::val refpos() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->refpos));
}
emscripten::val refquat() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->refquat));
}
emscripten::val scale() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->scale));
}
mjtMeshInertia inertia() const {
return ptr_->inertia;
}
void set_inertia(mjtMeshInertia value) {
ptr_->inertia = value;
}
mjtBool smoothnormal() const {
return ptr_->smoothnormal;
}
void set_smoothnormal(mjtBool value) {
ptr_->smoothnormal = value;
}
mjtBool needsdf() const {
return ptr_->needsdf;
}
void set_needsdf(mjtBool value) {
ptr_->needsdf = value;
}
int maxhullvert() const {
return ptr_->maxhullvert;
}
void set_maxhullvert(int value) {
ptr_->maxhullvert = value;
}
mjFloatVec &uservert() const {
return *(ptr_->uservert);
}
mjFloatVec &usernormal() const {
return *(ptr_->usernormal);
}
mjFloatVec &usertexcoord() const {
return *(ptr_->usertexcoord);
}
mjIntVec &userface() const {
return *(ptr_->userface);
}
mjIntVec &userfacenormal() const {
return *(ptr_->userfacenormal);
}
mjIntVec &userfacetexcoord() const {
return *(ptr_->userfacetexcoord);
}
mjString material() const {
return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
}
void set_material(const mjString& value) {
if (ptr_ && ptr_->material) {
*(ptr_->material) = value;
}
}
int octree_maxdepth() const {
return ptr_->octree_maxdepth;
}
void set_octree_maxdepth(int value) {
ptr_->octree_maxdepth = value;
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsMesh* ptr_;
public:
MjsElement element;
MjsPlugin plugin;
};
struct MjsSensor {
explicit MjsSensor(mjsSensor *ptr);
mjsSensor* get() const;
void set(mjsSensor* ptr);
mjtSensor type() const {
return ptr_->type;
}
void set_type(mjtSensor value) {
ptr_->type = value;
}
mjtObj objtype() const {
return ptr_->objtype;
}
void set_objtype(mjtObj value) {
ptr_->objtype = value;
}
mjString objname() const {
return (ptr_ && ptr_->objname) ? *(ptr_->objname) : "";
}
void set_objname(const mjString& value) {
if (ptr_ && ptr_->objname) {
*(ptr_->objname) = value;
}
}
mjtObj reftype() const {
return ptr_->reftype;
}
void set_reftype(mjtObj value) {
ptr_->reftype = value;
}
mjString refname() const {
return (ptr_ && ptr_->refname) ? *(ptr_->refname) : "";
}
void set_refname(const mjString& value) {
if (ptr_ && ptr_->refname) {
*(ptr_->refname) = value;
}
}
emscripten::val intprm() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->intprm));
}
mjtDataType datatype() const {
return ptr_->datatype;
}
void set_datatype(mjtDataType value) {
ptr_->datatype = value;
}
mjtStage needstage() const {
return ptr_->needstage;
}
void set_needstage(mjtStage value) {
ptr_->needstage = value;
}
int dim() const {
return ptr_->dim;
}
void set_dim(int value) {
ptr_->dim = value;
}
double cutoff() const {
return ptr_->cutoff;
}
void set_cutoff(double value) {
ptr_->cutoff = value;
}
double noise() const {
return ptr_->noise;
}
void set_noise(double value) {
ptr_->noise = value;
}
int nsample() const {
return ptr_->nsample;
}
void set_nsample(int value) {
ptr_->nsample = value;
}
int interp() const {
return ptr_->interp;
}
void set_interp(int value) {
ptr_->interp = value;
}
double delay() const {
return ptr_->delay;
}
void set_delay(double value) {
ptr_->delay = value;
}
emscripten::val interval() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->interval));
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
mjString info() const {
return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
}
void set_info(const mjString& value) {
if (ptr_ && ptr_->info) {
*(ptr_->info) = value;
}
}
private:
mjsSensor* ptr_;
public:
MjsElement element;
MjsPlugin plugin;
};
struct MjData {
~MjData();
MjData(MjModel *m);
explicit MjData(const MjModel &, const MjData &);
std::vector<MjContact> contact() const;
std::unique_ptr<MjData> copy();
mjData* get() const;
void set(mjData* ptr);
int narena() const {
return static_cast<int>(ptr_->narena);
}
void set_narena(int value) {
ptr_->narena = static_cast<mjtSize>(value);
}
int nbuffer() const {
return static_cast<int>(ptr_->nbuffer);
}
void set_nbuffer(int value) {
ptr_->nbuffer = static_cast<mjtSize>(value);
}
int nplugin() const {
return ptr_->nplugin;
}
void set_nplugin(int value) {
ptr_->nplugin = value;
}
size_t pstack() const {
return ptr_->pstack;
}
void set_pstack(size_t value) {
ptr_->pstack = value;
}
size_t pbase() const {
return ptr_->pbase;
}
void set_pbase(size_t value) {
ptr_->pbase = value;
}
size_t parena() const {
return ptr_->parena;
}
void set_parena(size_t value) {
ptr_->parena = value;
}
uintptr_t threadpool() const {
return ptr_->threadpool;
}
void set_threadpool(uintptr_t value) {
ptr_->threadpool = value;
}
mjtBool threadlock() const {
return ptr_->threadlock;
}
void set_threadlock(mjtBool value) {
ptr_->threadlock = value;
}
int maxuse_stack() const {
return static_cast<int>(ptr_->maxuse_stack);
}
void set_maxuse_stack(int value) {
ptr_->maxuse_stack = static_cast<mjtSize>(value);
}
int maxuse_arena() const {
return static_cast<int>(ptr_->maxuse_arena);
}
void set_maxuse_arena(int value) {
ptr_->maxuse_arena = static_cast<mjtSize>(value);
}
int maxuse_con() const {
return ptr_->maxuse_con;
}
void set_maxuse_con(int value) {
ptr_->maxuse_con = value;
}
int maxuse_efc() const {
return ptr_->maxuse_efc;
}
void set_maxuse_efc(int value) {
ptr_->maxuse_efc = value;
}
emscripten::val solver_niter() const {
return emscripten::val(emscripten::typed_memory_view(20, ptr_->solver_niter));
}
emscripten::val solver_nnz() const {
return emscripten::val(emscripten::typed_memory_view(20, ptr_->solver_nnz));
}
emscripten::val solver_fwdinv() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->solver_fwdinv));
}
int ncon() const {
return ptr_->ncon;
}
void set_ncon(int value) {
ptr_->ncon = value;
}
int ne() const {
return ptr_->ne;
}
void set_ne(int value) {
ptr_->ne = value;
}
int nf() const {
return ptr_->nf;
}
void set_nf(int value) {
ptr_->nf = value;
}
int nl() const {
return ptr_->nl;
}
void set_nl(int value) {
ptr_->nl = value;
}
int nefc() const {
return ptr_->nefc;
}
void set_nefc(int value) {
ptr_->nefc = value;
}
int nJ() const {
return ptr_->nJ;
}
void set_nJ(int value) {
ptr_->nJ = value;
}
int efm_active() const {
return ptr_->efm_active;
}
void set_efm_active(int value) {
ptr_->efm_active = value;
}
int nefmK() const {
return ptr_->nefmK;
}
void set_nefmK(int value) {
ptr_->nefmK = value;
}
int nefmdof() const {
return ptr_->nefmdof;
}
void set_nefmdof(int value) {
ptr_->nefmdof = value;
}
int nefmL() const {
return ptr_->nefmL;
}
void set_nefmL(int value) {
ptr_->nefmL = value;
}
int nY() const {
return ptr_->nY;
}
void set_nY(int value) {
ptr_->nY = value;
}
int nA() const {
return ptr_->nA;
}
void set_nA(int value) {
ptr_->nA = value;
}
int nisland() const {
return ptr_->nisland;
}
void set_nisland(int value) {
ptr_->nisland = value;
}
int nidof() const {
return ptr_->nidof;
}
void set_nidof(int value) {
ptr_->nidof = value;
}
int ntree_awake() const {
return ptr_->ntree_awake;
}
void set_ntree_awake(int value) {
ptr_->ntree_awake = value;
}
int nbody_awake() const {
return ptr_->nbody_awake;
}
void set_nbody_awake(int value) {
ptr_->nbody_awake = value;
}
int nparent_awake() const {
return ptr_->nparent_awake;
}
void set_nparent_awake(int value) {
ptr_->nparent_awake = value;
}
int nv_awake() const {
return ptr_->nv_awake;
}
void set_nv_awake(int value) {
ptr_->nv_awake = value;
}
mjtBool flg_energypos() const {
return ptr_->flg_energypos;
}
void set_flg_energypos(mjtBool value) {
ptr_->flg_energypos = value;
}
mjtBool flg_energyvel() const {
return ptr_->flg_energyvel;
}
void set_flg_energyvel(mjtBool value) {
ptr_->flg_energyvel = value;
}
mjtBool flg_subtreevel() const {
return ptr_->flg_subtreevel;
}
void set_flg_subtreevel(mjtBool value) {
ptr_->flg_subtreevel = value;
}
mjtBool flg_rnepost() const {
return ptr_->flg_rnepost;
}
void set_flg_rnepost(mjtBool value) {
ptr_->flg_rnepost = value;
}
mjtNum time() const {
return ptr_->time;
}
void set_time(mjtNum value) {
ptr_->time = value;
}
emscripten::val energy() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->energy));
}
emscripten::val buffer() const {
return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
}
emscripten::val arena() const {
return emscripten::val(emscripten::typed_memory_view(model->narena, static_cast<uint8_t*>(ptr_->arena)));
}
emscripten::val qpos() const {
return emscripten::val(emscripten::typed_memory_view(model->nq, ptr_->qpos));
}
emscripten::val qvel() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qvel));
}
emscripten::val act() const {
return emscripten::val(emscripten::typed_memory_view(model->na, ptr_->act));
}
emscripten::val history() const {
return emscripten::val(emscripten::typed_memory_view(model->nhistory, ptr_->history));
}
emscripten::val qacc_warmstart() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc_warmstart));
}
emscripten::val plugin_state() const {
return emscripten::val(emscripten::typed_memory_view(model->npluginstate, ptr_->plugin_state));
}
emscripten::val ctrl() const {
return emscripten::val(emscripten::typed_memory_view(model->nu, ptr_->ctrl));
}
emscripten::val qfrc_applied() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_applied));
}
emscripten::val xfrc_applied() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->xfrc_applied));
}
emscripten::val eq_active() const {
return emscripten::val(emscripten::typed_memory_view(model->neq, ptr_->eq_active));
}
emscripten::val mocap_pos() const {
return emscripten::val(emscripten::typed_memory_view(model->nmocap * 3, ptr_->mocap_pos));
}
emscripten::val mocap_quat() const {
return emscripten::val(emscripten::typed_memory_view(model->nmocap * 4, ptr_->mocap_quat));
}
emscripten::val qacc() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc));
}
emscripten::val act_dot() const {
return emscripten::val(emscripten::typed_memory_view(model->na, ptr_->act_dot));
}
emscripten::val userdata() const {
return emscripten::val(emscripten::typed_memory_view(model->nuserdata, ptr_->userdata));
}
emscripten::val sensordata() const {
return emscripten::val(emscripten::typed_memory_view(model->nsensordata, ptr_->sensordata));
}
emscripten::val tree_asleep() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_asleep));
}
emscripten::val plugin() const {
return emscripten::val(emscripten::typed_memory_view(model->nplugin, ptr_->plugin));
}
emscripten::val plugin_data() const {
return emscripten::val(emscripten::typed_memory_view(model->nplugin, ptr_->plugin_data));
}
emscripten::val xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->xpos));
}
emscripten::val xquat() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 4, ptr_->xquat));
}
emscripten::val xmat() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 9, ptr_->xmat));
}
emscripten::val xipos() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->xipos));
}
emscripten::val ximat() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 9, ptr_->ximat));
}
emscripten::val xanchor() const {
return emscripten::val(emscripten::typed_memory_view(model->njnt * 3, ptr_->xanchor));
}
emscripten::val xaxis() const {
return emscripten::val(emscripten::typed_memory_view(model->njnt * 3, ptr_->xaxis));
}
emscripten::val geom_xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->ngeom * 3, ptr_->geom_xpos));
}
emscripten::val geom_xmat() const {
return emscripten::val(emscripten::typed_memory_view(model->ngeom * 9, ptr_->geom_xmat));
}
emscripten::val site_xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->nsite * 3, ptr_->site_xpos));
}
emscripten::val site_xmat() const {
return emscripten::val(emscripten::typed_memory_view(model->nsite * 9, ptr_->site_xmat));
}
emscripten::val cam_xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->ncam * 3, ptr_->cam_xpos));
}
emscripten::val cam_xmat() const {
return emscripten::val(emscripten::typed_memory_view(model->ncam * 9, ptr_->cam_xmat));
}
emscripten::val light_xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->nlight * 3, ptr_->light_xpos));
}
emscripten::val light_xdir() const {
return emscripten::val(emscripten::typed_memory_view(model->nlight * 3, ptr_->light_xdir));
}
emscripten::val subtree_com() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->subtree_com));
}
emscripten::val cdof() const {
return emscripten::val(emscripten::typed_memory_view(model->nv * 6, ptr_->cdof));
}
emscripten::val cinert() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 10, ptr_->cinert));
}
emscripten::val flexvert_xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexvert * 3, ptr_->flexvert_xpos));
}
emscripten::val flexelem_aabb() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexelem * 6, ptr_->flexelem_aabb));
}
emscripten::val flexelem_krot() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexstiffness, ptr_->flexelem_krot));
}
emscripten::val flexedge_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nJfe, ptr_->flexedge_J));
}
emscripten::val flexedge_length() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_length));
}
emscripten::val flexvert_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nJfv * 2, ptr_->flexvert_J));
}
emscripten::val flexvert_length() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexvert * 2, ptr_->flexvert_length));
}
emscripten::val bvh_aabb_dyn() const {
return emscripten::val(emscripten::typed_memory_view(model->nbvhdynamic * 6, ptr_->bvh_aabb_dyn));
}
emscripten::val ten_wrapadr() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_wrapadr));
}
emscripten::val ten_wrapnum() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_wrapnum));
}
emscripten::val ten_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J));
}
emscripten::val ten_length() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_length));
}
emscripten::val wrap_obj() const {
return emscripten::val(emscripten::typed_memory_view(model->nwrap * 2, ptr_->wrap_obj));
}
emscripten::val wrap_xpos() const {
return emscripten::val(emscripten::typed_memory_view(model->nwrap * 6, ptr_->wrap_xpos));
}
emscripten::val actuator_length() const {
return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->actuator_length));
}
emscripten::val moment_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->moment_rownnz));
}
emscripten::val moment_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->moment_rowadr));
}
emscripten::val moment_colind() const {
return emscripten::val(emscripten::typed_memory_view(model->nJmom, ptr_->moment_colind));
}
emscripten::val actuator_moment() const {
return emscripten::val(emscripten::typed_memory_view(model->nJmom, ptr_->actuator_moment));
}
emscripten::val crb() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 10, ptr_->crb));
}
emscripten::val M() const {
return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->M));
}
emscripten::val qLD() const {
return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->qLD));
}
emscripten::val qLDiagInv() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qLDiagInv));
}
emscripten::val bvh_active() const {
return emscripten::val(emscripten::typed_memory_view(model->nbvh, ptr_->bvh_active));
}
emscripten::val tree_awake() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_awake));
}
emscripten::val body_awake() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->body_awake));
}
emscripten::val body_awake_ind() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->body_awake_ind));
}
emscripten::val parent_awake_ind() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->parent_awake_ind));
}
emscripten::val dof_awake_ind() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->dof_awake_ind));
}
emscripten::val flexedge_velocity() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_velocity));
}
emscripten::val ten_velocity() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_velocity));
}
emscripten::val actuator_velocity() const {
return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->actuator_velocity));
}
emscripten::val cvel() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cvel));
}
emscripten::val cdof_dot() const {
return emscripten::val(emscripten::typed_memory_view(model->nv * 6, ptr_->cdof_dot));
}
emscripten::val qfrc_bias() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_bias));
}
emscripten::val qfrc_spring() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_spring));
}
emscripten::val qfrc_damper() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_damper));
}
emscripten::val qfrc_gravcomp() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_gravcomp));
}
emscripten::val qfrc_fluid() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_fluid));
}
emscripten::val qfrc_adhesion() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_adhesion));
}
emscripten::val qfrc_passive() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_passive));
}
emscripten::val subtree_linvel() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->subtree_linvel));
}
emscripten::val subtree_angmom() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->subtree_angmom));
}
emscripten::val qH() const {
return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->qH));
}
emscripten::val qHDiagInv() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qHDiagInv));
}
emscripten::val qDeriv() const {
return emscripten::val(emscripten::typed_memory_view(model->nD, ptr_->qDeriv));
}
emscripten::val qLU() const {
return emscripten::val(emscripten::typed_memory_view(model->nD, ptr_->qLU));
}
emscripten::val actuator_force() const {
return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->actuator_force));
}
emscripten::val qfrc_actuator() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_actuator));
}
emscripten::val qfrc_smooth() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_smooth));
}
emscripten::val qacc_smooth() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc_smooth));
}
emscripten::val qfrc_constraint() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_constraint));
}
emscripten::val qfrc_inverse() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_inverse));
}
emscripten::val cacc() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cacc));
}
emscripten::val cfrc_int() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cfrc_int));
}
emscripten::val cfrc_ext() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cfrc_ext));
}
// contact field is handled manually in template file struct declaration
emscripten::val efc_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_type));
}
emscripten::val efc_id() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_id));
}
emscripten::val efc_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_J_rownnz));
}
emscripten::val efc_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_J_rowadr));
}
emscripten::val efc_J_rowsuper() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_J_rowsuper));
}
emscripten::val efc_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJ, ptr_->efc_J_colind));
}
emscripten::val efc_J() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJ, ptr_->efc_J));
}
emscripten::val efc_pos() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_pos));
}
emscripten::val efc_margin() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_margin));
}
emscripten::val efc_frictionloss() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_frictionloss));
}
emscripten::val efc_diagA() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_diagA));
}
emscripten::val efc_KBIP() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc * 4, ptr_->efc_KBIP));
}
emscripten::val efc_D() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_D));
}
emscripten::val efc_R() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_R));
}
emscripten::val tendon_efcadr() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->tendon_efcadr));
}
emscripten::val tree_island() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_island));
}
emscripten::val island_ntree() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_ntree));
}
emscripten::val island_itreeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_itreeadr));
}
emscripten::val map_itree2tree() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->map_itree2tree));
}
emscripten::val dof_island() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->dof_island));
}
emscripten::val island_nv() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_nv));
}
emscripten::val island_idofadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_idofadr));
}
emscripten::val island_dofadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_dofadr));
}
emscripten::val map_dof2idof() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->map_dof2idof));
}
emscripten::val map_idof2dof() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->map_idof2dof));
}
emscripten::val ifrc_smooth() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->ifrc_smooth));
}
emscripten::val iacc_smooth() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iacc_smooth));
}
emscripten::val iacc() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iacc));
}
emscripten::val efc_island() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_island));
}
emscripten::val island_ne() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_ne));
}
emscripten::val island_nf() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_nf));
}
emscripten::val island_nefc() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_nefc));
}
emscripten::val island_iefcadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_iefcadr));
}
emscripten::val map_efc2iefc() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->map_efc2iefc));
}
emscripten::val map_iefc2efc() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->map_iefc2efc));
}
emscripten::val iefc_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_type));
}
emscripten::val iefc_id() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_id));
}
emscripten::val iefc_frictionloss() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_frictionloss));
}
emscripten::val iefc_D() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_D));
}
emscripten::val iefc_R() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_R));
}
emscripten::val efc_Y_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_Y_rownnz));
}
emscripten::val efc_Y_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_Y_rowadr));
}
emscripten::val efc_Y_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nY, ptr_->efc_Y_colind));
}
emscripten::val efc_Y() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nY, ptr_->efc_Y));
}
emscripten::val efc_AR_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_AR_rownnz));
}
emscripten::val efc_AR_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_AR_rowadr));
}
emscripten::val efc_AR_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nA, ptr_->efc_AR_colind));
}
emscripten::val efc_AR() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nA, ptr_->efc_AR));
}
emscripten::val efc_vel() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_vel));
}
emscripten::val efc_aref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_aref));
}
emscripten::val efm_c() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->efm_c));
}
emscripten::val efm_K_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->efm_K_rownnz));
}
emscripten::val efm_K_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->efm_K_rowadr));
}
emscripten::val efm_K_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefmK, ptr_->efm_K_colind));
}
emscripten::val efm_K_val() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefmK, ptr_->efm_K_val));
}
emscripten::val efm_dofid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefmdof, ptr_->efm_dofid));
}
emscripten::val efm_L() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefmL, ptr_->efm_L));
}
emscripten::val efc_b() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_b));
}
emscripten::val iefc_aref() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_aref));
}
emscripten::val iefc_state() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_state));
}
emscripten::val iefc_force() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_force));
}
emscripten::val efc_state() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_state));
}
emscripten::val efc_force() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_force));
}
emscripten::val ifrc_constraint() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->ifrc_constraint));
}
uint64_t signature() const {
return ptr_->signature;
}
void set_signature(uint64_t value) {
ptr_->signature = value;
}
// Generates functions to return accessor classes.
#define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield) \
MjData##Name##Accessor accessor_name(const NumberOrString& val) const { \
if (val.isString()) { \
int id = mj_name2id(model, OBJTYPE, val.as<std::string>().c_str()); \
if (id == -1) { \
mju_error("%s", KeyErrorMessage(model, OBJTYPE, model->nfield, val.as<std::string>(), #accessor_name).c_str()); \
} \
return MjData##Name##Accessor(ptr_, model, id); \
} else if (val.isNumber()) { \
int id = val.as<int>(); \
if (id < 0 || id >= model->nfield) { \
mju_error("%s", IndexErrorMessage(id, model->nfield, #accessor_name).c_str()); \
} \
return MjData##Name##Accessor(ptr_, model, id); \
} else { \
mju_error(#accessor_name "() argument must be a string or number"); \
return MjData##Name##Accessor(nullptr, nullptr, 0); \
} \
}
MJDATA_ACCESSORS
#undef X_ACCESSOR
private:
mjData* ptr_;
public:
std::vector<MjSolverStat> solver;
std::vector<MjWarningStat> warning;
std::vector<MjTimerStat> timer;
mjModel *model;
};
struct MjsDefault {
explicit MjsDefault(mjsDefault *ptr);
mjsDefault* get() const;
void set(mjsDefault* ptr);
private:
mjsDefault* ptr_;
public:
MjsElement element;
MjsJoint joint;
MjsGeom geom;
MjsSite site;
MjsCamera camera;
MjsLight light;
MjsFlex flex;
MjsMesh mesh;
MjsMaterial material;
MjsPair pair;
MjsEquality equality;
MjsTendon tendon;
MjsActuator actuator;
};
struct MjvScene {
MjvScene();
MjvScene(MjModel *m, int maxgeom);
~MjvScene();
std::unique_ptr<MjvScene> copy();
int GetSumFlexFaces() const;
mjvScene* get() const;
void set(mjvScene* ptr);
std::vector<MjvGeom> geoms() const;
emscripten::val geomorder() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->ngeom, ptr_->geomorder));
}
emscripten::val flexedgeadr() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgeadr));
}
emscripten::val flexedgenum() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgenum));
}
emscripten::val flexvertadr() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertadr));
}
emscripten::val flexvertnum() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertnum));
}
emscripten::val flexfaceadr() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceadr));
}
emscripten::val flexfacenum() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfacenum));
}
emscripten::val flexfaceused() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceused));
}
emscripten::val flexedge() const {
return emscripten::val(
emscripten::typed_memory_view(2 * model->nflexedge, ptr_->flexedge));
}
emscripten::val flexvert() const {
return emscripten::val(
emscripten::typed_memory_view(3 * model->nflexvert, ptr_->flexvert));
}
emscripten::val skinfacenum() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinfacenum));
}
emscripten::val skinvertadr() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertadr));
}
emscripten::val skinvertnum() const {
return emscripten::val(
emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertnum));
}
emscripten::val skinvert() const {
return emscripten::val(
emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinvert));
}
emscripten::val skinnormal() const {
return emscripten::val(
emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinnormal));
}
emscripten::val flexface() const {
return emscripten::val(emscripten::typed_memory_view(
9 * MjvScene::GetSumFlexFaces(), ptr_->flexface));
}
emscripten::val flexnormal() const {
return emscripten::val(emscripten::typed_memory_view(
9 * MjvScene::GetSumFlexFaces(), ptr_->flexnormal));
}
emscripten::val flextexcoord() const {
return emscripten::val(emscripten::typed_memory_view(
6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
}
// camera field is handled manually in template file struct declaration
// flexedge field is handled manually in template file struct declaration
// flexedgeadr field is handled manually in template file struct declaration
// flexedgenum field is handled manually in template file struct declaration
// flexface field is handled manually in template file struct declaration
// flexfaceadr field is handled manually in template file struct declaration
// flexfacenum field is handled manually in template file struct declaration
// flexfaceused field is handled manually in template file struct declaration
// flexnormal field is handled manually in template file struct declaration
// flextexcoord field is handled manually in template file struct declaration
// flexvert field is handled manually in template file struct declaration
// flexvertadr field is handled manually in template file struct declaration
// flexvertnum field is handled manually in template file struct declaration
// geomorder field is handled manually in template file struct declaration
// geoms field is handled manually in template file struct declaration
// lights field is handled manually in template file struct declaration
// skinfacenum field is handled manually in template file struct declaration
// skinnormal field is handled manually in template file struct declaration
// skinvert field is handled manually in template file struct declaration
// skinvertadr field is handled manually in template file struct declaration
// skinvertnum field is handled manually in template file struct declaration
emscripten::val flags() const {
return emscripten::val(emscripten::typed_memory_view(11, ptr_->flags));
}
emscripten::val framergb() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->framergb));
}
emscripten::val rotate() const {
return emscripten::val(emscripten::typed_memory_view(4, ptr_->rotate));
}
emscripten::val translate() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->translate));
}
float scale() const {
return ptr_->scale;
}
void set_scale(float value) {
ptr_->scale = value;
}
int framewidth() const {
return ptr_->framewidth;
}
void set_framewidth(int value) {
ptr_->framewidth = value;
}
int maxgeom() const {
return ptr_->maxgeom;
}
void set_maxgeom(int value) {
ptr_->maxgeom = value;
}
int nflex() const {
return ptr_->nflex;
}
void set_nflex(int value) {
ptr_->nflex = value;
}
int ngeom() const {
return ptr_->ngeom;
}
void set_ngeom(int value) {
ptr_->ngeom = value;
}
int nlight() const {
return ptr_->nlight;
}
void set_nlight(int value) {
ptr_->nlight = value;
}
int nskin() const {
return ptr_->nskin;
}
void set_nskin(int value) {
ptr_->nskin = value;
}
int status() const {
return ptr_->status;
}
void set_status(int value) {
ptr_->status = value;
}
int stereo() const {
return ptr_->stereo;
}
void set_stereo(int value) {
ptr_->stereo = value;
}
mjtByte enabletransform() const {
return ptr_->enabletransform;
}
void set_enabletransform(mjtByte value) {
ptr_->enabletransform = value;
}
mjtByte flexedgeopt() const {
return ptr_->flexedgeopt;
}
void set_flexedgeopt(mjtByte value) {
ptr_->flexedgeopt = value;
}
mjtByte flexfaceopt() const {
return ptr_->flexfaceopt;
}
void set_flexfaceopt(mjtByte value) {
ptr_->flexfaceopt = value;
}
mjtByte flexskinopt() const {
return ptr_->flexskinopt;
}
void set_flexskinopt(mjtByte value) {
ptr_->flexskinopt = value;
}
mjtByte flexvertopt() const {
return ptr_->flexvertopt;
}
void set_flexvertopt(mjtByte value) {
ptr_->flexvertopt = value;
}
private:
mjvScene* ptr_;
bool owned_ = false;
public:
mjModel* model;
std::vector<MjvLight> lights;
std::vector<MjvGLCamera> camera;
};
struct MjVFS {
MjVFS() : ptr_(new mjVFS) { mj_defaultVFS(ptr_); }
~MjVFS() { mj_deleteVFS(ptr_); }
void AddBuffer(const std::string& name, const emscripten::val& buffer) {
std::vector<uint8_t> vec = emscripten::vecFromJSArray<uint8_t>(buffer);
int result = mj_addBufferVFS(ptr_, name.c_str(), vec.data(), vec.size());
if (result != 0) {
mju_error("Could not add buffer to VFS: %d", result);
}
}
void DeleteFile(const std::string& filename) {
mj_deleteFileVFS(ptr_, filename.c_str());
}
mjVFS* get() const { return ptr_; }
private:
mjVFS* ptr_;
};
} // namespace mujoco::wasm
// NOLINTEND(whitespace/semicolon)
// NOLINTEND(whitespace/line_length)
#endif // MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
Reference in New Issue View Git Blame Copy Permalink