Yuval Tassa
9902b73502
PiperOrigin-RevId: 566351365 Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
142 lines
4.9 KiB
C
142 lines
4.9 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_SRC_ENGINE_ENGINE_IO_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_IO_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjxmacro.h>
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#ifdef __cplusplus
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#include <cstddef>
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extern "C" {
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#else
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#include <stddef.h>
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#endif
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// internal hash map size factor (2 corresponds to a load factor of 0.5)
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#define mjLOAD_MULTIPLE 2
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//------------------------------- initialization ---------------------------------------------------
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// Set default options for length range computation.
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MJAPI void mj_defaultLROpt(mjLROpt* opt);
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// set default solver paramters
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MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
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// set options to default values
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MJAPI void mj_defaultOption(mjOption* opt);
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// set visual options to default values
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MJAPI void mj_defaultVisual(mjVisual* vis);
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// set statistics to default values; compute later in compiler
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void mj_defaultStatistic(mjStatistic* stat);
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//------------------------------- mjModel ----------------------------------------------------------
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// allocate mjModel
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mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int njnt,
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int ngeom, int nsite, int ncam, int nlight,
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int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
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int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
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int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
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int ntex, int ntexdata, int nmat, int npair, int nexclude,
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int neq, int ntendon, int nwrap, int nsensor,
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int nnumeric, int nnumericdata, int ntext, int ntextdata,
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int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
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int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
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int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
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int nuser_sensor, int nnames);
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// copy mjModel; allocate new if dest is NULL
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MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
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// save model to binary file
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MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
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// load model from binary MJB file
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// if vfs is not NULL, look up file in vfs before reading from disk
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MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
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// de-allocate model
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MJAPI void mj_deleteModel(mjModel* m);
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// size of buffer needed to hold model
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MJAPI int mj_sizeModel(const mjModel* m);
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// validate reference fields in a model; return null if valid, error message otherwise
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MJAPI const char* mj_validateReferences(const mjModel* m);
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//------------------------------- mjData -----------------------------------------------------------
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// Allocate mjData corresponding to given model.
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// If the model buffer is unallocated the initial configuration will not be set.
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MJAPI mjData* mj_makeData(const mjModel* m);
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// Copy mjData.
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// m is only required to contain the size fields from MJMODEL_INTS.
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MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
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// set data to defaults
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MJAPI void mj_resetData(const mjModel* m, mjData* d);
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// set data to defaults, fill everything else with debug_value
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MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
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// reset data, set fields from specified keyframe
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MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
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// mjData arena allocate
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MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
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// mjData mark stack frame
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MJAPI void mj_markStack(mjData* d);
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// mjData free stack frame
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MJAPI void mj_freeStack(mjData* d);
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// mjData stack allocate
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MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
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// mjData stack allocate for array of mjtNums
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MJAPI mjtNum* mj_stackAllocNum(mjData* d, int size);
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// mjData stack allocate for array of ints
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MJAPI int* mj_stackAllocInt(mjData* d, int size);
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// de-allocate data
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MJAPI void mj_deleteData(mjData* d);
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// clear arena pointers in mjData
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static inline void mj_clearEfc(mjData* d) {
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#define X(type, name, nr, nc) d->name = NULL;
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MJDATA_ARENA_POINTERS
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#undef X
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d->nefc = 0;
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d->nisland = 0;
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d->contact = (mjContact*) d->arena;
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}
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_IO_H_
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