Yuval Tassa
893942a729
If given two non-decreasing values, `springlength` specifies a deadband for spring stiffness, inside of which the force is 0 and outside of which force behaves like a regular spring, with the setpoint corresponding to the nearest value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See test/engine/testdata/tendon_springlength.xml example model. Spring-limited spatial tendons whose lower range value is 0 are rendered as catenaries. Fixes #520. PiperOrigin-RevId: 484509706 Change-Id: I6698e94ee36168f52d501e83057559805e05172d
597 lines
35 KiB
C
597 lines
35 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_MJXMACRO_H_
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#define MUJOCO_MJXMACRO_H_
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//-------------------------------- mjOption --------------------------------------------------------
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// scalar fields of mjOption
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#define MJOPTION_FLOATS \
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X( mjtNum, timestep ) \
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X( mjtNum, apirate ) \
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X( mjtNum, impratio ) \
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X( mjtNum, tolerance ) \
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X( mjtNum, noslip_tolerance ) \
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X( mjtNum, mpr_tolerance ) \
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X( mjtNum, density ) \
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X( mjtNum, viscosity ) \
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X( mjtNum, o_margin ) \
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#define MJOPTION_INTS \
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X( int, integrator ) \
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X( int, collision ) \
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X( int, cone ) \
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X( int, jacobian ) \
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X( int, solver ) \
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X( int, iterations ) \
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X( int, noslip_iterations ) \
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X( int, mpr_iterations ) \
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X( int, disableflags ) \
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X( int, enableflags )
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#define MJOPTION_SCALARS \
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MJOPTION_FLOATS \
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MJOPTION_INTS
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// vector fields of mjOption
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#define MJOPTION_VECTORS \
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X( gravity, 3 ) \
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X( wind, 3 ) \
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X( magnetic, 3 ) \
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X( o_solref, mjNREF ) \
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X( o_solimp, mjNIMP )
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//-------------------------------- mjModel ---------------------------------------------------------
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// int fields of mjModel
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#define MJMODEL_INTS \
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X( nq ) \
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X( nv ) \
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X( nu ) \
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X( na ) \
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X( nbody ) \
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X( njnt ) \
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X( ngeom ) \
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X( nsite ) \
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X( ncam ) \
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X( nlight ) \
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X( nmesh ) \
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X( nmeshvert ) \
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X( nmeshtexvert ) \
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X( nmeshface ) \
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X( nmeshgraph ) \
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X( nskin ) \
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X( nskinvert ) \
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X( nskintexvert ) \
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X( nskinface ) \
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X( nskinbone ) \
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X( nskinbonevert ) \
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X( nhfield ) \
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X( nhfielddata ) \
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X( ntex ) \
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X( ntexdata ) \
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X( nmat ) \
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X( npair ) \
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X( nexclude ) \
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X( neq ) \
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X( ntendon ) \
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X( nwrap ) \
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X( nsensor ) \
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X( nnumeric ) \
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X( nnumericdata ) \
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X( ntext ) \
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X( ntextdata ) \
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X( ntuple ) \
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X( ntupledata ) \
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X( nkey ) \
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X( nmocap ) \
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X( nplugin ) \
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X( npluginattr ) \
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X( nuser_body ) \
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X( nuser_jnt ) \
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X( nuser_geom ) \
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X( nuser_site ) \
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X( nuser_cam ) \
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X( nuser_tendon ) \
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X( nuser_actuator ) \
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X( nuser_sensor ) \
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X( nnames ) \
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X( nM ) \
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X( nD ) \
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X( nemax ) \
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X( njmax ) \
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X( nconmax ) \
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X( nstack ) \
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X( nuserdata ) \
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X( nsensordata ) \
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X( npluginstate ) \
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X( nbuffer )
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// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
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#define MJMODEL_POINTERS_PREAMBLE( m ) \
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int nuser_body = m->nuser_body; \
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int nuser_jnt = m->nuser_jnt; \
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int nuser_geom = m->nuser_geom; \
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int nuser_site = m->nuser_site; \
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int nuser_cam = m->nuser_cam; \
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int nuser_tendon = m->nuser_tendon; \
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int nuser_actuator = m->nuser_actuator; \
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int nuser_sensor = m->nuser_sensor; \
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int nq = m->nq; \
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int nv = m->nv; \
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int na = m->na; \
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int nu = m->nu; \
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int nmocap = m->nmocap;
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// macro for annotating that an array size in an X macro is a member of mjModel
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// by default this macro does nothing, but users can redefine it as necessary
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#define MJ_M(n) n
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// pointer fields of mjModel
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#define MJMODEL_POINTERS \
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X( mjtNum, qpos0, nq, 1 ) \
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X( mjtNum, qpos_spring, nq, 1 ) \
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X( int, body_parentid, nbody, 1 ) \
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X( int, body_rootid, nbody, 1 ) \
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X( int, body_weldid, nbody, 1 ) \
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X( int, body_mocapid, nbody, 1 ) \
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X( int, body_jntnum, nbody, 1 ) \
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X( int, body_jntadr, nbody, 1 ) \
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X( int, body_dofnum, nbody, 1 ) \
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X( int, body_dofadr, nbody, 1 ) \
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X( int, body_geomnum, nbody, 1 ) \
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X( int, body_geomadr, nbody, 1 ) \
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X( mjtByte, body_simple, nbody, 1 ) \
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X( mjtByte, body_sameframe, nbody, 1 ) \
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X( mjtNum, body_pos, nbody, 3 ) \
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X( mjtNum, body_quat, nbody, 4 ) \
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X( mjtNum, body_ipos, nbody, 3 ) \
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X( mjtNum, body_iquat, nbody, 4 ) \
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X( mjtNum, body_mass, nbody, 1 ) \
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X( mjtNum, body_subtreemass, nbody, 1 ) \
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X( mjtNum, body_inertia, nbody, 3 ) \
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X( mjtNum, body_invweight0, nbody, 2 ) \
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X( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
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X( int, body_plugin, nbody, 1 ) \
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X( int, jnt_type, njnt, 1 ) \
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X( int, jnt_qposadr, njnt, 1 ) \
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X( int, jnt_dofadr, njnt, 1 ) \
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X( int, jnt_bodyid, njnt, 1 ) \
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X( int, jnt_group, njnt, 1 ) \
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X( mjtByte, jnt_limited, njnt, 1 ) \
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X( mjtNum, jnt_solref, njnt, mjNREF ) \
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X( mjtNum, jnt_solimp, njnt, mjNIMP ) \
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X( mjtNum, jnt_pos, njnt, 3 ) \
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X( mjtNum, jnt_axis, njnt, 3 ) \
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X( mjtNum, jnt_stiffness, njnt, 1 ) \
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X( mjtNum, jnt_range, njnt, 2 ) \
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X( mjtNum, jnt_margin, njnt, 1 ) \
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X( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) ) \
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X( int, dof_bodyid, nv, 1 ) \
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X( int, dof_jntid, nv, 1 ) \
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X( int, dof_parentid, nv, 1 ) \
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X( int, dof_Madr, nv, 1 ) \
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X( int, dof_simplenum, nv, 1 ) \
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X( mjtNum, dof_solref, nv, mjNREF ) \
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X( mjtNum, dof_solimp, nv, mjNIMP ) \
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X( mjtNum, dof_frictionloss, nv, 1 ) \
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X( mjtNum, dof_armature, nv, 1 ) \
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X( mjtNum, dof_damping, nv, 1 ) \
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X( mjtNum, dof_invweight0, nv, 1 ) \
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X( mjtNum, dof_M0, nv, 1 ) \
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X( int, geom_type, ngeom, 1 ) \
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X( int, geom_contype, ngeom, 1 ) \
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X( int, geom_conaffinity, ngeom, 1 ) \
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X( int, geom_condim, ngeom, 1 ) \
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X( int, geom_bodyid, ngeom, 1 ) \
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X( int, geom_dataid, ngeom, 1 ) \
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X( int, geom_matid, ngeom, 1 ) \
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X( int, geom_group, ngeom, 1 ) \
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X( int, geom_priority, ngeom, 1 ) \
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X( mjtByte, geom_sameframe, ngeom, 1 ) \
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X( mjtNum, geom_solmix, ngeom, 1 ) \
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X( mjtNum, geom_solref, ngeom, mjNREF ) \
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X( mjtNum, geom_solimp, ngeom, mjNIMP ) \
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X( mjtNum, geom_size, ngeom, 3 ) \
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X( mjtNum, geom_rbound, ngeom, 1 ) \
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X( mjtNum, geom_pos, ngeom, 3 ) \
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X( mjtNum, geom_quat, ngeom, 4 ) \
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X( mjtNum, geom_friction, ngeom, 3 ) \
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X( mjtNum, geom_margin, ngeom, 1 ) \
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X( mjtNum, geom_gap, ngeom, 1 ) \
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X( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
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X( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
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X( float, geom_rgba, ngeom, 4 ) \
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X( int, site_type, nsite, 1 ) \
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X( int, site_bodyid, nsite, 1 ) \
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X( int, site_matid, nsite, 1 ) \
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X( int, site_group, nsite, 1 ) \
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X( mjtByte, site_sameframe, nsite, 1 ) \
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X( mjtNum, site_size, nsite, 3 ) \
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X( mjtNum, site_pos, nsite, 3 ) \
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X( mjtNum, site_quat, nsite, 4 ) \
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X( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
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X( float, site_rgba, nsite, 4 ) \
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X( int, cam_mode, ncam, 1 ) \
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X( int, cam_bodyid, ncam, 1 ) \
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X( int, cam_targetbodyid, ncam, 1 ) \
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X( mjtNum, cam_pos, ncam, 3 ) \
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X( mjtNum, cam_quat, ncam, 4 ) \
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X( mjtNum, cam_poscom0, ncam, 3 ) \
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X( mjtNum, cam_pos0, ncam, 3 ) \
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X( mjtNum, cam_mat0, ncam, 9 ) \
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X( mjtNum, cam_fovy, ncam, 1 ) \
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X( mjtNum, cam_ipd, ncam, 1 ) \
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X( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
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X( int, light_mode, nlight, 1 ) \
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X( int, light_bodyid, nlight, 1 ) \
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X( int, light_targetbodyid, nlight, 1 ) \
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X( mjtByte, light_directional, nlight, 1 ) \
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X( mjtByte, light_castshadow, nlight, 1 ) \
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X( mjtByte, light_active, nlight, 1 ) \
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X( mjtNum, light_pos, nlight, 3 ) \
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X( mjtNum, light_dir, nlight, 3 ) \
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X( mjtNum, light_poscom0, nlight, 3 ) \
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X( mjtNum, light_pos0, nlight, 3 ) \
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X( mjtNum, light_dir0, nlight, 3 ) \
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X( float, light_attenuation, nlight, 3 ) \
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X( float, light_cutoff, nlight, 1 ) \
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X( float, light_exponent, nlight, 1 ) \
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X( float, light_ambient, nlight, 3 ) \
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X( float, light_diffuse, nlight, 3 ) \
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X( float, light_specular, nlight, 3 ) \
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X( int, mesh_vertadr, nmesh, 1 ) \
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X( int, mesh_vertnum, nmesh, 1 ) \
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X( int, mesh_texcoordadr, nmesh, 1 ) \
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X( int, mesh_faceadr, nmesh, 1 ) \
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X( int, mesh_facenum, nmesh, 1 ) \
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X( int, mesh_graphadr, nmesh, 1 ) \
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X( float, mesh_vert, nmeshvert, 3 ) \
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X( float, mesh_normal, nmeshvert, 3 ) \
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X( float, mesh_texcoord, nmeshtexvert, 2 ) \
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X( int, mesh_face, nmeshface, 3 ) \
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X( int, mesh_graph, nmeshgraph, 1 ) \
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X( int, skin_matid, nskin, 1 ) \
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X( int, skin_group, nskin, 1 ) \
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X( float, skin_rgba, nskin, 4 ) \
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X( float, skin_inflate, nskin, 1 ) \
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X( int, skin_vertadr, nskin, 1 ) \
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X( int, skin_vertnum, nskin, 1 ) \
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X( int, skin_texcoordadr, nskin, 1 ) \
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X( int, skin_faceadr, nskin, 1 ) \
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X( int, skin_facenum, nskin, 1 ) \
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X( int, skin_boneadr, nskin, 1 ) \
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X( int, skin_bonenum, nskin, 1 ) \
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X( float, skin_vert, nskinvert, 3 ) \
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X( float, skin_texcoord, nskintexvert, 2 ) \
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X( int, skin_face, nskinface, 3 ) \
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X( int, skin_bonevertadr, nskinbone, 1 ) \
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X( int, skin_bonevertnum, nskinbone, 1 ) \
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X( float, skin_bonebindpos, nskinbone, 3 ) \
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X( float, skin_bonebindquat, nskinbone, 4 ) \
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X( int, skin_bonebodyid, nskinbone, 1 ) \
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X( int, skin_bonevertid, nskinbonevert, 1 ) \
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X( float, skin_bonevertweight, nskinbonevert, 1 ) \
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X( mjtNum, hfield_size, nhfield, 4 ) \
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X( int, hfield_nrow, nhfield, 1 ) \
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X( int, hfield_ncol, nhfield, 1 ) \
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X( int, hfield_adr, nhfield, 1 ) \
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X( float, hfield_data, nhfielddata, 1 ) \
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X( int, tex_type, ntex, 1 ) \
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X( int, tex_height, ntex, 1 ) \
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X( int, tex_width, ntex, 1 ) \
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X( int, tex_adr, ntex, 1 ) \
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X( mjtByte, tex_rgb, ntexdata, 1 ) \
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X( int, mat_texid, nmat, 1 ) \
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X( mjtByte, mat_texuniform, nmat, 1 ) \
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X( float, mat_texrepeat, nmat, 2 ) \
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X( float, mat_emission, nmat, 1 ) \
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X( float, mat_specular, nmat, 1 ) \
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X( float, mat_shininess, nmat, 1 ) \
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X( float, mat_reflectance, nmat, 1 ) \
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X( float, mat_rgba, nmat, 4 ) \
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X( int, pair_dim, npair, 1 ) \
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X( int, pair_geom1, npair, 1 ) \
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X( int, pair_geom2, npair, 1 ) \
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X( int, pair_signature, npair, 1 ) \
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X( mjtNum, pair_solref, npair, mjNREF ) \
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X( mjtNum, pair_solimp, npair, mjNIMP ) \
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X( mjtNum, pair_margin, npair, 1 ) \
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X( mjtNum, pair_gap, npair, 1 ) \
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X( mjtNum, pair_friction, npair, 5 ) \
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X( int, exclude_signature, nexclude, 1 ) \
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X( int, eq_type, neq, 1 ) \
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X( int, eq_obj1id, neq, 1 ) \
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X( int, eq_obj2id, neq, 1 ) \
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X( mjtByte, eq_active, neq, 1 ) \
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X( mjtNum, eq_solref, neq, mjNREF ) \
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X( mjtNum, eq_solimp, neq, mjNIMP ) \
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X( mjtNum, eq_data, neq, mjNEQDATA ) \
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X( int, tendon_adr, ntendon, 1 ) \
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X( int, tendon_num, ntendon, 1 ) \
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X( int, tendon_matid, ntendon, 1 ) \
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X( int, tendon_group, ntendon, 1 ) \
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X( mjtByte, tendon_limited, ntendon, 1 ) \
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X( mjtNum, tendon_width, ntendon, 1 ) \
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X( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
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X( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
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X( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
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X( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
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X( mjtNum, tendon_range, ntendon, 2 ) \
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X( mjtNum, tendon_margin, ntendon, 1 ) \
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X( mjtNum, tendon_stiffness, ntendon, 1 ) \
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X( mjtNum, tendon_damping, ntendon, 1 ) \
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X( mjtNum, tendon_frictionloss, ntendon, 1 ) \
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X( mjtNum, tendon_lengthspring, ntendon, 2 ) \
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X( mjtNum, tendon_length0, ntendon, 1 ) \
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X( mjtNum, tendon_invweight0, ntendon, 1 ) \
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X( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
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X( float, tendon_rgba, ntendon, 4 ) \
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X( int, wrap_type, nwrap, 1 ) \
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X( int, wrap_objid, nwrap, 1 ) \
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X( mjtNum, wrap_prm, nwrap, 1 ) \
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X( int, actuator_trntype, nu, 1 ) \
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X( int, actuator_dyntype, nu, 1 ) \
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X( int, actuator_gaintype, nu, 1 ) \
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X( int, actuator_biastype, nu, 1 ) \
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X( int, actuator_trnid, nu, 2 ) \
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X( int, actuator_actadr, nu, 1 ) \
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X( int, actuator_group, nu, 1 ) \
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X( mjtByte, actuator_ctrllimited, nu, 1 ) \
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X( mjtByte, actuator_forcelimited, nu, 1 ) \
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X( mjtByte, actuator_actlimited, nu, 1 ) \
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X( mjtNum, actuator_dynprm, nu, mjNDYN ) \
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X( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
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X( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
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X( mjtNum, actuator_ctrlrange, nu, 2 ) \
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X( mjtNum, actuator_forcerange, nu, 2 ) \
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X( mjtNum, actuator_actrange, nu, 2 ) \
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X( mjtNum, actuator_gear, nu, 6 ) \
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X( mjtNum, actuator_cranklength, nu, 1 ) \
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X( mjtNum, actuator_acc0, nu, 1 ) \
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X( mjtNum, actuator_length0, nu, 1 ) \
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X( mjtNum, actuator_lengthrange, nu, 2 ) \
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X( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
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X( int, actuator_plugin, nu, 1 ) \
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X( int, sensor_type, nsensor, 1 ) \
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X( int, sensor_datatype, nsensor, 1 ) \
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X( int, sensor_needstage, nsensor, 1 ) \
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X( int, sensor_objtype, nsensor, 1 ) \
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X( int, sensor_objid, nsensor, 1 ) \
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|
X( int, sensor_reftype, nsensor, 1 ) \
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X( int, sensor_refid, nsensor, 1 ) \
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X( int, sensor_dim, nsensor, 1 ) \
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X( int, sensor_adr, nsensor, 1 ) \
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X( mjtNum, sensor_cutoff, nsensor, 1 ) \
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X( mjtNum, sensor_noise, nsensor, 1 ) \
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X( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
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X( int, sensor_plugin, nsensor, 1 ) \
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|
X( int, plugin, nplugin, 1 ) \
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|
X( int, plugin_stateadr, nplugin, 1 ) \
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|
X( int, plugin_statenum, nplugin, 1 ) \
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|
X( char, plugin_attr, npluginattr, 1 ) \
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X( int, plugin_attradr, nplugin, 1 ) \
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|
X( int, numeric_adr, nnumeric, 1 ) \
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X( int, numeric_size, nnumeric, 1 ) \
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X( mjtNum, numeric_data, nnumericdata, 1 ) \
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X( int, text_adr, ntext, 1 ) \
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X( int, text_size, ntext, 1 ) \
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X( char, text_data, ntextdata, 1 ) \
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|
X( int, tuple_adr, ntuple, 1 ) \
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|
X( int, tuple_size, ntuple, 1 ) \
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|
X( int, tuple_objtype, ntupledata, 1 ) \
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|
X( int, tuple_objid, ntupledata, 1 ) \
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X( mjtNum, tuple_objprm, ntupledata, 1 ) \
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|
X( mjtNum, key_time, nkey, 1 ) \
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X( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
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X( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
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X( mjtNum, key_act, nkey, MJ_M(na) ) \
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X( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
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X( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
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|
X( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
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|
X( int, name_bodyadr, nbody, 1 ) \
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X( int, name_jntadr, njnt, 1 ) \
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X( int, name_geomadr, ngeom, 1 ) \
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X( int, name_siteadr, nsite, 1 ) \
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|
X( int, name_camadr, ncam, 1 ) \
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|
X( int, name_lightadr, nlight, 1 ) \
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|
X( int, name_meshadr, nmesh, 1 ) \
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|
X( int, name_skinadr, nskin, 1 ) \
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|
X( int, name_hfieldadr, nhfield, 1 ) \
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|
X( int, name_texadr, ntex, 1 ) \
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|
X( int, name_matadr, nmat, 1 ) \
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|
X( int, name_pairadr, npair, 1 ) \
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|
X( int, name_excludeadr, nexclude, 1 ) \
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|
X( int, name_eqadr, neq, 1 ) \
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|
X( int, name_tendonadr, ntendon, 1 ) \
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|
X( int, name_actuatoradr, nu, 1 ) \
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|
X( int, name_sensoradr, nsensor, 1 ) \
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|
X( int, name_numericadr, nnumeric, 1 ) \
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|
X( int, name_textadr, ntext, 1 ) \
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|
X( int, name_tupleadr, ntuple, 1 ) \
|
|
X( int, name_keyadr, nkey, 1 ) \
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|
X( int, name_pluginadr, nplugin, 1 ) \
|
|
X( char, names, nnames, 1 )
|
|
|
|
|
|
//-------------------------------- mjData ----------------------------------------------------------
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|
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|
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
|
|
#define MJDATA_POINTERS_PREAMBLE( m ) \
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int nv = m->nv;
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|
|
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// pointer fields of mjData
|
|
#define MJDATA_POINTERS \
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X( mjtNum, qpos, nq, 1 ) \
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|
X( mjtNum, qvel, nv, 1 ) \
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|
X( mjtNum, act, na, 1 ) \
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|
X( mjtNum, qacc_warmstart, nv, 1 ) \
|
|
X( mjtNum, plugin_state, npluginstate, 1 ) \
|
|
X( mjtNum, ctrl, nu, 1 ) \
|
|
X( mjtNum, qfrc_applied, nv, 1 ) \
|
|
X( mjtNum, xfrc_applied, nbody, 6 ) \
|
|
X( mjtNum, mocap_pos, nmocap, 3 ) \
|
|
X( mjtNum, mocap_quat, nmocap, 4 ) \
|
|
X( mjtNum, qacc, nv, 1 ) \
|
|
X( mjtNum, act_dot, na, 1 ) \
|
|
X( mjtNum, userdata, nuserdata, 1 ) \
|
|
X( mjtNum, sensordata, nsensordata, 1 ) \
|
|
X( int, plugin, nplugin, 1 ) \
|
|
X( uintptr_t, plugin_data, nplugin, 1 ) \
|
|
X( mjtNum, xpos, nbody, 3 ) \
|
|
X( mjtNum, xquat, nbody, 4 ) \
|
|
X( mjtNum, xmat, nbody, 9 ) \
|
|
X( mjtNum, xipos, nbody, 3 ) \
|
|
X( mjtNum, ximat, nbody, 9 ) \
|
|
X( mjtNum, xanchor, njnt, 3 ) \
|
|
X( mjtNum, xaxis, njnt, 3 ) \
|
|
X( mjtNum, geom_xpos, ngeom, 3 ) \
|
|
X( mjtNum, geom_xmat, ngeom, 9 ) \
|
|
X( mjtNum, site_xpos, nsite, 3 ) \
|
|
X( mjtNum, site_xmat, nsite, 9 ) \
|
|
X( mjtNum, cam_xpos, ncam, 3 ) \
|
|
X( mjtNum, cam_xmat, ncam, 9 ) \
|
|
X( mjtNum, light_xpos, nlight, 3 ) \
|
|
X( mjtNum, light_xdir, nlight, 3 ) \
|
|
X( mjtNum, subtree_com, nbody, 3 ) \
|
|
X( mjtNum, cdof, nv, 6 ) \
|
|
X( mjtNum, cinert, nbody, 10 ) \
|
|
X( int, ten_wrapadr, ntendon, 1 ) \
|
|
X( int, ten_wrapnum, ntendon, 1 ) \
|
|
X( int, ten_J_rownnz, ntendon, 1 ) \
|
|
X( int, ten_J_rowadr, ntendon, 1 ) \
|
|
X( int, ten_J_colind, ntendon, MJ_M(nv) ) \
|
|
X( mjtNum, ten_length, ntendon, 1 ) \
|
|
X( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
|
|
X( int, wrap_obj, nwrap, 2 ) \
|
|
X( mjtNum, wrap_xpos, nwrap, 6 ) \
|
|
X( mjtNum, actuator_length, nu, 1 ) \
|
|
X( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
|
|
X( mjtNum, crb, nbody, 10 ) \
|
|
X( mjtNum, qM, nM, 1 ) \
|
|
X( mjtNum, qLD, nM, 1 ) \
|
|
X( mjtNum, qLDiagInv, nv, 1 ) \
|
|
X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
|
|
X( mjtNum, ten_velocity, ntendon, 1 ) \
|
|
X( mjtNum, actuator_velocity, nu, 1 ) \
|
|
X( mjtNum, cvel, nbody, 6 ) \
|
|
X( mjtNum, cdof_dot, nv, 6 ) \
|
|
X( mjtNum, qfrc_bias, nv, 1 ) \
|
|
X( mjtNum, qfrc_passive, nv, 1 ) \
|
|
X( mjtNum, subtree_linvel, nbody, 3 ) \
|
|
X( mjtNum, subtree_angmom, nbody, 3 ) \
|
|
X( mjtNum, qH, nM, 1 ) \
|
|
X( mjtNum, qHDiagInv, nv, 1 ) \
|
|
X( int, D_rownnz, nv, 1 ) \
|
|
X( int, D_rowadr, nv, 1 ) \
|
|
X( int, D_colind, nD, 1 ) \
|
|
X( mjtNum, qDeriv, nD, 1 ) \
|
|
X( mjtNum, qLU, nD, 1 ) \
|
|
X( mjtNum, actuator_force, nu, 1 ) \
|
|
X( mjtNum, qfrc_actuator, nv, 1 ) \
|
|
X( mjtNum, qfrc_smooth, nv, 1 ) \
|
|
X( mjtNum, qacc_smooth, nv, 1 ) \
|
|
X( mjtNum, qfrc_constraint, nv, 1 ) \
|
|
X( mjtNum, qfrc_inverse, nv, 1 ) \
|
|
X( mjtNum, cacc, nbody, 6 ) \
|
|
X( mjtNum, cfrc_int, nbody, 6 ) \
|
|
X( mjtNum, cfrc_ext, nbody, 6 )
|
|
|
|
|
|
// macro for annotating that an array size in an X macro is a member of mjData
|
|
// by default this macro does nothing, but users can redefine it as necessary
|
|
#define MJ_D(n) n
|
|
|
|
// array of contacts
|
|
#define MJDATA_ARENA_POINTERS_CONTACT \
|
|
X( mjContact, contact, MJ_D(ncon), 1 )
|
|
|
|
// array fields of mjData that are used in the primal problem
|
|
#define MJDATA_ARENA_POINTERS_PRIMAL \
|
|
X( int, efc_type, MJ_D(nefc), 1 ) \
|
|
X( int, efc_id, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
|
|
X( int, efc_J_colind, MJ_D(nefc), MJ_M(nv) ) \
|
|
X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
|
|
X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
|
|
X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
|
|
X( int, efc_JT_colind, MJ_M(nv), MJ_D(nefc) ) \
|
|
X( mjtNum, efc_J, MJ_D(nefc), MJ_M(nv) ) \
|
|
X( mjtNum, efc_JT, MJ_M(nv), MJ_D(nefc) ) \
|
|
X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
|
|
X( mjtNum, efc_D, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_R, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_b, MJ_D(nefc), 1 ) \
|
|
X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
|
|
X( int, efc_state, MJ_D(nefc), 1 ) \
|
|
|
|
// array fields of mjData that are used in the dual problem
|
|
#define MJDATA_ARENA_POINTERS_DUAL \
|
|
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
|
|
X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
|
|
X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
|
|
X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
|
|
|
|
// array fields of mjData that live in d->arena
|
|
#define MJDATA_ARENA_POINTERS \
|
|
MJDATA_ARENA_POINTERS_CONTACT \
|
|
MJDATA_ARENA_POINTERS_PRIMAL \
|
|
MJDATA_ARENA_POINTERS_DUAL
|
|
|
|
|
|
// scalar fields of mjData
|
|
#define MJDATA_SCALAR \
|
|
X( int, nstack ) \
|
|
X( int, nbuffer ) \
|
|
X( int, pstack ) \
|
|
X( int, maxuse_stack ) \
|
|
X( int, maxuse_con ) \
|
|
X( int, maxuse_efc ) \
|
|
X( int, solver_iter ) \
|
|
X( int, solver_nnz ) \
|
|
X( int, ne ) \
|
|
X( int, nf ) \
|
|
X( int, nefc ) \
|
|
X( int, ncon ) \
|
|
X( mjtNum, time )
|
|
|
|
|
|
// vector fields of mjData
|
|
#define MJDATA_VECTOR \
|
|
X( mjWarningStat, warning, mjNWARNING, 1 ) \
|
|
X( mjTimerStat, timer, mjNTIMER, 1 ) \
|
|
X( mjSolverStat, solver, mjNSOLVER, 1 ) \
|
|
X( mjtNum, solver_fwdinv, 2, 1 ) \
|
|
X( mjtNum, energy, 2, 1 )
|
|
|
|
|
|
#endif // MUJOCO_MJXMACRO_H_
|