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Mujoco_WASM/include/mujoco/mjspecmacro.h
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Google DeepMind af4be63cd8 Add xmacros for MjSpec. 
PiperOrigin-RevId: 922169069
Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
2026-05-27 09:12:35 -07:00

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// Copyright 2026 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.
#ifndef MUJOCO_MJSPECMACRO_H_
#define MUJOCO_MJSPECMACRO_H_
//-------------------------------- mjsElement ------------------------------------------------------
#define MJSELEMENT_FIELDS \
X( mjtObj, elemtype, 1 ) \
X( uint64_t, signature, 1 )
//-------------------------------- mjsCompiler -----------------------------------------------------
#define MJSCOMPILER_FIELDS \
X ( mjtByte, autolimits, 1 ) \
X ( double, boundmass, 1 ) \
X ( double, boundinertia, 1 ) \
X ( double, settotalmass, 1 ) \
X ( mjtByte, balanceinertia, 1 ) \
X ( mjtByte, fitaabb, 1 ) \
X ( mjtByte, degree, 1 ) \
XVEC( char, eulerseq, 3 ) \
X ( mjtByte, discardvisual, 1 ) \
X ( mjtByte, usethread, 1 ) \
X ( mjtByte, fusestatic, 1 ) \
X ( int, inertiafromgeom, 1 ) \
XVEC( int, inertiagrouprange, 2 ) \
X ( mjtByte, saveinertial, 1 ) \
X ( int, alignfree, 1 ) \
X ( mjLROpt, LRopt, 1 ) \
X ( mjString*, meshdir, 1 ) \
X ( mjString*, texturedir, 1 )
//-------------------------------- mjSpec ----------------------------------------------------------
#define MJSPEC_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjString*, modelname, 1 ) \
X( mjsCompiler, compiler, 1 ) \
X( mjtByte, strippath, 1 ) \
X( mjOption, option, 1 ) \
X( mjVisual, visual, 1 ) \
X( mjStatistic, stat, 1 ) \
X( mjtSize, memory, 1 ) \
X( int, nemax, 1 ) \
X( int, nuserdata, 1 ) \
X( int, nuser_body, 1 ) \
X( int, nuser_jnt, 1 ) \
X( int, nuser_geom, 1 ) \
X( int, nuser_site, 1 ) \
X( int, nuser_cam, 1 ) \
X( int, nuser_tendon, 1 ) \
X( int, nuser_actuator, 1 ) \
X( int, nuser_sensor, 1 ) \
X( int, nkey, 1 ) \
X( int, njmax, 1 ) \
X( int, nconmax, 1 ) \
X( mjtSize, nstack, 1 ) \
X( mjString*, comment, 1 ) \
X( mjString*, modelfiledir, 1 ) \
X( mjtByte, hasImplicitPluginElem, 1 )
//-------------------------------- mjsOrientation --------------------------------------------------
#define MJSORIENTATION_FIELDS \
X ( mjtOrientation, type, 1 ) \
XVEC( double, axisangle, 4 ) \
XVEC( double, xyaxes, 6 ) \
XVEC( double, zaxis, 3 ) \
XVEC( double, euler, 3 )
//-------------------------------- mjsPlugin -------------------------------------------------------
#define MJSPLUGIN_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjString*, name, 1 ) \
X( mjString*, plugin_name, 1 ) \
X( mjtByte, active, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsBody ---------------------------------------------------------
#define MJSBODY_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjString*, childclass, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, quat, 4 ) \
X ( mjsOrientation, alt, 1 ) \
X ( double, mass, 1 ) \
XVEC( double, ipos, 3 ) \
XVEC( double, iquat, 4 ) \
XVEC( double, inertia, 3 ) \
X ( mjsOrientation, ialt, 1 ) \
XVEC( double, fullinertia, 6 ) \
X ( mjtByte, mocap, 1 ) \
X ( double, gravcomp, 1 ) \
X ( mjtSleepPolicy, sleep, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjtByte, explicitinertial, 1 ) \
X ( mjsPlugin, plugin, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsFrame --------------------------------------------------------
#define MJSFRAME_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjString*, childclass, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, quat, 4 ) \
X ( mjsOrientation, alt, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsJoint --------------------------------------------------------
#define MJSJOINT_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjtJoint, type, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, axis, 3 ) \
X ( double, ref, 1 ) \
X ( int, align, 1 ) \
XVEC( double, stiffness, mjNPOLY+1 ) \
X ( double, springref, 1 ) \
XVEC( double, springdamper, 2 ) \
X ( int, limited, 1 ) \
XVEC( double, range, 2 ) \
X ( double, margin, 1 ) \
XVEC( mjtNum, solref_limit, mjNREF ) \
XVEC( mjtNum, solimp_limit, mjNIMP ) \
X ( int, actfrclimited, 1 ) \
XVEC( double, actfrcrange, 2 ) \
X ( double, armature, 1 ) \
XVEC( double, damping, mjNPOLY+1 ) \
X ( double, frictionloss, 1 ) \
XVEC( mjtNum, solref_friction, mjNREF ) \
XVEC( mjtNum, solimp_friction, mjNIMP ) \
X ( int, group, 1 ) \
X ( mjtByte, actgravcomp, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsGeom ---------------------------------------------------------
#define MJSGEOM_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjtGeom, type, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, quat, 4 ) \
X ( mjsOrientation, alt, 1 ) \
XVEC( double, fromto, 6 ) \
XVEC( double, size, 3 ) \
X ( int, contype, 1 ) \
X ( int, conaffinity, 1 ) \
X ( int, condim, 1 ) \
X ( int, priority, 1 ) \
XVEC( double, friction, 3 ) \
X ( double, solmix, 1 ) \
XVEC( mjtNum, solref, mjNREF ) \
XVEC( mjtNum, solimp, mjNIMP ) \
X ( double, margin, 1 ) \
X ( double, gap, 1 ) \
X ( double, mass, 1 ) \
X ( double, density, 1 ) \
X ( mjtGeomInertia, typeinertia, 1 ) \
X ( mjtNum, fluid_ellipsoid, 1 ) \
XVEC( mjtNum, fluid_coefs, 5 ) \
X ( mjString*, material, 1 ) \
XVEC( float, rgba, 4 ) \
X ( int, group, 1 ) \
X ( mjString*, hfieldname, 1 ) \
X ( mjString*, meshname, 1 ) \
X ( double, fitscale, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjsPlugin, plugin, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsSite ---------------------------------------------------------
#define MJSSITE_FIELDS \
X ( mjsElement*, element, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, quat, 4 ) \
X ( mjsOrientation, alt, 1 ) \
XVEC( double, fromto, 6 ) \
XVEC( double, size, 3 ) \
X ( mjtGeom, type, 1 ) \
X ( mjString*, material, 1 ) \
X ( int, group, 1 ) \
XVEC( float, rgba, 4 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsCamera -------------------------------------------------------
#define MJSCAMERA_FIELDS \
X ( mjsElement*, element, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, quat, 4 ) \
X ( mjsOrientation, alt, 1 ) \
X ( mjtCamLight, mode, 1 ) \
X ( mjString*, targetbody, 1 ) \
X ( mjtProjection, proj, 1 ) \
XVEC( int, resolution, 2 ) \
X ( int, output, 1 ) \
X ( double, fovy, 1 ) \
X ( double, ipd, 1 ) \
XVEC( float, intrinsic, 4 ) \
XVEC( float, sensor_size, 2 ) \
XVEC( float, focal_length, 2 ) \
XVEC( float, focal_pixel, 2 ) \
XVEC( float, principal_length, 2 ) \
XVEC( float, principal_pixel, 2 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsLight --------------------------------------------------------
#define MJSLIGHT_FIELDS \
X ( mjsElement*, element, 1 ) \
XVEC( double, pos, 3 ) \
XVEC( double, dir, 3 ) \
X ( mjtCamLight, mode, 1 ) \
X ( mjString*, targetbody, 1 ) \
X ( mjtByte, active, 1 ) \
X ( mjtLightType, type, 1 ) \
X ( mjString*, texture, 1 ) \
X ( mjtByte, castshadow, 1 ) \
X ( float, bulbradius, 1 ) \
X ( float, intensity, 1 ) \
X ( float, range, 1 ) \
XVEC( float, attenuation, 3 ) \
X ( float, cutoff, 1 ) \
X ( float, exponent, 1 ) \
XVEC( float, ambient, 3 ) \
XVEC( float, diffuse, 3 ) \
XVEC( float, specular, 3 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsFlex ---------------------------------------------------------
#define MJSFLEX_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( int, contype, 1 ) \
X ( int, conaffinity, 1 ) \
X ( int, condim, 1 ) \
X ( int, priority, 1 ) \
XVEC( double, friction, 3 ) \
X ( double, solmix, 1 ) \
XVEC( mjtNum, solref, mjNREF ) \
XVEC( mjtNum, solimp, mjNIMP ) \
X ( double, margin, 1 ) \
X ( double, gap, 1 ) \
X ( int, dim, 1 ) \
X ( double, radius, 1 ) \
XVEC( double, size, 3 ) \
X ( mjtByte, internal, 1 ) \
X ( mjtByte, flatskin, 1 ) \
X ( int, selfcollide, 1 ) \
X ( int, passive, 1 ) \
X ( int, activelayers, 1 ) \
X ( int, group, 1 ) \
X ( double, edgestiffness, 1 ) \
X ( double, edgedamping, 1 ) \
XVEC( float, rgba, 4 ) \
X ( mjString*, material, 1 ) \
X ( double, young, 1 ) \
X ( double, poisson, 1 ) \
X ( double, damping, 1 ) \
X ( double, thickness, 1 ) \
X ( int, elastic2d, 1 ) \
XVEC( int, cellcount, 3 ) \
X ( int, order, 1 ) \
X ( mjStringVec*, nodebody, 1 ) \
X ( mjStringVec*, vertbody, 1 ) \
X ( mjDoubleVec*, node, 1 ) \
X ( mjDoubleVec*, vert, 1 ) \
X ( mjIntVec*, elem, 1 ) \
X ( mjFloatVec*, texcoord, 1 ) \
X ( mjIntVec*, elemtexcoord, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsMesh ---------------------------------------------------------
#define MJSMESH_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjString*, content_type, 1 ) \
X ( mjString*, file, 1 ) \
XVEC( double, refpos, 3 ) \
XVEC( double, refquat, 4 ) \
XVEC( double, scale, 3 ) \
X ( mjtMeshInertia, inertia, 1 ) \
X ( mjtByte, smoothnormal, 1 ) \
X ( mjtByte, needsdf, 1 ) \
X ( int, maxhullvert, 1 ) \
X ( mjFloatVec*, uservert, 1 ) \
X ( mjFloatVec*, usernormal, 1 ) \
X ( mjFloatVec*, usertexcoord, 1 ) \
X ( mjIntVec*, userface, 1 ) \
X ( mjIntVec*, userfacenormal, 1 ) \
X ( mjIntVec*, userfacetexcoord, 1 ) \
X ( mjsPlugin, plugin, 1 ) \
X ( mjString*, material, 1 ) \
X ( int, octree_maxdepth, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsHField -------------------------------------------------------
#define MJSHFIELD_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjString*, content_type, 1 ) \
X ( mjString*, file, 1 ) \
XVEC( double, size, 4 ) \
X ( int, nrow, 1 ) \
X ( int, ncol, 1 ) \
X ( mjFloatVec*, userdata, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsSkin ---------------------------------------------------------
#define MJSSKIN_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjString*, file, 1 ) \
X ( mjString*, material, 1 ) \
XVEC( float, rgba, 4 ) \
X ( float, inflate, 1 ) \
X ( int, group, 1 ) \
X ( mjFloatVec*, vert, 1 ) \
X ( mjFloatVec*, texcoord, 1 ) \
X ( mjIntVec*, face, 1 ) \
X ( mjStringVec*, bodyname, 1 ) \
X ( mjFloatVec*, bindpos, 1 ) \
X ( mjFloatVec*, bindquat, 1 ) \
X ( mjIntVecVec*, vertid, 1 ) \
X ( mjFloatVecVec*, vertweight, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsTexture ------------------------------------------------------
#define MJSTEXTURE_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjtTexture, type, 1 ) \
X ( mjtColorSpace, colorspace, 1 ) \
X ( int, builtin, 1 ) \
X ( int, mark, 1 ) \
XVEC( double, rgb1, 3 ) \
XVEC( double, rgb2, 3 ) \
XVEC( double, markrgb, 3 ) \
X ( double, random, 1 ) \
X ( int, height, 1 ) \
X ( int, width, 1 ) \
X ( int, nchannel, 1 ) \
X ( mjString*, content_type, 1 ) \
X ( mjString*, file, 1 ) \
XVEC( int, gridsize, 2 ) \
XVEC( char, gridlayout, 12 ) \
X ( mjStringVec*, cubefiles, 1 ) \
X ( mjByteVec*, data, 1 ) \
X ( mjtByte, hflip, 1 ) \
X ( mjtByte, vflip, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsMaterial -----------------------------------------------------
#define MJSMATERIAL_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjStringVec*, textures, 1 ) \
X ( mjtByte, texuniform, 1 ) \
XVEC( float, texrepeat, 2 ) \
X ( float, emission, 1 ) \
X ( float, specular, 1 ) \
X ( float, shininess, 1 ) \
X ( float, reflectance, 1 ) \
X ( float, metallic, 1 ) \
X ( float, roughness, 1 ) \
XVEC( float, rgba, 4 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsPair ---------------------------------------------------------
#define MJSPAIR_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjString*, geomname1, 1 ) \
X ( mjString*, geomname2, 1 ) \
X ( int, condim, 1 ) \
XVEC( mjtNum, solref, mjNREF ) \
XVEC( mjtNum, solreffriction, mjNREF ) \
XVEC( mjtNum, solimp, mjNIMP ) \
X ( double, margin, 1 ) \
X ( double, gap, 1 ) \
XVEC( double, friction, 5 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsExclude ------------------------------------------------------
#define MJSEXCLUDE_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjString*, bodyname1, 1 ) \
X( mjString*, bodyname2, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsEquality -----------------------------------------------------
#define MJSEQUALITY_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjtEq, type, 1 ) \
XVEC( double, data, mjNEQDATA ) \
X ( mjtByte, active, 1 ) \
X ( mjString*, name1, 1 ) \
X ( mjString*, name2, 1 ) \
X ( mjtObj, objtype, 1 ) \
XVEC( mjtNum, solref, mjNREF ) \
XVEC( mjtNum, solimp, mjNIMP ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsTendon -------------------------------------------------------
#define MJSTENDON_FIELDS \
X ( mjsElement*, element, 1 ) \
XVEC( double, stiffness, mjNPOLY+1 ) \
XVEC( double, springlength, 2 ) \
XVEC( double, damping, mjNPOLY+1 ) \
X ( double, frictionloss, 1 ) \
XVEC( mjtNum, solref_friction, mjNREF ) \
XVEC( mjtNum, solimp_friction, mjNIMP ) \
X ( double, armature, 1 ) \
X ( int, limited, 1 ) \
X ( int, actfrclimited, 1 ) \
XVEC( double, range, 2 ) \
XVEC( double, actfrcrange, 2 ) \
X ( double, margin, 1 ) \
XVEC( mjtNum, solref_limit, mjNREF ) \
XVEC( mjtNum, solimp_limit, mjNIMP ) \
X ( mjString*, material, 1 ) \
X ( double, width, 1 ) \
XVEC( float, rgba, 4 ) \
X ( int, group, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsWrap ---------------------------------------------------------
#define MJSWRAP_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjtWrap, type, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsActuator -----------------------------------------------------
#define MJSACTUATOR_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjtGain, gaintype, 1 ) \
XVEC( double, gainprm, mjNGAIN ) \
X ( mjtBias, biastype, 1 ) \
XVEC( double, biasprm, mjNGAIN ) \
X ( mjtDyn, dyntype, 1 ) \
XVEC( double, dynprm, mjNDYN ) \
X ( int, actdim, 1 ) \
X ( mjtByte, actearly, 1 ) \
X ( mjtTrn, trntype, 1 ) \
XVEC( double, gear, 6 ) \
X ( mjString*, target, 1 ) \
X ( mjString*, refsite, 1 ) \
X ( mjString*, slidersite, 1 ) \
X ( double, cranklength, 1 ) \
XVEC( double, lengthrange, 2 ) \
X ( double, inheritrange, 1 ) \
XVEC( double, damping, mjNPOLY+1 ) \
X ( double, armature, 1 ) \
X ( int, ctrllimited, 1 ) \
XVEC( double, ctrlrange, 2 ) \
X ( int, forcelimited, 1 ) \
XVEC( double, forcerange, 2 ) \
X ( int, actlimited, 1 ) \
XVEC( double, actrange, 2 ) \
X ( int, group, 1 ) \
X ( int, nsample, 1 ) \
X ( int, interp, 1 ) \
X ( double, delay, 1 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjsPlugin, plugin, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsSensor -------------------------------------------------------
#define MJSSENSOR_FIELDS \
X ( mjsElement*, element, 1 ) \
X ( mjtSensor, type, 1 ) \
X ( mjtObj, objtype, 1 ) \
X ( mjString*, objname, 1 ) \
X ( mjtObj, reftype, 1 ) \
X ( mjString*, refname, 1 ) \
XVEC( int, intprm, mjNSENS ) \
X ( mjtDataType, datatype, 1 ) \
X ( mjtStage, needstage, 1 ) \
X ( int, dim, 1 ) \
X ( double, cutoff, 1 ) \
X ( double, noise, 1 ) \
X ( int, nsample, 1 ) \
X ( int, interp, 1 ) \
X ( double, delay, 1 ) \
XVEC( double, interval, 2 ) \
X ( mjDoubleVec*, userdata, 1 ) \
X ( mjsPlugin, plugin, 1 ) \
X ( mjString*, info, 1 )
//-------------------------------- mjsNumeric ------------------------------------------------------
#define MJSNUMERIC_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjDoubleVec*, data, 1 ) \
X( int, size, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsText ---------------------------------------------------------
#define MJSTEXT_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjString*, data, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsTuple --------------------------------------------------------
#define MJSTUPLE_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjIntVec*, objtype, 1 ) \
X( mjStringVec*, objname, 1 ) \
X( mjDoubleVec*, objprm, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsKey ----------------------------------------------------------
#define MJSKEY_FIELDS \
X( mjsElement*, element, 1 ) \
X( double, time, 1 ) \
X( mjDoubleVec*, qpos, 1 ) \
X( mjDoubleVec*, qvel, 1 ) \
X( mjDoubleVec*, act, 1 ) \
X( mjDoubleVec*, mpos, 1 ) \
X( mjDoubleVec*, mquat, 1 ) \
X( mjDoubleVec*, ctrl, 1 ) \
X( mjString*, info, 1 )
//-------------------------------- mjsDefault ------------------------------------------------------
#define MJSDEFAULT_FIELDS \
X( mjsElement*, element, 1 ) \
X( mjsJoint*, joint, 1 ) \
X( mjsGeom*, geom, 1 ) \
X( mjsSite*, site, 1 ) \
X( mjsCamera*, camera, 1 ) \
X( mjsLight*, light, 1 ) \
X( mjsFlex*, flex, 1 ) \
X( mjsMesh*, mesh, 1 ) \
X( mjsMaterial*, material, 1 ) \
X( mjsPair*, pair, 1 ) \
X( mjsEquality*, equality, 1 ) \
X( mjsTendon*, tendon, 1 ) \
X( mjsActuator*, actuator, 1 )
#endif // MUJOCO_MJSPECMACRO_H_
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