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Mujoco_WASM/doc/includes/references.h
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Saran Tunyasuvunakool b362cb4972 Expose a handle for the Python viewer. 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2023-04-20 05:59:19 -07:00

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// Copyright 2022 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.
// Error: C reference not found
// NOLINTBEGIN
typedef enum mjtWarning_ { // warning types
mjWARN_INERTIA = 0, // (near) singular inertia matrix
mjWARN_CONTACTFULL, // too many contacts in contact list
mjWARN_CNSTRFULL, // too many constraints
mjWARN_VGEOMFULL, // too many visual geoms
mjWARN_BADQPOS, // bad number in qpos
mjWARN_BADQVEL, // bad number in qvel
mjWARN_BADQACC, // bad number in qacc
mjWARN_BADCTRL, // bad number in ctrl
mjNWARNING // number of warnings
} mjtWarning;
typedef enum mjtTimer_ { // internal timers
// main api
mjTIMER_STEP = 0, // step
mjTIMER_FORWARD, // forward
mjTIMER_INVERSE, // inverse
// breakdown of step/forward
mjTIMER_POSITION, // fwdPosition
mjTIMER_VELOCITY, // fwdVelocity
mjTIMER_ACTUATION, // fwdActuation
mjTIMER_ACCELERATION, // fwdAcceleration
mjTIMER_CONSTRAINT, // fwdConstraint
// breakdown of fwdPosition
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
mjTIMER_POS_INERTIA, // inertia computations
mjTIMER_POS_COLLISION, // collision detection
mjTIMER_POS_MAKE, // make constraints
mjTIMER_POS_PROJECT, // project constraints
mjNTIMER // number of timers
} mjtTimer;
struct mjContact_ { // result of collision detection functions
// contact parameters set by geom-specific collision detector
mjtNum dist; // distance between nearest points; neg: penetration
mjtNum pos[3]; // position of contact point: midpoint between geoms
mjtNum frame[9]; // normal is in [0-2]
// contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
mjtNum solref[mjNREF]; // constraint solver reference
mjtNum solimp[mjNIMP]; // constraint solver impedance
// internal storage used by solver
mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
mjtNum H[36]; // cone Hessian, set by mj_updateConstraint
// contact descriptors set by mj_collideGeoms
int dim; // contact space dimensionality: 1, 3, 4 or 6
int geom1; // id of geom 1
int geom2; // id of geom 2
// flag set by mj_instantianteEquality
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs
// address computed by mj_instantiateContact
int efc_address; // address in efc; -1: not included
};
typedef struct mjContact_ mjContact;
struct mjWarningStat_ { // warning statistics
int lastinfo; // info from last warning
int number; // how many times was warning raised
};
typedef struct mjWarningStat_ mjWarningStat;
struct mjTimerStat_ { // timer statistics
mjtNum duration; // cumulative duration
int number; // how many times was timer called
};
typedef struct mjTimerStat_ mjTimerStat;
struct mjSolverStat_ { // per-iteration solver statistics
mjtNum improvement; // cost reduction, scaled by 1/trace(M(qpos0))
mjtNum gradient; // gradient norm (primal only, scaled)
mjtNum lineslope; // slope in linesearch
int nactive; // number of active constraints
int nchange; // number of constraint state changes
int neval; // number of cost evaluations in line search
int nupdate; // number of Cholesky updates in line search
};
typedef struct mjSolverStat_ mjSolverStat;
struct mjData_ {
// constant sizes
int nstack; // number of mjtNums that can fit in the arena+stack space
int nbuffer; // size of main buffer in bytes
int nplugin; // number of plugin instances
// stack pointer
size_t pstack; // first available mjtNum address in stack
// arena pointer
size_t parena; // first available byte in arena
// memory utilization stats
int maxuse_stack; // maximum stack allocation
size_t maxuse_arena; // maximum arena allocation
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// solver statistics
mjSolverStat solver[mjNSOLVER]; // solver statistics per iteration
int solver_iter; // number of solver iterations
int solver_nnz; // number of non-zeros in Hessian or efc_AR
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// collision statistics
int nbodypair_broad; // number of body pairs in collision according to the broad-phase
int nbodypair_narrow; // number of body pairs actually in collision in the narrow-phase
int ngeompair_mid; // number of geom pairs in collision according to the mid-phase
int ngeompair_narrow; // number of geom pairs actually in collision in the narrow-phase
// variable sizes
int ne; // number of equality constraints
int nf; // number of friction constraints
int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian
int ncon; // number of detected contacts
// global properties
mjtNum time; // simulation time
mjtNum energy[2]; // potential, kinetic energy
//-------------------------------- end of info header
// buffers
void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
void* arena; // arena+stack buffer (nstack*sizeof(mjtNum) bytes)
//-------------------------------- main inputs and outputs of the computation
// state
mjtNum* qpos; // position (nq x 1)
mjtNum* qvel; // velocity (nv x 1)
mjtNum* act; // actuator activation (na x 1)
mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
mjtNum* plugin_state; // plugin state (npluginstate x 1)
// control
mjtNum* ctrl; // control (nu x 1)
mjtNum* qfrc_applied; // applied generalized force (nv x 1)
mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
// dynamics
mjtNum* qacc; // acceleration (nv x 1)
mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
// user data
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
// sensors
mjtNum* sensordata; // sensor data array (nsensordata x 1)
// plugins
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
//-------------------------------- POSITION dependent
// computed by mj_fwdPosition/mj_kinematics
mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
mjtNum* xipos; // Cartesian position of body com (nbody x 3)
mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
mjtNum* site_xpos; // Cartesian site position (nsite x 3)
mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
mjtNum* light_xpos; // Cartesian light position (nlight x 3)
mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
// computed by mj_fwdPosition/mj_comPos
mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
mjtNum* cdof; // com-based motion axis of each dof (nv x 6)
mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
mjtNum* actuator_moment; // actuator moments (nu x nv)
// computed by mj_fwdPosition/mj_crb
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
mjtNum* qLDiagSqrtInv; // 1/sqrt(diag(D)) (nv x 1)
// computed by mj_collisionTree
mjtByte* bvh_active; // volume has been added to collisions (nbvh x 1)
//-------------------------------- POSITION, VELOCITY dependent
// computed by mj_fwdVelocity
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
mjtNum* actuator_velocity; // actuator velocities (nu x 1)
// computed by mj_fwdVelocity/mj_comVel
mjtNum* cvel; // com-based velocity [3D rot; 3D tran] (nbody x 6)
mjtNum* cdof_dot; // time-derivative of cdof (nv x 6)
// computed by mj_fwdVelocity/mj_rne (without acceleration)
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_passive; // passive force (nv x 1)
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData
int* D_rownnz; // non-zeros in each row (nv x 1)
int* D_rowadr; // address of each row in D_colind (nv x 1)
int* D_colind; // column indices of non-zeros (nD x 1)
int* B_rownnz; // non-zeros in each row (nbody x 1)
int* B_rowadr; // address of each row in B_colind (nbody x 1)
int* B_colind; // column indices of non-zeros (nB x 1)
// computed by mj_implicit/mj_derivative
mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
// computed by mj_implicit/mju_factorLUSparse
mjtNum* qLU; // sparse LU of (qM - dt*qDeriv) (nD x 1)
//-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdActuation
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
mjtNum* qfrc_actuator; // actuator force (nv x 1)
// computed by mj_fwdAcceleration
mjtNum* qfrc_smooth; // net unconstrained force (nv x 1)
mjtNum* qacc_smooth; // unconstrained acceleration (nv x 1)
// computed by mj_fwdConstraint/mj_inverse
mjtNum* qfrc_constraint; // constraint force (nv x 1)
// computed by mj_inverse
mjtNum* qfrc_inverse; // net external force; should equal: (nv x 1)
// qfrc_applied + J'*xfrc_applied + qfrc_actuator
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
mjtNum* cacc; // com-based acceleration (nbody x 6)
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
//-------------------------------- ARENA-ALLOCATED ARRAYS
// computed by mj_collision
mjContact* contact; // list of all detected contacts (ncon x 1)
// computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
int* efc_id; // id of object of specified type (nefc x 1)
int* efc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nnzJ x 1)
int* efc_JT_rownnz; // number of non-zeros in constraint Jacobian row T (nv x 1)
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
int* efc_JT_colind; // column indices in constraint Jacobian T (nnzJ x 1)
mjtNum* efc_J; // constraint Jacobian (nnzJ x 1)
mjtNum* efc_JT; // constraint Jacobian transposed (nnzJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// computed by mj_projectConstraint
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
};
typedef struct mjData_ mjData;
typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
mjDSBL_EQUALITY = 1<<1, // equality constraints
mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
mjDSBL_CONTACT = 1<<4, // contact constraints
mjDSBL_PASSIVE = 1<<5, // passive forces
mjDSBL_GRAVITY = 1<<6, // gravitational forces
mjDSBL_CLAMPCTRL = 1<<7, // clamp control to specified range
mjDSBL_WARMSTART = 1<<8, // warmstart constraint solver
mjDSBL_FILTERPARENT = 1<<9, // remove collisions with parent body
mjDSBL_ACTUATION = 1<<10, // apply actuation forces
mjDSBL_REFSAFE = 1<<11, // integrator safety: make ref[0]>=2*timestep
mjDSBL_SENSOR = 1<<12, // sensors
mjDSBL_MIDPHASE = 1<<13, // mid-phase collision filtering
mjNDISABLE = 14 // number of disable flags
} mjtDisableBit;
typedef enum mjtEnableBit_ { // enable optional feature bitflags
mjENBL_OVERRIDE = 1<<0, // override contact parameters
mjENBL_ENERGY = 1<<1, // energy computation
mjENBL_FWDINV = 1<<2, // record solver statistics
mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
// experimental features:
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
mjNENABLE = 5 // number of enable flags
} mjtEnableBit;
typedef enum mjtJoint_ { // type of degree of freedom
mjJNT_FREE = 0, // global position and orientation (quat) (7)
mjJNT_BALL, // orientation (quat) relative to parent (4)
mjJNT_SLIDE, // sliding distance along body-fixed axis (1)
mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1)
} mjtJoint;
typedef enum mjtGeom_ { // type of geometric shape
// regular geom types
mjGEOM_PLANE = 0, // plane
mjGEOM_HFIELD, // height field
mjGEOM_SPHERE, // sphere
mjGEOM_CAPSULE, // capsule
mjGEOM_ELLIPSOID, // ellipsoid
mjGEOM_CYLINDER, // cylinder
mjGEOM_BOX, // box
mjGEOM_MESH, // mesh
mjNGEOMTYPES, // number of regular geom types
// rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
mjGEOM_ARROW = 100, // arrow
mjGEOM_ARROW1, // arrow without wedges
mjGEOM_ARROW2, // arrow in both directions
mjGEOM_LINE, // line
mjGEOM_SKIN, // skin
mjGEOM_LABEL, // text label
mjGEOM_NONE = 1001 // missing geom type
} mjtGeom;
typedef enum mjtCamLight_ { // tracking mode for camera and light
mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body
mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
} mjtCamLight;
typedef enum mjtTexture_ { // type of texture
mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
mjTEXTURE_SKYBOX // cube texture used as skybox
} mjtTexture;
typedef enum mjtIntegrator_ { // integrator mode
mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4, // 4th-order Runge Kutta
mjINT_IMPLICIT, // implicit in velocity
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
} mjtIntegrator;
typedef enum mjtCollision_ { // collision mode for selecting geom pairs
mjCOL_ALL = 0, // test precomputed and dynamic pairs
mjCOL_PAIR, // test predefined pairs only
mjCOL_DYNAMIC // test dynamic pairs only
} mjtCollision;
typedef enum mjtCone_ { // type of friction cone
mjCONE_PYRAMIDAL = 0, // pyramidal
mjCONE_ELLIPTIC // elliptic
} mjtCone;
typedef enum mjtJacobian_ { // type of constraint Jacobian
mjJAC_DENSE = 0, // dense
mjJAC_SPARSE, // sparse
mjJAC_AUTO // dense if nv<60, sparse otherwise
} mjtJacobian;
typedef enum mjtSolver_ { // constraint solver algorithm
mjSOL_PGS = 0, // PGS (dual)
mjSOL_CG, // CG (primal)
mjSOL_NEWTON // Newton (primal)
} mjtSolver;
typedef enum mjtEq_ { // type of equality constraint
mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint)
mjEQ_WELD, // fix relative position and orientation of two bodies
mjEQ_JOINT, // couple the values of two scalar joints with cubic
mjEQ_TENDON, // couple the lengths of two tendons with cubic
mjEQ_DISTANCE // unsupported, will cause an error if used
} mjtEq;
typedef enum mjtWrap_ { // type of tendon wrap object
mjWRAP_NONE = 0, // null object
mjWRAP_JOINT, // constant moment arm
mjWRAP_PULLEY, // pulley used to split tendon
mjWRAP_SITE, // pass through site
mjWRAP_SPHERE, // wrap around sphere
mjWRAP_CYLINDER // wrap around (infinite) cylinder
} mjtWrap;
typedef enum mjtTrn_ { // type of actuator transmission
mjTRN_JOINT = 0, // force on joint
mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame
mjTRN_SLIDERCRANK, // force via slider-crank linkage
mjTRN_TENDON, // force on tendon
mjTRN_SITE, // force on site
mjTRN_BODY, // adhesion force on a body's geoms
mjTRN_UNDEFINED = 1000 // undefined transmission type
} mjtTrn;
typedef enum mjtDyn_ { // type of actuator dynamics
mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force
mjDYN_INTEGRATOR, // integrator: da/dt = u
mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau
mjDYN_MUSCLE, // piece-wise linear filter with two time constants
mjDYN_USER // user-defined dynamics type
} mjtDyn;
typedef enum mjtGain_ { // type of actuator gain
mjGAIN_FIXED = 0, // fixed gain
mjGAIN_AFFINE, // const + kp*length + kv*velocity
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
mjGAIN_USER // user-defined gain type
} mjtGain;
typedef enum mjtBias_ { // type of actuator bias
mjBIAS_NONE = 0, // no bias
mjBIAS_AFFINE, // const + kp*length + kv*velocity
mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias()
mjBIAS_USER // user-defined bias type
} mjtBias;
typedef enum mjtObj_ { // type of MujoCo object
mjOBJ_UNKNOWN = 0, // unknown object type
mjOBJ_BODY, // body
mjOBJ_XBODY, // body, used to access regular frame instead of i-frame
mjOBJ_JOINT, // joint
mjOBJ_DOF, // dof
mjOBJ_GEOM, // geom
mjOBJ_SITE, // site
mjOBJ_CAMERA, // camera
mjOBJ_LIGHT, // light
mjOBJ_MESH, // mesh
mjOBJ_SKIN, // skin
mjOBJ_HFIELD, // heightfield
mjOBJ_TEXTURE, // texture
mjOBJ_MATERIAL, // material for rendering
mjOBJ_PAIR, // geom pair to include
mjOBJ_EXCLUDE, // body pair to exclude
mjOBJ_EQUALITY, // equality constraint
mjOBJ_TENDON, // tendon
mjOBJ_ACTUATOR, // actuator
mjOBJ_SENSOR, // sensor
mjOBJ_NUMERIC, // numeric
mjOBJ_TEXT, // text
mjOBJ_TUPLE, // tuple
mjOBJ_KEY, // keyframe
mjOBJ_PLUGIN // plugin instance
} mjtObj;
typedef enum mjtConstraint_ { // type of constraint
mjCNSTR_EQUALITY = 0, // equality constraint
mjCNSTR_FRICTION_DOF, // dof friction
mjCNSTR_FRICTION_TENDON, // tendon friction
mjCNSTR_LIMIT_JOINT, // joint limit
mjCNSTR_LIMIT_TENDON, // tendon limit
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtSensor_ { // type of sensor
// common robotic sensors, attached to a site
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
mjSENS_ACCELEROMETER, // 3D linear acceleration, in local frame
mjSENS_VELOCIMETER, // 3D linear velocity, in local frame
mjSENS_GYRO, // 3D angular velocity, in local frame
mjSENS_FORCE, // 3D force between site's body and its parent body
mjSENS_TORQUE, // 3D torque between site's body and its parent body
mjSENS_MAGNETOMETER, // 3D magnetometer
mjSENS_RANGEFINDER, // scalar distance to nearest geom or site along z-axis
// sensors related to scalar joints, tendons, actuators
mjSENS_JOINTPOS, // scalar joint position (hinge and slide only)
mjSENS_JOINTVEL, // scalar joint velocity (hinge and slide only)
mjSENS_TENDONPOS, // scalar tendon position
mjSENS_TENDONVEL, // scalar tendon velocity
mjSENS_ACTUATORPOS, // scalar actuator position
mjSENS_ACTUATORVEL, // scalar actuator velocity
mjSENS_ACTUATORFRC, // scalar actuator force
// sensors related to ball joints
mjSENS_BALLQUAT, // 4D ball joint quaternion
mjSENS_BALLANGVEL, // 3D ball joint angular velocity
// joint and tendon limit sensors, in constraint space
mjSENS_JOINTLIMITPOS, // joint limit distance-margin
mjSENS_JOINTLIMITVEL, // joint limit velocity
mjSENS_JOINTLIMITFRC, // joint limit force
mjSENS_TENDONLIMITPOS, // tendon limit distance-margin
mjSENS_TENDONLIMITVEL, // tendon limit velocity
mjSENS_TENDONLIMITFRC, // tendon limit force
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
mjSENS_FRAMEPOS, // 3D position
mjSENS_FRAMEQUAT, // 4D unit quaternion orientation
mjSENS_FRAMEXAXIS, // 3D unit vector: x-axis of object's frame
mjSENS_FRAMEYAXIS, // 3D unit vector: y-axis of object's frame
mjSENS_FRAMEZAXIS, // 3D unit vector: z-axis of object's frame
mjSENS_FRAMELINVEL, // 3D linear velocity
mjSENS_FRAMEANGVEL, // 3D angular velocity
mjSENS_FRAMELINACC, // 3D linear acceleration
mjSENS_FRAMEANGACC, // 3D angular acceleration
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
mjSENS_SUBTREECOM, // 3D center of mass of subtree
mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree
mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree
// global sensors
mjSENS_CLOCK, // simulation time
// plugin-controlled sensors
mjSENS_PLUGIN, // plugin-controlled
// user-defined sensor
mjSENS_USER // sensor data provided by mjcb_sensor callback
} mjtSensor;
typedef enum mjtStage_ { // computation stage
mjSTAGE_NONE = 0, // no computations
mjSTAGE_POS, // position-dependent computations
mjSTAGE_VEL, // velocity-dependent computations
mjSTAGE_ACC // acceleration/force-dependent computations
} mjtStage;
typedef enum mjtDataType_ { // data type for sensors
mjDATATYPE_REAL = 0, // real values, no constraints
mjDATATYPE_POSITIVE, // positive values; 0 or negative: inactive
mjDATATYPE_AXIS, // 3D unit vector
mjDATATYPE_QUATERNION // unit quaternion
} mjtDataType;
typedef enum mjtLRMode_ { // mode for actuator length range computation
mjLRMODE_NONE = 0, // do not process any actuators
mjLRMODE_MUSCLE, // process muscle actuators
mjLRMODE_MUSCLEUSER, // process muscle and user actuators
mjLRMODE_ALL // process all actuators
} mjtLRMode;
struct mjLROpt_ { // options for mj_setLengthRange()
// flags
int mode; // which actuators to process (mjtLRMode)
int useexisting; // use existing length range if available
int uselimit; // use joint and tendon limits if available
// algorithm parameters
mjtNum accel; // target acceleration used to compute force
mjtNum maxforce; // maximum force; 0: no limit
mjtNum timeconst; // time constant for velocity reduction; min 0.01
mjtNum timestep; // simulation timestep; 0: use mjOption.timestep
mjtNum inttotal; // total simulation time interval
mjtNum interval; // evaluation time interval (at the end)
mjtNum tolrange; // convergence tolerance (relative to range)
};
typedef struct mjLROpt_ mjLROpt;
struct mjVFS_ { // virtual file system for loading from memory
int nfile; // number of files present
char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
int filesize[mjMAXVFS]; // file size in bytes
void* filedata[mjMAXVFS]; // buffer with file data
};
typedef struct mjVFS_ mjVFS;
struct mjResource_ {
char* name; // name of resource (filename, etc)
void* data; // opaque data pointer
const void* provider_data; // opaque resource provider data
// reading callback from resource provider
int (*read)(struct mjResource_* resource, const void** buffer);
// closing callback from resource provider
void (*close)(struct mjResource_* resource);
};
typedef struct mjResource_ mjResource;
struct mjOption_ { // physics options
// timing parameters
mjtNum timestep; // timestep
mjtNum apirate; // update rate for remote API (Hz)
// solver parameters
mjtNum impratio; // ratio of friction-to-normal contact impedance
mjtNum tolerance; // main solver tolerance
mjtNum noslip_tolerance; // noslip solver tolerance
mjtNum mpr_tolerance; // MPR solver tolerance
// physical constants
mjtNum gravity[3]; // gravitational acceleration
mjtNum wind[3]; // wind (for lift, drag and viscosity)
mjtNum magnetic[3]; // global magnetic flux
mjtNum density; // density of medium
mjtNum viscosity; // viscosity of medium
// override contact solver parameters (if enabled)
mjtNum o_margin; // margin
mjtNum o_solref[mjNREF]; // solref
mjtNum o_solimp[mjNIMP]; // solimp
// discrete settings
int integrator; // integration mode (mjtIntegrator)
int collision; // collision mode (mjtCollision)
int cone; // type of friction cone (mjtCone)
int jacobian; // type of Jacobian (mjtJacobian)
int solver; // solver algorithm (mjtSolver)
int iterations; // maximum number of main solver iterations
int noslip_iterations; // maximum number of noslip solver iterations
int mpr_iterations; // maximum number of MPR solver iterations
int disableflags; // bit flags for disabling standard features
int enableflags; // bit flags for enabling optional features
};
typedef struct mjOption_ mjOption;
struct mjVisual_ { // visualization options
struct { // global parameters
float fovy; // y-field of view for free camera (degrees)
float ipd; // inter-pupilary distance for free camera
float azimuth; // initial azimuth of free camera (degrees)
float elevation; // initial elevation of free camera (degrees)
float linewidth; // line width for wireframe and ray rendering
float glow; // glow coefficient for selected body
float realtime; // initial real-time factor (1: real time)
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
} global;
struct { // rendering quality
int shadowsize; // size of shadowmap texture
int offsamples; // number of multisamples for offscreen rendering
int numslices; // number of slices for builtin geom drawing
int numstacks; // number of stacks for builtin geom drawing
int numquads; // number of quads for box rendering
} quality;
struct { // head light
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
int active; // is headlight active
} headlight;
struct { // mapping
float stiffness; // mouse perturbation stiffness (space->force)
float stiffnessrot; // mouse perturbation stiffness (space->torque)
float force; // from force units to space units
float torque; // from torque units to space units
float alpha; // scale geom alphas when transparency is enabled
float fogstart; // OpenGL fog starts at fogstart * mjModel.stat.extent
float fogend; // OpenGL fog ends at fogend * mjModel.stat.extent
float znear; // near clipping plane = znear * mjModel.stat.extent
float zfar; // far clipping plane = zfar * mjModel.stat.extent
float haze; // haze ratio
float shadowclip; // directional light: shadowclip * mjModel.stat.extent
float shadowscale; // spot light: shadowscale * light.cutoff
float actuatortendon; // scale tendon width
} map;
struct { // scale of decor elements relative to mean body size
float forcewidth; // width of force arrow
float contactwidth; // contact width
float contactheight; // contact height
float connect; // autoconnect capsule width
float com; // com radius
float camera; // camera object
float light; // light object
float selectpoint; // selection point
float jointlength; // joint length
float jointwidth; // joint width
float actuatorlength; // actuator length
float actuatorwidth; // actuator width
float framelength; // bodyframe axis length
float framewidth; // bodyframe axis width
float constraint; // constraint width
float slidercrank; // slidercrank width
} scale;
struct { // color of decor elements
float fog[4]; // fog
float haze[4]; // haze
float force[4]; // external force
float inertia[4]; // inertia box
float joint[4]; // joint
float actuator[4]; // actuator, neutral
float actuatornegative[4]; // actuator, negative limit
float actuatorpositive[4]; // actuator, positive limit
float com[4]; // center of mass
float camera[4]; // camera object
float light[4]; // light object
float selectpoint[4]; // selection point
float connect[4]; // auto connect
float contactpoint[4]; // contact point
float contactforce[4]; // contact force
float contactfriction[4]; // contact friction force
float contacttorque[4]; // contact torque
float contactgap[4]; // contact point in gap
float rangefinder[4]; // rangefinder ray
float constraint[4]; // constraint
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
} rgba;
};
typedef struct mjVisual_ mjVisual;
struct mjStatistic_ { // model statistics (in qpos0)
mjtNum meaninertia; // mean diagonal inertia
mjtNum meanmass; // mean body mass
mjtNum meansize; // mean body size
mjtNum extent; // spatial extent
mjtNum center[3]; // center of model
};
typedef struct mjStatistic_ mjStatistic;
struct mjModel_ {
// ------------------------------- sizes
// sizes needed at mjModel construction
int nq; // number of generalized coordinates = dim(qpos)
int nv; // number of degrees of freedom = dim(qvel)
int nu; // number of actuators/controls = dim(ctrl)
int na; // number of activation states = dim(act)
int nbody; // number of bodies
int nbvh; // number of total bounding volumes in all bodies
int njnt; // number of joints
int ngeom; // number of geoms
int nsite; // number of sites
int ncam; // number of cameras
int nlight; // number of lights
int nmesh; // number of meshes
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texcoords in all meshes
int nmeshface; // number of triangular faces in all meshes
int nmeshgraph; // number of ints in mesh auxiliary data
int nskin; // number of skins
int nskinvert; // number of vertices in all skins
int nskintexvert; // number of vertiex with texcoords in all skins
int nskinface; // number of triangular faces in all skins
int nskinbone; // number of bones in all skins
int nskinbonevert; // number of vertices in all skin bones
int nhfield; // number of heightfields
int nhfielddata; // number of data points in all heightfields
int ntex; // number of textures
int ntexdata; // number of bytes in texture rgb data
int nmat; // number of materials
int npair; // number of predefined geom pairs
int nexclude; // number of excluded geom pairs
int neq; // number of equality constraints
int ntendon; // number of tendons
int nwrap; // number of wrap objects in all tendon paths
int nsensor; // number of sensors
int nnumeric; // number of numeric custom fields
int nnumericdata; // number of mjtNums in all numeric fields
int ntext; // number of text custom fields
int ntextdata; // number of mjtBytes in all text fields
int ntuple; // number of tuple custom fields
int ntupledata; // number of objects in all tuple fields
int nkey; // number of keyframes
int nmocap; // number of mocap bodies
int nplugin; // number of plugin instances
int npluginattr; // number of chars in all plugin config attributes
int nuser_body; // number of mjtNums in body_user
int nuser_jnt; // number of mjtNums in jnt_user
int nuser_geom; // number of mjtNums in geom_user
int nuser_site; // number of mjtNums in site_user
int nuser_cam; // number of mjtNums in cam_user
int nuser_tendon; // number of mjtNums in tendon_user
int nuser_actuator; // number of mjtNums in actuator_user
int nuser_sensor; // number of mjtNums in sensor_user
int nnames; // number of chars in all names
int nnames_map; // number of slots in the names hash map
// sizes set after mjModel construction (only affect mjData)
int nM; // number of non-zeros in sparse inertia matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nemax; // number of potential equality-constraint rows
int njmax; // number of available rows in constraint Jacobian
int nconmax; // number of potential contacts in contact list
int nstack; // number of fields in mjData stack
int nuserdata; // number of extra fields in mjData
int nsensordata; // number of fields in sensor data vector
int npluginstate; // number of fields in the plugin state vector
int nbuffer; // number of bytes in buffer
// ------------------------------- options and statistics
mjOption opt; // physics options
mjVisual vis; // visualization options
mjStatistic stat; // model statistics
// ------------------------------- buffers
// main buffer
void* buffer; // main buffer; all pointers point in it (nbuffer)
// default generalized coordinates
mjtNum* qpos0; // qpos values at default pose (nq x 1)
mjtNum* qpos_spring; // reference pose for springs (nq x 1)
// bodies
int* body_parentid; // id of body's parent (nbody x 1)
int* body_rootid; // id of root above body (nbody x 1)
int* body_weldid; // id of body that this body is welded to (nbody x 1)
int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
int* body_jntnum; // number of joints for this body (nbody x 1)
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
int* body_geomnum; // number of geoms (nbody x 1)
int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
mjtByte* body_simple; // body is simple (has diagonal M) (nbody x 1)
mjtByte* body_sameframe; // inertial frame is same as body frame (nbody x 1)
mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
mjtNum* body_ipos; // local position of center of mass (nbody x 3)
mjtNum* body_iquat; // local orientation of inertia ellipsoid (nbody x 4)
mjtNum* body_mass; // mass (nbody x 1)
mjtNum* body_subtreemass; // mass of subtree starting at this body (nbody x 1)
mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
mjtNum* body_user; // user data (nbody x nuser_body)
int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
int* body_bvhadr; // address of bvh root (nbody x 1)
int* body_bvhnum; // number of bounding volumes (nbody x 1)
// bounding volume hierarchy
int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
int* bvh_child; // left and right children in tree (nbvh x 2)
int* bvh_geomid; // geom id of the node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // bounding box of node (center, size) (nbvh x 6)
// joints
int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_group; // group for visibility (njnt x 1)
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
mjtNum* jnt_pos; // local anchor position (njnt x 3)
mjtNum* jnt_axis; // local joint axis (njnt x 3)
mjtNum* jnt_stiffness; // stiffness coefficient (njnt x 1)
mjtNum* jnt_range; // joint limits (njnt x 2)
mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
mjtNum* jnt_user; // user data (njnt x nuser_jnt)
// dofs
int* dof_bodyid; // id of dof's body (nv x 1)
int* dof_jntid; // id of dof's joint (nv x 1)
int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
int* dof_Madr; // dof address in M-diagonal (nv x 1)
int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
mjtNum* dof_damping; // damping coefficient (nv x 1)
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
// geoms
int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
int* geom_contype; // geom contact type (ngeom x 1)
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
int* geom_bodyid; // id of geom's body (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield; -1: none (ngeom x 1)
int* geom_matid; // material id for rendering; -1: none (ngeom x 1)
int* geom_group; // group for visibility (ngeom x 1)
int* geom_priority; // geom contact priority (ngeom x 1)
mjtByte* geom_sameframe; // same as body frame (1) or iframe (2) (ngeom x 1)
mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
mjtNum* geom_size; // geom-specific size parameters (ngeom x 3)
mjtNum* geom_aabb; // bounding box, (center, size) (ngeom x 6)
mjtNum* geom_rbound; // radius of bounding sphere (ngeom x 1)
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
// sites
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
int* site_bodyid; // id of site's body (nsite x 1)
int* site_matid; // material id for rendering; -1: none (nsite x 1)
int* site_group; // group for visibility (nsite x 1)
mjtByte* site_sameframe; // same as body frame (1) or iframe (2) (nsite x 1)
mjtNum* site_size; // geom size for rendering (nsite x 3)
mjtNum* site_pos; // local position offset rel. to body (nsite x 3)
mjtNum* site_quat; // local orientation offset rel. to body (nsite x 4)
mjtNum* site_user; // user data (nsite x nuser_site)
float* site_rgba; // rgba when material is omitted (nsite x 4)
// cameras
int* cam_mode; // camera tracking mode (mjtCamLight) (ncam x 1)
int* cam_bodyid; // id of camera's body (ncam x 1)
int* cam_targetbodyid; // id of targeted body; -1: none (ncam x 1)
mjtNum* cam_pos; // position rel. to body frame (ncam x 3)
mjtNum* cam_quat; // orientation rel. to body frame (ncam x 4)
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
mjtNum* cam_fovy; // y-field of view (deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
mjtNum* cam_user; // user data (ncam x nuser_cam)
// lights
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
int* light_bodyid; // id of light's body (nlight x 1)
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
mjtByte* light_directional; // directional light (nlight x 1)
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
mjtByte* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
float* light_attenuation; // OpenGL attenuation (quadratic model) (nlight x 3)
float* light_cutoff; // OpenGL cutoff (nlight x 1)
float* light_exponent; // OpenGL exponent (nlight x 1)
float* light_ambient; // ambient rgb (alpha=1) (nlight x 3)
float* light_diffuse; // diffuse rgb (alpha=1) (nlight x 3)
float* light_specular; // specular rgb (alpha=1) (nlight x 3)
// meshes
int* mesh_vertadr; // first vertex address (nmesh x 1)
int* mesh_vertnum; // number of vertices (nmesh x 1)
int* mesh_faceadr; // first face address (nmesh x 1)
int* mesh_facenum; // number of faces (nmesh x 1)
int* mesh_normaladr; // first normal address (nmesh x 1)
int* mesh_normalnum; // number of normals (nmesh x 1)
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
int* mesh_face; // vertex face data (nmeshface x 3)
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
// skins
int* skin_matid; // skin material id; -1: none (nskin x 1)
int* skin_group; // group for visibility (nskin x 1)
float* skin_rgba; // skin rgba (nskin x 4)
float* skin_inflate; // inflate skin in normal direction (nskin x 1)
int* skin_vertadr; // first vertex address (nskin x 1)
int* skin_vertnum; // number of vertices (nskin x 1)
int* skin_texcoordadr; // texcoord data address; -1: no texcoord (nskin x 1)
int* skin_faceadr; // first face address (nskin x 1)
int* skin_facenum; // number of faces (nskin x 1)
int* skin_boneadr; // first bone in skin (nskin x 1)
int* skin_bonenum; // number of bones in skin (nskin x 1)
float* skin_vert; // vertex positions for all skin meshes (nskinvert x 3)
float* skin_texcoord; // vertex texcoords for all skin meshes (nskintexvert x 2)
int* skin_face; // triangle faces for all skin meshes (nskinface x 3)
int* skin_bonevertadr; // first vertex in each bone (nskinbone x 1)
int* skin_bonevertnum; // number of vertices in each bone (nskinbone x 1)
float* skin_bonebindpos; // bind pos of each bone (nskinbone x 3)
float* skin_bonebindquat; // bind quat of each bone (nskinbone x 4)
int* skin_bonebodyid; // body id of each bone (nskinbone x 1)
int* skin_bonevertid; // mesh ids of vertices in each bone (nskinbonevert x 1)
float* skin_bonevertweight; // weights of vertices in each bone (nskinbonevert x 1)
// height fields
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_adr; // address in rgb (ntex x 1)
mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
// materials
int* mat_texid; // texture id; -1: none (nmat x 1)
mjtByte* mat_texuniform; // make texture cube uniform (nmat x 1)
float* mat_texrepeat; // texture repetition for 2d mapping (nmat x 2)
float* mat_emission; // emission (x rgb) (nmat x 1)
float* mat_specular; // specular (x white) (nmat x 1)
float* mat_shininess; // shininess coef (nmat x 1)
float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
float* mat_rgba; // rgba (nmat x 4)
// predefined geom pairs for collision detection; has precedence over exclude
int* pair_dim; // contact dimensionality (npair x 1)
int* pair_geom1; // id of geom1 (npair x 1)
int* pair_geom2; // id of geom2 (npair x 1)
int* pair_signature; // (body1+1) << 16 + body2+1 (npair x 1)
mjtNum* pair_solref; // constraint solver reference: contact (npair x mjNREF)
mjtNum* pair_solimp; // constraint solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
mjtNum* pair_gap; // include in solver if dist<margin-gap (npair x 1)
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
int* exclude_signature; // (body1+1) << 16 + body2+1 (nexclude x 1)
// equality constraints
int* eq_type; // constraint type (mjtEq) (neq x 1)
int* eq_obj1id; // id of object 1 (neq x 1)
int* eq_obj2id; // id of object 2 (neq x 1)
mjtByte* eq_active; // enable/disable constraint (neq x 1)
mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
mjtNum* eq_data; // numeric data for constraint (neq x mjNEQDATA)
// tendons
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
mjtNum* tendon_range; // tendon length limits (ntendon x 2)
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
mjtNum* tendon_lengthspring; // spring resting length range (ntendon x 2)
mjtNum* tendon_length0; // tendon length in qpos0 (ntendon x 1)
mjtNum* tendon_invweight0; // inv. weight in qpos0 (ntendon x 1)
mjtNum* tendon_user; // user data (ntendon x nuser_tendon)
float* tendon_rgba; // rgba when material is omitted (ntendon x 4)
// list of all wrap objects in tendon paths
int* wrap_type; // wrap object type (mjtWrap) (nwrap x 1)
int* wrap_objid; // object id: geom, site, joint (nwrap x 1)
mjtNum* wrap_prm; // divisor, joint coef, or site id (nwrap x 1)
// actuators
int* actuator_trntype; // transmission type (mjtTrn) (nu x 1)
int* actuator_dyntype; // dynamics type (mjtDyn) (nu x 1)
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
mjtByte* actuator_ctrllimited; // is control limited (nu x 1)
mjtByte* actuator_forcelimited;// is force limited (nu x 1)
mjtByte* actuator_actlimited; // is activation limited (nu x 1)
mjtNum* actuator_dynprm; // dynamics parameters (nu x mjNDYN)
mjtNum* actuator_gainprm; // gain parameters (nu x mjNGAIN)
mjtNum* actuator_biasprm; // bias parameters (nu x mjNBIAS)
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
mjtNum* actuator_forcerange; // range of forces (nu x 2)
mjtNum* actuator_actrange; // range of activations (nu x 2)
mjtNum* actuator_gear; // scale length and transmitted force (nu x 6)
mjtNum* actuator_cranklength; // crank length for slider-crank (nu x 1)
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nu x 1)
mjtNum* actuator_length0; // actuator length in qpos0 (nu x 1)
mjtNum* actuator_lengthrange; // feasible actuator length range (nu x 2)
mjtNum* actuator_user; // user data (nu x nuser_actuator)
int* actuator_plugin; // plugin instance id; -1: not a plugin (nu x 1)
// sensors
int* sensor_type; // sensor type (mjtSensor) (nsensor x 1)
int* sensor_datatype; // numeric data type (mjtDataType) (nsensor x 1)
int* sensor_needstage; // required compute stage (mjtStage) (nsensor x 1)
int* sensor_objtype; // type of sensorized object (mjtObj) (nsensor x 1)
int* sensor_objid; // id of sensorized object (nsensor x 1)
int* sensor_reftype; // type of reference frame (mjtObj) (nsensor x 1)
int* sensor_refid; // id of reference frame; -1: global frame (nsensor x 1)
int* sensor_dim; // number of scalar outputs (nsensor x 1)
int* sensor_adr; // address in sensor array (nsensor x 1)
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
mjtNum* sensor_noise; // noise standard deviation (nsensor x 1)
mjtNum* sensor_user; // user data (nsensor x nuser_sensor)
int* sensor_plugin; // plugin instance id; -1: not a plugin (nsensor x 1)
// plugin instances
int* plugin; // globally registered plugin slot number (nplugin x 1)
int* plugin_stateadr; // address in the plugin state array (nplugin x 1)
int* plugin_statenum; // number of states in the plugin instance (nplugin x 1)
char* plugin_attr; // config attributes of plugin instances (npluginattr x 1)
int* plugin_attradr; // address to each instance's config attrib (nplugin x 1)
// custom numeric fields
int* numeric_adr; // address of field in numeric_data (nnumeric x 1)
int* numeric_size; // size of numeric field (nnumeric x 1)
mjtNum* numeric_data; // array of all numeric fields (nnumericdata x 1)
// custom text fields
int* text_adr; // address of text in text_data (ntext x 1)
int* text_size; // size of text field (strlen+1) (ntext x 1)
char* text_data; // array of all text fields (0-terminated) (ntextdata x 1)
// custom tuple fields
int* tuple_adr; // address of text in text_data (ntuple x 1)
int* tuple_size; // number of objects in tuple (ntuple x 1)
int* tuple_objtype; // array of object types in all tuples (ntupledata x 1)
int* tuple_objid; // array of object ids in all tuples (ntupledata x 1)
mjtNum* tuple_objprm; // array of object params in all tuples (ntupledata x 1)
// keyframes
mjtNum* key_time; // key time (nkey x 1)
mjtNum* key_qpos; // key position (nkey x nq)
mjtNum* key_qvel; // key velocity (nkey x nv)
mjtNum* key_act; // key activation (nkey x na)
mjtNum* key_mpos; // key mocap position (nkey x 3*nmocap)
mjtNum* key_mquat; // key mocap quaternion (nkey x 4*nmocap)
mjtNum* key_ctrl; // key control (nkey x nu)
// names
int* name_bodyadr; // body name pointers (nbody x 1)
int* name_jntadr; // joint name pointers (njnt x 1)
int* name_geomadr; // geom name pointers (ngeom x 1)
int* name_siteadr; // site name pointers (nsite x 1)
int* name_camadr; // camera name pointers (ncam x 1)
int* name_lightadr; // light name pointers (nlight x 1)
int* name_meshadr; // mesh name pointers (nmesh x 1)
int* name_skinadr; // skin name pointers (nskin x 1)
int* name_hfieldadr; // hfield name pointers (nhfield x 1)
int* name_texadr; // texture name pointers (ntex x 1)
int* name_matadr; // material name pointers (nmat x 1)
int* name_pairadr; // geom pair name pointers (npair x 1)
int* name_excludeadr; // exclude name pointers (nexclude x 1)
int* name_eqadr; // equality constraint name pointers (neq x 1)
int* name_tendonadr; // tendon name pointers (ntendon x 1)
int* name_actuatoradr; // actuator name pointers (nu x 1)
int* name_sensoradr; // sensor name pointers (nsensor x 1)
int* name_numericadr; // numeric name pointers (nnumeric x 1)
int* name_textadr; // text name pointers (ntext x 1)
int* name_tupleadr; // tuple name pointers (ntuple x 1)
int* name_keyadr; // keyframe name pointers (nkey x 1)
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
char* names; // names of all objects, 0-terminated (nnames x 1)
int* names_map; // internal hash map of names (nnames_map x 1)
};
typedef struct mjModel_ mjModel;
struct mjpResourceProvider_ {
const char* prefix; // prefix for match against a resource name
mjfOpenResource open; // opening callback
mjfReadResource read; // reading callback
mjfCloseResource close; // closing callback
void* data; // opaque data pointer (resource invariant)
};
typedef struct mjpResourceProvider_ mjpResourceProvider;
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0,
mjPLUGIN_SENSOR = 1<<1,
mjPLUGIN_PASSIVE = 1<<2,
} mjtPluginCapabilityBit;
struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes
int capabilityflags; // bitfield of mjtPluginCapabilityBit specifying plugin capabilities
int needstage; // an mjtStage enum value specifying the sensor computation stage
// number of mjtNums needed to store the state of a plugin instance (required)
int (*nstate)(const mjModel* m, int instance);
// dimension of the specified sensor's output (required only for sensor plugins)
int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
// called when a new mjData is being created (required), returns 0 on success or -1 on failure
int (*init)(const mjModel* m, mjData* d, int instance);
// called when an mjData is being freed (optional)
void (*destroy)(mjData* d, int instance);
// called when an mjData is being copied (optional)
void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
// called when an mjData is being reset (required)
void (*reset)(const mjModel* m, double* plugin_state, void* plugin_data, int instance);
// called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
// called when time integration occurs (optional)
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
};
typedef struct mjpPlugin_ mjpPlugin;
typedef enum mjtGridPos_ { // grid position for overlay
mjGRID_TOPLEFT = 0, // top left
mjGRID_TOPRIGHT, // top right
mjGRID_BOTTOMLEFT, // bottom left
mjGRID_BOTTOMRIGHT // bottom right
} mjtGridPos;
typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
mjFB_WINDOW = 0, // default/window buffer
mjFB_OFFSCREEN // offscreen buffer
} mjtFramebuffer;
typedef enum mjtFontScale_ { // font scale, used at context creation
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
mjFONTSCALE_150 = 150, // 150% scale
mjFONTSCALE_200 = 200, // 200% scale
mjFONTSCALE_250 = 250, // 250% scale
mjFONTSCALE_300 = 300 // 300% scale
} mjtFontScale;
typedef enum mjtFont_ { // font type, used at each text operation
mjFONT_NORMAL = 0, // normal font
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
mjFONT_BIG // big font (for user alerts)
} mjtFont;
struct mjrRect_ { // OpenGL rectangle
int left; // left (usually 0)
int bottom; // bottom (usually 0)
int width; // width (usually buffer width)
int height; // height (usually buffer height)
};
typedef struct mjrRect_ mjrRect;
struct mjrContext_ { // custom OpenGL context
// parameters copied from mjVisual
float lineWidth; // line width for wireframe rendering
float shadowClip; // clipping radius for directional lights
float shadowScale; // fraction of light cutoff for spot lights
float fogStart; // fog start = stat.extent * vis.map.fogstart
float fogEnd; // fog end = stat.extent * vis.map.fogend
float fogRGBA[4]; // fog rgba
int shadowSize; // size of shadow map texture
int offWidth; // width of offscreen buffer
int offHeight; // height of offscreen buffer
int offSamples; // number of offscreen buffer multisamples
// parameters specified at creation
int fontScale; // font scale
int auxWidth[mjNAUX]; // auxiliary buffer width
int auxHeight[mjNAUX]; // auxiliary buffer height
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
// offscreen rendering objects
unsigned int offFBO; // offscreen framebuffer object
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
unsigned int offColor; // offscreen color buffer
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
unsigned int offDepthStencil; // offscreen depth and stencil buffer
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
// shadow rendering objects
unsigned int shadowFBO; // shadow map framebuffer object
unsigned int shadowTex; // shadow map texture
// auxiliary buffers
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
// texture objects and info
int ntexture; // number of allocated textures
int textureType[100]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[100]; // texture names
// displaylist starting positions
unsigned int basePlane; // all planes from model
unsigned int baseMesh; // all meshes from model
unsigned int baseHField; // all hfields from model
unsigned int baseBuiltin; // all buildin geoms, with quality from model
unsigned int baseFontNormal; // normal font
unsigned int baseFontShadow; // shadow font
unsigned int baseFontBig; // big font
// displaylist ranges
int rangePlane; // all planes from model
int rangeMesh; // all meshes from model
int rangeHField; // all hfields from model
int rangeBuiltin; // all builtin geoms, with quality from model
int rangeFont; // all characters in font
// skin VBOs
int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info
int charWidth[127]; // character widths: normal and shadow
int charWidthBig[127]; // chacarter widths: big
int charHeight; // character heights: normal and shadow
int charHeightBig; // character heights: big
// capabilities
int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer
int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels
};
typedef struct mjrContext_ mjrContext;
typedef enum mjtButton_ { // mouse button
mjBUTTON_NONE = 0, // no button
mjBUTTON_LEFT, // left button
mjBUTTON_RIGHT, // right button
mjBUTTON_MIDDLE // middle button
} mjtButton;
typedef enum mjtEvent_ { // mouse and keyboard event type
mjEVENT_NONE = 0, // no event
mjEVENT_MOVE, // mouse move
mjEVENT_PRESS, // mouse button press
mjEVENT_RELEASE, // mouse button release
mjEVENT_SCROLL, // scroll
mjEVENT_KEY, // key press
mjEVENT_RESIZE, // resize
mjEVENT_REDRAW, // redraw
mjEVENT_FILESDROP // files drop
} mjtEvent;
typedef enum mjtItem_ { // UI item type
mjITEM_END = -2, // end of definition list (not an item)
mjITEM_SECTION = -1, // section (not an item)
mjITEM_SEPARATOR = 0, // separator
mjITEM_STATIC, // static text
mjITEM_BUTTON, // button
// the rest have data pointer
mjITEM_CHECKINT, // check box, int value
mjITEM_CHECKBYTE, // check box, mjtByte value
mjITEM_RADIO, // radio group
mjITEM_RADIOLINE, // radio group, single line
mjITEM_SELECT, // selection box
mjITEM_SLIDERINT, // slider, int value
mjITEM_SLIDERNUM, // slider, mjtNum value
mjITEM_EDITINT, // editable array, int values
mjITEM_EDITNUM, // editable array, mjtNum values
mjITEM_EDITTXT, // editable text
mjNITEM // number of item types
} mjtItem;
struct mjuiState_ { // mouse and keyboard state
// constants set by user
int nrect; // number of rectangles used
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
void* userdata; // pointer to user data (for callbacks)
// event type
int type; // (type mjtEvent)
// mouse buttons
int left; // is left button down
int right; // is right button down
int middle; // is middle button down
int doubleclick; // is last press a double click
int button; // which button was pressed (mjtButton)
double buttontime; // time of last button press
// mouse position
double x; // x position
double y; // y position
double dx; // x displacement
double dy; // y displacement
double sx; // x scroll
double sy; // y scroll
// keyboard
int control; // is control down
int shift; // is shift down
int alt; // is alt down
int key; // which key was pressed
double keytime; // time of last key press
// rectangle ownership and dragging
int mouserect; // which rectangle contains mouse
int dragrect; // which rectangle is dragged with mouse
int dragbutton; // which button started drag (mjtButton)
// files dropping (only valid when type == mjEVENT_FILESDROP)
int dropcount; // number of files dropped
const char** droppaths; // paths to files dropped
};
typedef struct mjuiState_ mjuiState;
struct mjuiThemeSpacing_ { // UI visualization theme spacing
int total; // total width
int scroll; // scrollbar width
int label; // label width
int section; // section gap
int itemside; // item side gap
int itemmid; // item middle gap
int itemver; // item vertical gap
int texthor; // text horizontal gap
int textver; // text vertical gap
int linescroll; // number of pixels to scroll
int samples; // number of multisamples
};
typedef struct mjuiThemeSpacing_ mjuiThemeSpacing;
struct mjuiThemeColor_ { // UI visualization theme color
float master[3]; // master background
float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title
float sectfont[3]; // section font
float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane
float shortcut[3]; // shortcut background
float fontactive[3]; // font active
float fontinactive[3]; // font inactive
float decorinactive[3]; // decor inactive
float decorinactive2[3]; // inactive slider color 2
float button[3]; // button
float check[3]; // check
float radio[3]; // radio
float select[3]; // select
float select2[3]; // select pane
float slider[3]; // slider
float slider2[3]; // slider color 2
float edit[3]; // edit
float edit2[3]; // edit invalid
float cursor[3]; // edit cursor
};
typedef struct mjuiThemeColor_ mjuiThemeColor;
struct mjuiItemSingle_ { // check and button-related
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
};
struct mjuiItemMulti_ { // static, radio and select-related
int nelem; // number of elements in group
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
};
struct mjuiItemSlider_ { // slider-related
double range[2]; // slider range
double divisions; // number of range divisions
};
struct mjuiItemEdit_ { // edit-related
int nelem; // number of elements in list
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
};
struct mjuiItem_ { // UI item
// common properties
int type; // type (mjtItem)
char name[mjMAXUINAME]; // name
int state; // 0: disable, 1: enable, 2+: use predicate
void *pdata; // data pointer (type-specific)
int sectionid; // id of section containing item
int itemid; // id of item within section
// type-specific properties
union {
struct mjuiItemSingle_ single; // check and button
struct mjuiItemMulti_ multi; // static, radio and select
struct mjuiItemSlider_ slider; // slider
struct mjuiItemEdit_ edit; // edit
};
// internal
mjrRect rect; // rectangle occupied by item
};
typedef struct mjuiItem_ mjuiItem;
struct mjuiSection_ { // UI section
// properties
char name[mjMAXUINAME]; // name
int state; // 0: closed, 1: open
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
// internal
mjrRect rtitle; // rectangle occupied by title
mjrRect rcontent; // rectangle occupied by content
};
typedef struct mjuiSection_ mjuiSection;
struct mjUI_ { // entire UI
// constants set by user
mjuiThemeSpacing spacing; // UI theme spacing
mjuiThemeColor color; // UI theme color
mjfItemEnable predicate; // callback to set item state programmatically
void* userdata; // pointer to user data (passed to predicate)
int rectid; // index of this ui rectangle in mjuiState
int auxid; // aux buffer index of this ui
int radiocol; // number of radio columns (0 defaults to 2)
// UI sizes (framebuffer units)
int width; // width
int height; // current heigth
int maxheight; // height when all sections open
int scroll; // scroll from top of UI
// mouse focus
int mousesect; // 0: none, -1: scroll, otherwise 1+section
int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts
// keyboard focus and edit
int editsect; // 0: none, otherwise 1+section
int edititem; // item within section
int editcursor; // cursor position
int editscroll; // horizontal scroll
char edittext[mjMAXUITEXT]; // current text
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
// sections
int nsect; // number of sections in use
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
};
typedef struct mjUI_ mjUI;
struct mjuiDef_ { // table passed to mjui_add()
int type; // type (mjtItem); -1: section
char name[mjMAXUINAME]; // name
int state; // state
void* pdata; // pointer to data
char other[mjMAXUITEXT]; // string with type-specific properties
};
typedef struct mjuiDef_ mjuiDef;
typedef enum mjtCatBit_ { // bitflags for mjvGeom category
mjCAT_STATIC = 1, // model elements in body 0
mjCAT_DYNAMIC = 2, // model elements in all other bodies
mjCAT_DECOR = 4, // decorative geoms
mjCAT_ALL = 7 // select all categories
} mjtCatBit;
typedef enum mjtMouse_ { // mouse interaction mode
mjMOUSE_NONE = 0, // no action
mjMOUSE_ROTATE_V, // rotate, vertical plane
mjMOUSE_ROTATE_H, // rotate, horizontal plane
mjMOUSE_MOVE_V, // move, vertical plane
mjMOUSE_MOVE_H, // move, horizontal plane
mjMOUSE_ZOOM, // zoom
mjMOUSE_SELECT // selection
} mjtMouse;
typedef enum mjtPertBit_ { // mouse perturbations
mjPERT_TRANSLATE = 1, // translation
mjPERT_ROTATE = 2 // rotation
} mjtPertBit;
typedef enum mjtCamera_ { // abstract camera type
mjCAMERA_FREE = 0, // free camera
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
mjCAMERA_USER // user is responsible for setting OpenGL camera
} mjtCamera;
typedef enum mjtLabel_ { // object labeling
mjLABEL_NONE = 0, // nothing
mjLABEL_BODY, // body labels
mjLABEL_JOINT, // joint labels
mjLABEL_GEOM, // geom labels
mjLABEL_SITE, // site labels
mjLABEL_CAMERA, // camera labels
mjLABEL_LIGHT, // light labels
mjLABEL_TENDON, // tendon labels
mjLABEL_ACTUATOR, // actuator labels
mjLABEL_CONSTRAINT, // constraint labels
mjLABEL_SKIN, // skin labels
mjLABEL_SELECTION, // selected object
mjLABEL_SELPNT, // coordinates of selection point
mjLABEL_CONTACTPOINT, // contact information
mjLABEL_CONTACTFORCE, // magnitude of contact force
mjNLABEL // number of label types
} mjtLabel;
typedef enum mjtFrame_ { // frame visualization
mjFRAME_NONE = 0, // no frames
mjFRAME_BODY, // body frames
mjFRAME_GEOM, // geom frames
mjFRAME_SITE, // site frames
mjFRAME_CAMERA, // camera frames
mjFRAME_LIGHT, // light frames
mjFRAME_CONTACT, // contact frames
mjFRAME_WORLD, // world frame
mjNFRAME // number of visualization frames
} mjtFrame;
typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_CONVEXHULL = 0, // mesh convex hull
mjVIS_TEXTURE, // textures
mjVIS_JOINT, // joints
mjVIS_CAMERA, // cameras
mjVIS_ACTUATOR, // actuators
mjVIS_ACTIVATION, // activations
mjVIS_LIGHT, // lights
mjVIS_TENDON, // tendons
mjVIS_RANGEFINDER, // rangefinder sensors
mjVIS_CONSTRAINT, // point constraints
mjVIS_INERTIA, // equivalent inertia boxes
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
mjVIS_PERTFORCE, // perturbation force
mjVIS_PERTOBJ, // perturbation object
mjVIS_CONTACTPOINT, // contact points
mjVIS_CONTACTFORCE, // contact force
mjVIS_CONTACTSPLIT, // split contact force into normal and tangent
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
mjVIS_AUTOCONNECT, // auto connect joints and body coms
mjVIS_COM, // center of mass
mjVIS_SELECT, // selection point
mjVIS_STATIC, // static bodies
mjVIS_SKIN, // skin
mjVIS_MIDPHASE, // mid-phase bounding volume hierarchy
mjNVISFLAG // number of visualization flags
} mjtVisFlag;
typedef enum mjtRndFlag_ { // flags enabling rendering effects
mjRND_SHADOW = 0, // shadows
mjRND_WIREFRAME, // wireframe
mjRND_REFLECTION, // reflections
mjRND_ADDITIVE, // additive transparency
mjRND_SKYBOX, // skybox
mjRND_FOG, // fog
mjRND_HAZE, // haze
mjRND_SEGMENT, // segmentation with random color
mjRND_IDCOLOR, // segmentation with segid+1 color
mjRND_CULL_FACE, // cull backward faces
mjNRNDFLAG // number of rendering flags
} mjtRndFlag;
typedef enum mjtStereo_ { // type of stereo rendering
mjSTEREO_NONE = 0, // no stereo; use left eye only
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
mjSTEREO_SIDEBYSIDE // side-by-side
} mjtStereo;
struct mjvPerturb_ { // object selection and perturbation
int select; // selected body id; non-positive: none
int skinselect; // selected skin id; negative: none
int active; // perturbation bitmask (mjtPertBit)
int active2; // secondary perturbation bitmask (mjtPertBit)
mjtNum refpos[3]; // reference position for selected object
mjtNum refquat[4]; // reference orientation for selected object
mjtNum refselpos[3]; // reference position for selection point
mjtNum localpos[3]; // selection point in object coordinates
mjtNum localmass; // spatial inertia at selection point
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
};
typedef struct mjvPerturb_ mjvPerturb;
struct mjvCamera_ { // abstract camera
// type and ids
int type; // camera type (mjtCamera)
int fixedcamid; // fixed camera id
int trackbodyid; // body id to track
// abstract camera pose specification
mjtNum lookat[3]; // lookat point
mjtNum distance; // distance to lookat point or tracked body
mjtNum azimuth; // camera azimuth (deg)
mjtNum elevation; // camera elevation (deg)
};
typedef struct mjvCamera_ mjvCamera;
struct mjvGLCamera_ { // OpenGL camera
// camera frame
float pos[3]; // position
float forward[3]; // forward direction
float up[3]; // up direction
// camera projection
float frustum_center; // hor. center (left,right set to match aspect)
float frustum_bottom; // bottom
float frustum_top; // top
float frustum_near; // near
float frustum_far; // far
};
typedef struct mjvGLCamera_ mjvGLCamera;
struct mjvGeom_ { // abstract geom
// type info
int type; // geom type (mjtGeom)
int dataid; // mesh, hfield or plane id; -1: none
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
int objid; // mujoco object id; -1 for decor
int category; // visual category
int texid; // texture id; -1: no texture
int texuniform; // uniform cube mapping
int texcoord; // mesh geom has texture coordinates
int segid; // segmentation id; -1: not shown
// OpenGL info
float texrepeat[2]; // texture repetition for 2D mapping
float size[3]; // size parameters
float pos[3]; // Cartesian position
float mat[9]; // Cartesian orientation
float rgba[4]; // color and transparency
float emission; // emission coef
float specular; // specular coef
float shininess; // shininess coef
float reflectance; // reflectance coef
char label[100]; // text label
// transparency rendering (set internally)
float camdist; // distance to camera (used by sorter)
float modelrbound; // geom rbound from model, 0 if not model geom
mjtByte transparent; // treat geom as transparent
};
typedef struct mjvGeom_ mjvGeom;
struct mjvLight_ { // OpenGL light
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
mjtByte headlight; // headlight
mjtByte directional; // directional light
mjtByte castshadow; // does light cast shadows
};
typedef struct mjvLight_ mjvLight;
struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
int bvh_depth; // depth of the bounding volume hierarchy to be visualized
};
typedef struct mjvOption_ mjvOption;
struct mjvScene_ { // abstract scene passed to OpenGL renderer
// abstract geoms
int maxgeom; // size of allocated geom buffer
int ngeom; // number of geoms currently in buffer
mjvGeom* geoms; // buffer for geoms (ngeom)
int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
// skin data
int nskin; // number of skins
int* skinfacenum; // number of faces in skin (nskin)
int* skinvertadr; // address of skin vertices (nskin)
int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data (nskin)
float* skinnormal; // skin normal data (nskin)
// OpenGL lights
int nlight; // number of lights currently in buffer
mjvLight lights[mjMAXLIGHT]; // buffer for lights (nlight)
// OpenGL cameras
mjvGLCamera camera[2]; // left and right camera
// OpenGL model transformation
mjtByte enabletransform; // enable model transformation
float translate[3]; // model translation
float rotate[4]; // model quaternion rotation
float scale; // model scaling
// OpenGL rendering effects
int stereo; // stereoscopic rendering (mjtStereo)
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
// framing
int framewidth; // frame pixel width; 0: disable framing
float framergb[3]; // frame color
};
typedef struct mjvScene_ mjvScene;
struct mjvFigure_ { // abstract 2D figure passed to OpenGL renderer
// enable flags
int flg_legend; // show legend
int flg_ticklabel[2]; // show grid tick labels (x,y)
int flg_extend; // automatically extend axis ranges to fit data
int flg_barplot; // isolated line segments (i.e. GL_LINES)
int flg_selection; // vertical selection line
int flg_symmetric; // symmetric y-axis
// style settings
float linewidth; // line width
float gridwidth; // grid line width
int gridsize[2]; // number of grid points in (x,y)
float gridrgb[3]; // grid line rgb
float figurergba[4]; // figure color and alpha
float panergba[4]; // pane color and alpha
float legendrgba[4]; // legend color and alpha
float textrgb[3]; // text color
float linergb[mjMAXLINE][3]; // line colors
float range[2][2]; // axis ranges; (min>=max) automatic
char xformat[20]; // x-tick label format for sprintf
char yformat[20]; // y-tick label format for sprintf
char minwidth[20]; // string used to determine min y-tick width
// text labels
char title[1000]; // figure title; subplots separated with 2+ spaces
char xlabel[100]; // x-axis label
char linename[mjMAXLINE][100]; // line names for legend
// dynamic settings
int legendoffset; // number of lines to offset legend
int subplot; // selected subplot (for title rendering)
int highlight[2]; // if point is in legend rect, highlight line
int highlightid; // if id>=0 and no point, highlight id
float selection; // selection line x-value
// line data
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
// output from renderer
int xaxispixel[2]; // range of x-axis in pixels
int yaxispixel[2]; // range of y-axis in pixels
float xaxisdata[2]; // range of x-axis in data units
float yaxisdata[2]; // range of y-axis in data units
};
typedef struct mjvFigure_ mjvFigure;
struct mjvSceneState_ {
int nbuffer; // size of the buffer in bytes
void* buffer; // heap-allocated memory for all arrays in this struct
int maxgeom; // maximum number of mjvGeom supported by this state object
mjvScene plugincache; // scratch space for vis geoms inserted by plugins
// fields in mjModel that are necessary to re-render a scene
struct {
int nu;
int na;
int nbody;
int nbvh;
int njnt;
int ngeom;
int nsite;
int ncam;
int nlight;
int nmesh;
int nskin;
int nskinvert;
int nskinface;
int nskinbone;
int nskinbonevert;
int nmat;
int neq;
int ntendon;
int nwrap;
int nsensor;
int nnames;
int nsensordata;
mjOption opt;
mjVisual vis;
mjStatistic stat;
int* body_parentid;
int* body_rootid;
int* body_weldid;
int* body_mocapid;
int* body_jntnum;
int* body_jntadr;
int* body_geomnum;
int* body_geomadr;
mjtNum* body_iquat;
mjtNum* body_mass;
mjtNum* body_inertia;
int* body_bvhadr;
int* body_bvhnum;
int* bvh_depth;
int* bvh_child;
int* bvh_geomid;
mjtNum* bvh_aabb;
int* jnt_type;
int* jnt_bodyid;
int* jnt_group;
int* geom_type;
int* geom_bodyid;
int* geom_dataid;
int* geom_matid;
int* geom_group;
mjtNum* geom_size;
mjtNum* geom_aabb;
mjtNum* geom_rbound;
float* geom_rgba;
int* site_type;
int* site_bodyid;
int* site_matid;
int* site_group;
mjtNum* site_size;
float* site_rgba;
mjtNum* cam_fovy;
mjtNum* cam_ipd;
mjtByte* light_directional;
mjtByte* light_castshadow;
mjtByte* light_active;
float* light_attenuation;
float* light_cutoff;
float* light_exponent;
float* light_ambient;
float* light_diffuse;
float* light_specular;
int* mesh_texcoordadr;
int* mesh_graphadr;
int* skin_matid;
int* skin_group;
float* skin_rgba;
float* skin_inflate;
int* skin_vertadr;
int* skin_vertnum;
int* skin_texcoordadr;
int* skin_faceadr;
int* skin_facenum;
int* skin_boneadr;
int* skin_bonenum;
float* skin_vert;
int* skin_face;
int* skin_bonevertadr;
int* skin_bonevertnum;
float* skin_bonebindpos;
float* skin_bonebindquat;
int* skin_bonebodyid;
int* skin_bonevertid;
float* skin_bonevertweight;
int* mat_texid;
mjtByte* mat_texuniform;
float* mat_texrepeat;
float* mat_emission;
float* mat_specular;
float* mat_shininess;
float* mat_reflectance;
float* mat_rgba;
int* eq_type;
int* eq_obj1id;
int* eq_obj2id;
mjtByte* eq_active;
mjtNum* eq_data;
int* tendon_num;
int* tendon_matid;
int* tendon_group;
mjtByte* tendon_limited;
mjtNum* tendon_width;
mjtNum* tendon_range;
mjtNum* tendon_stiffness;
mjtNum* tendon_damping;
mjtNum* tendon_frictionloss;
mjtNum* tendon_lengthspring;
float* tendon_rgba;
int* actuator_trntype;
int* actuator_dyntype;
int* actuator_trnid;
int* actuator_actadr;
int* actuator_actnum;
int* actuator_group;
mjtByte* actuator_ctrllimited;
mjtByte* actuator_actlimited;
mjtNum* actuator_ctrlrange;
mjtNum* actuator_actrange;
mjtNum* actuator_cranklength;
int* sensor_type;
int* sensor_objid;
int* sensor_adr;
int* name_bodyadr;
int* name_jntadr;
int* name_geomadr;
int* name_siteadr;
int* name_camadr;
int* name_lightadr;
int* name_eqadr;
int* name_tendonadr;
int* name_actuatoradr;
char* names;
} model;
// fields in mjData that are necessary to re-render a scene
struct {
mjWarningStat warning[mjNWARNING];
int nefc;
int ncon;
mjtNum time;
mjtNum* act;
mjtNum* ctrl;
mjtNum* xfrc_applied;
mjtNum* sensordata;
mjtNum* xpos;
mjtNum* xquat;
mjtNum* xmat;
mjtNum* xipos;
mjtNum* ximat;
mjtNum* xanchor;
mjtNum* xaxis;
mjtNum* geom_xpos;
mjtNum* geom_xmat;
mjtNum* site_xpos;
mjtNum* site_xmat;
mjtNum* cam_xpos;
mjtNum* cam_xmat;
mjtNum* light_xpos;
mjtNum* light_xdir;
mjtNum* subtree_com;
int* ten_wrapadr;
int* ten_wrapnum;
int* wrap_obj;
mjtNum* wrap_xpos;
mjtByte* bvh_active;
mjContact* contact;
mjtNum* efc_force;
} data;
};
typedef struct mjvSceneState_ mjvSceneState;
//----------------------------- MJAPI FUNCTIONS --------------------------------
void mj_defaultVFS(mjVFS* vfs);
int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
int mj_findFileVFS(const mjVFS* vfs, const char* filename);
int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
void mj_deleteVFS(mjVFS* vfs);
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
void mj_freeLastXML(void);
int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
int flg_html, int flg_pad);
void mj_step(const mjModel* m, mjData* d);
void mj_step1(const mjModel* m, mjData* d);
void mj_step2(const mjModel* m, mjData* d);
void mj_forward(const mjModel* m, mjData* d);
void mj_inverse(const mjModel* m, mjData* d);
void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
void mj_defaultLROpt(mjLROpt* opt);
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
void mj_defaultOption(mjOption* opt);
void mj_defaultVisual(mjVisual* vis);
mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
void mj_deleteModel(mjModel* m);
int mj_sizeModel(const mjModel* m);
mjData* mj_makeData(const mjModel* m);
mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
void mj_resetData(const mjModel* m, mjData* d);
void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
mjtNum* mj_stackAlloc(mjData* d, int size);
int* mj_stackAllocInt(mjData* d, int size);
void mj_deleteData(mjData* d);
void mj_resetCallbacks(void);
void mj_setConst(mjModel* m, mjData* d);
int mj_setLengthRange(mjModel* m, mjData* d, int index,
const mjLROpt* opt, char* error, int error_sz);
void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
void mj_printModel(const mjModel* m, const char* filename);
void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
const char* float_format);
void mj_printData(const mjModel* m, mjData* d, const char* filename);
void mju_printMat(const mjtNum* mat, int nr, int nc);
void mju_printMatSparse(const mjtNum* mat, int nr,
const int* rownnz, const int* rowadr, const int* colind);
void mj_fwdPosition(const mjModel* m, mjData* d);
void mj_fwdVelocity(const mjModel* m, mjData* d);
void mj_fwdActuation(const mjModel* m, mjData* d);
void mj_fwdAcceleration(const mjModel* m, mjData* d);
void mj_fwdConstraint(const mjModel* m, mjData* d);
void mj_Euler(const mjModel* m, mjData* d);
void mj_RungeKutta(const mjModel* m, mjData* d, int N);
void mj_invPosition(const mjModel* m, mjData* d);
void mj_invVelocity(const mjModel* m, mjData* d);
void mj_invConstraint(const mjModel* m, mjData* d);
void mj_compareFwdInv(const mjModel* m, mjData* d);
void mj_sensorPos(const mjModel* m, mjData* d);
void mj_sensorVel(const mjModel* m, mjData* d);
void mj_sensorAcc(const mjModel* m, mjData* d);
void mj_energyPos(const mjModel* m, mjData* d);
void mj_energyVel(const mjModel* m, mjData* d);
void mj_checkPos(const mjModel* m, mjData* d);
void mj_checkVel(const mjModel* m, mjData* d);
void mj_checkAcc(const mjModel* m, mjData* d);
void mj_kinematics(const mjModel* m, mjData* d);
void mj_comPos(const mjModel* m, mjData* d);
void mj_camlight(const mjModel* m, mjData* d);
void mj_tendon(const mjModel* m, mjData* d);
void mj_transmission(const mjModel* m, mjData* d);
void mj_crb(const mjModel* m, mjData* d);
void mj_factorM(const mjModel* m, mjData* d);
void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
void mj_comVel(const mjModel* m, mjData* d);
void mj_passive(const mjModel* m, mjData* d);
void mj_subtreeVel(const mjModel* m, mjData* d);
void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
void mj_rnePostConstraint(const mjModel* m, mjData* d);
void mj_collision(const mjModel* m, mjData* d);
void mj_makeConstraint(const mjModel* m, mjData* d);
void mj_projectConstraint(const mjModel* m, mjData* d);
void mj_referenceConstraint(const mjModel* m, mjData* d);
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian);
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);
int mj_isSparse(const mjModel* m);
int mj_isDual(const mjModel* m);
void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
const mjtNum point[3], const mjtNum axis[3], int body);
int mj_name2id(const mjModel* m, int type, const char* name);
const char* mj_id2name(const mjModel* m, int type, int id);
void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
const mjtNum point[3], int body, mjtNum* qfrc_target);
void mj_objectVelocity(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
void mj_objectAcceleration(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
const mjtNum* qpos1, const mjtNum* qpos2);
void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
const mjtNum quat[4], int body, mjtByte sameframe);
mjtNum mj_getTotalmass(const mjModel* m);
void mj_setTotalmass(mjModel* m, mjtNum newmass);
const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
void mj_loadPluginLibrary(const char* path);
void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
int mj_version(void);
const char* mj_versionString();
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
void mjv_defaultCamera(mjvCamera* cam);
void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
void mjv_defaultPerturb(mjvPerturb* pert);
void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
const mjtNum roomquat[4], const mjvScene* scn);
void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
const mjtNum modelquat[4], const mjvScene* scn);
void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
const mjvScene* scn);
void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
const mjvScene* scn);
mjtNum mjv_frustumHeight(const mjvScene* scn);
void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvPerturb* pert);
void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjtNum roomup[3], mjvScene* scn);
void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
int flg_paused);
void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
mjtNum aspectratio, mjtNum relx, mjtNum rely,
const mjvScene* scn, mjtNum selpnt[3], int geomid[1], int skinid[1]);
void mjv_defaultOption(mjvOption* opt);
void mjv_defaultFigure(mjvFigure* fig);
void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
mjtNum a0, mjtNum a1, mjtNum a2,
mjtNum b0, mjtNum b1, mjtNum b2);
void mjv_defaultScene(mjvScene* scn);
void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
void mjv_freeScene(mjvScene* scn);
void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask,
mjvScene* scn);
void mjv_defaultSceneState(mjvSceneState* scnstate);
void mjv_makeSceneState(const mjModel* m, const mjData* d,
mjvSceneState* scnstate, int maxgeom);
void mjv_freeSceneState(mjvSceneState* scnstate);
void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, int catmask, mjvScene* scn);
void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
void mjr_defaultContext(mjrContext* con);
void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
void mjr_changeFont(int fontscale, mjrContext* con);
void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
void mjr_freeContext(mjrContext* con);
void mjr_resizeOffscreen(int width, int height, mjrContext* con);
void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
void mjr_restoreBuffer(const mjrContext* con);
void mjr_setBuffer(int framebuffer, mjrContext* con);
void mjr_readPixels(unsigned char* rgb, float* depth,
mjrRect viewport, const mjrContext* con);
void mjr_drawPixels(const unsigned char* rgb, const float* depth,
mjrRect viewport, const mjrContext* con);
void mjr_blitBuffer(mjrRect src, mjrRect dst,
int flg_color, int flg_depth, const mjrContext* con);
void mjr_setAux(int index, const mjrContext* con);
void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
void mjr_text(int font, const char* txt, const mjrContext* con,
float x, float y, float r, float g, float b);
void mjr_overlay(int font, int gridpos, mjrRect viewport,
const char* overlay, const char* overlay2, const mjrContext* con);
mjrRect mjr_maxViewport(const mjrContext* con);
void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
void mjr_label(mjrRect viewport, int font, const char* txt,
float r, float g, float b, float a, float rt, float gt, float bt,
const mjrContext* con);
void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
void mjr_finish(void);
int mjr_getError(void);
int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
mjuiThemeSpacing mjui_themeSpacing(int ind);
mjuiThemeColor mjui_themeColor(int ind);
void mjui_add(mjUI* ui, const mjuiDef* def);
void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
void mjui_resize(mjUI* ui, const mjrContext* con);
void mjui_update(int section, int item, const mjUI* ui,
const mjuiState* state, const mjrContext* con);
mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_error_i(const char* msg, int i);
void mju_error_s(const char* msg, const char* text);
void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_warning_i(const char* msg, int i);
void mju_warning_s(const char* msg, const char* text);
void mju_clearHandlers(void);
void* mju_malloc(size_t size);
void mju_free(void* ptr);
void mj_warning(mjData* d, int warning, int info);
void mju_writeLog(const char* type, const char* msg);
int mj_activate(const char* filename);
void mj_deactivate(void);
void mju_zero3(mjtNum res[3]);
void mju_copy3(mjtNum res[3], const mjtNum data[3]);
void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
mjtNum mju_normalize3(mjtNum res[3]);
mjtNum mju_norm3(const mjtNum vec[3]);
mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
void mju_zero4(mjtNum res[4]);
void mju_unit4(mjtNum res[4]);
void mju_copy4(mjtNum res[4], const mjtNum data[4]);
mjtNum mju_normalize4(mjtNum res[4]);
void mju_zero(mjtNum* res, int n);
void mju_fill(mjtNum* res, mjtNum val, int n);
void mju_copy(mjtNum* res, const mjtNum* data, int n);
mjtNum mju_sum(const mjtNum* vec, int n);
mjtNum mju_L1(const mjtNum* vec, int n);
void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
mjtNum mju_normalize(mjtNum* res, int n);
mjtNum mju_norm(const mjtNum* res, int n);
mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
void mju_eye(mjtNum* mat, int n);
void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);
void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int r2);
void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);
void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
const mjtNum newpos[3], const mjtNum oldpos[3],
const mjtNum rotnew2old[9]);
void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos1[3], const mjtNum quat1[4],
const mjtNum pos2[3], const mjtNum quat2[4]);
void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos[3], const mjtNum quat[4]);
void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
const mjtNum vec[3]);
int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
const mjtNum* lower, const mjtNum* upper);
void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
mjtNum** lower, mjtNum** upper);
mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[2]);
void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
mjtNum mju_min(mjtNum a, mjtNum b);
mjtNum mju_max(mjtNum a, mjtNum b);
mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
mjtNum mju_sign(mjtNum x);
int mju_round(mjtNum x);
const char* mju_type2Str(int type);
int mju_str2Type(const char* str);
const char* mju_writeNumBytes(size_t nbytes);
const char* mju_warningText(int warning, size_t info);
int mju_isBad(mjtNum x);
int mju_isZero(mjtNum* vec, int n);
mjtNum mju_standardNormal(mjtNum* num2);
void mju_f2n(mjtNum* res, const float* vec, int n);
void mju_n2f(float* res, const mjtNum* vec, int n);
void mju_d2n(mjtNum* res, const double* vec, int n);
void mju_n2d(double* res, const mjtNum* vec, int n);
void mju_insertionSort(mjtNum* list, int n);
void mju_insertionSortInt(int* list, int n);
mjtNum mju_Halton(int index, int base);
char* mju_strncpy(char *dst, const char *src, int n);
mjtNum mju_sigmoid(mjtNum x);
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
void mjp_defaultPlugin(mjpPlugin* plugin);
int mjp_registerPlugin(const mjpPlugin* plugin);
int mjp_pluginCount();
const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
const mjpPlugin* mjp_getPluginAtSlot(int slot);
void mjp_defaultResourceProvider(mjpResourceProvider* provider);
int mjp_registerResourceProvider(const mjpResourceProvider* provider);
int mjp_resourceProviderCount();
const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
// NOLINTEND
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