Saran Tunyasuvunakool
b362cb4972
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
3831 lines
129 KiB
C#
3831 lines
129 KiB
C#
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// ==============================================================================
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// THIS FILE IS AUTO-GENERATED
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using System;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Collections.Generic;
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using SizeDict = System.Collections.Generic.Dictionary<string, string[]>;
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using NestedDictionary = System.Collections.Generic.Dictionary<string, System.Collections.Generic.Dictionary<string, string[]>>;
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namespace Mujoco {
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public static class MujocoLib {
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// ----------------------------------Constants----------------------------------
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public const bool THIRD_PARTY_MUJOCO_MJDATA_H_ = true;
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public const bool THIRD_PARTY_MUJOCO_MJEXPORT_H_ = true;
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public const bool MUJOCO_HELPER_DLL_LOCAL = true;
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public const bool MUJOCO_HELPER_DLL_IMPORT = true;
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public const bool MUJOCO_HELPER_DLL_EXPORT = true;
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public const bool MJAPI = true;
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public const bool MJLOCAL = true;
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public const bool THIRD_PARTY_MUJOCO_MJMODEL_H_ = true;
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public const double mjPI = 3.141592653589793;
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public const double mjMAXVAL = 10000000000.0;
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public const double mjMINMU = 1e-05;
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public const double mjMINIMP = 0.0001;
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public const double mjMAXIMP = 0.9999;
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public const int mjMAXCONPAIR = 50;
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public const int mjMAXVFS = 2000;
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public const int mjMAXVFSNAME = 1000;
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public const int mjNEQDATA = 11;
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public const int mjNDYN = 10;
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public const int mjNGAIN = 10;
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public const int mjNBIAS = 10;
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public const int mjNFLUID = 12;
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public const int mjNREF = 2;
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public const int mjNIMP = 5;
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public const int mjNSOLVER = 1000;
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public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
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public const bool mjEXTERNC = true;
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public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
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public const int mjNAUX = 10;
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public const int mjMAXTEXTURE = 1000;
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public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
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public const bool mjUSEDOUBLE = true;
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public const double mjMINVAL = 1e-15;
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public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
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public const int mjMAXUISECT = 10;
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public const int mjMAXUIITEM = 80;
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public const int mjMAXUITEXT = 300;
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public const int mjMAXUINAME = 40;
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public const int mjMAXUIMULTI = 35;
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public const int mjMAXUIEDIT = 7;
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public const int mjMAXUIRECT = 25;
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public const int mjSEPCLOSED = 1000;
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public const int mjKEY_ESCAPE = 256;
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public const int mjKEY_ENTER = 257;
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public const int mjKEY_TAB = 258;
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public const int mjKEY_BACKSPACE = 259;
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public const int mjKEY_INSERT = 260;
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public const int mjKEY_DELETE = 261;
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public const int mjKEY_RIGHT = 262;
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public const int mjKEY_LEFT = 263;
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public const int mjKEY_DOWN = 264;
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public const int mjKEY_UP = 265;
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public const int mjKEY_PAGE_UP = 266;
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public const int mjKEY_PAGE_DOWN = 267;
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public const int mjKEY_HOME = 268;
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public const int mjKEY_END = 269;
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public const int mjKEY_F1 = 290;
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public const int mjKEY_F2 = 291;
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public const int mjKEY_F3 = 292;
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public const int mjKEY_F4 = 293;
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public const int mjKEY_F5 = 294;
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public const int mjKEY_F6 = 295;
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public const int mjKEY_F7 = 296;
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public const int mjKEY_F8 = 297;
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public const int mjKEY_F9 = 298;
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public const int mjKEY_F10 = 299;
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public const int mjKEY_F11 = 300;
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public const int mjKEY_F12 = 301;
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public const bool THIRD_PARTY_MUJOCO_MJVISUALIZE_H_ = true;
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public const int mjNGROUP = 6;
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public const int mjMAXLIGHT = 100;
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public const int mjMAXOVERLAY = 500;
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public const int mjMAXLINE = 100;
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public const int mjMAXLINEPNT = 1000;
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public const int mjMAXPLANEGRID = 200;
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public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
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public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
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public const int mjVERSION_HEADER = 233;
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// ------------------------------------Enums------------------------------------
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public enum mjtWarning : int{
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mjWARN_INERTIA = 0,
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mjWARN_CONTACTFULL = 1,
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mjWARN_CNSTRFULL = 2,
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mjWARN_VGEOMFULL = 3,
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mjWARN_BADQPOS = 4,
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mjWARN_BADQVEL = 5,
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mjWARN_BADQACC = 6,
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mjWARN_BADCTRL = 7,
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mjNWARNING = 8,
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}
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public enum mjtTimer : int{
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mjTIMER_STEP = 0,
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mjTIMER_FORWARD = 1,
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mjTIMER_INVERSE = 2,
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mjTIMER_POSITION = 3,
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mjTIMER_VELOCITY = 4,
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mjTIMER_ACTUATION = 5,
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mjTIMER_ACCELERATION = 6,
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mjTIMER_CONSTRAINT = 7,
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mjTIMER_POS_KINEMATICS = 8,
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mjTIMER_POS_INERTIA = 9,
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mjTIMER_POS_COLLISION = 10,
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mjTIMER_POS_MAKE = 11,
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mjTIMER_POS_PROJECT = 12,
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mjNTIMER = 13,
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}
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public enum mjtDisableBit : int{
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mjDSBL_CONSTRAINT = 1,
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mjDSBL_EQUALITY = 2,
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mjDSBL_FRICTIONLOSS = 4,
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mjDSBL_LIMIT = 8,
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mjDSBL_CONTACT = 16,
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mjDSBL_PASSIVE = 32,
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mjDSBL_GRAVITY = 64,
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mjDSBL_CLAMPCTRL = 128,
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mjDSBL_WARMSTART = 256,
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mjDSBL_FILTERPARENT = 512,
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mjDSBL_ACTUATION = 1024,
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mjDSBL_REFSAFE = 2048,
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mjDSBL_SENSOR = 4096,
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mjDSBL_MIDPHASE = 8192,
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mjNDISABLE = 14,
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}
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public enum mjtEnableBit : int{
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mjENBL_OVERRIDE = 1,
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mjENBL_ENERGY = 2,
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mjENBL_FWDINV = 4,
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mjENBL_SENSORNOISE = 8,
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mjENBL_MULTICCD = 16,
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mjNENABLE = 5,
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}
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public enum mjtJoint : int{
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mjJNT_FREE = 0,
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mjJNT_BALL = 1,
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mjJNT_SLIDE = 2,
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mjJNT_HINGE = 3,
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}
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public enum mjtGeom : int{
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mjGEOM_PLANE = 0,
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mjGEOM_HFIELD = 1,
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mjGEOM_SPHERE = 2,
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mjGEOM_CAPSULE = 3,
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mjGEOM_ELLIPSOID = 4,
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mjGEOM_CYLINDER = 5,
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mjGEOM_BOX = 6,
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mjGEOM_MESH = 7,
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mjNGEOMTYPES = 8,
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mjGEOM_ARROW = 100,
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mjGEOM_ARROW1 = 101,
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mjGEOM_ARROW2 = 102,
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mjGEOM_LINE = 103,
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mjGEOM_SKIN = 104,
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mjGEOM_LABEL = 105,
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mjGEOM_NONE = 1001,
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}
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public enum mjtCamLight : int{
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mjCAMLIGHT_FIXED = 0,
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mjCAMLIGHT_TRACK = 1,
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mjCAMLIGHT_TRACKCOM = 2,
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mjCAMLIGHT_TARGETBODY = 3,
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mjCAMLIGHT_TARGETBODYCOM = 4,
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}
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public enum mjtTexture : int{
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mjTEXTURE_2D = 0,
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mjTEXTURE_CUBE = 1,
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mjTEXTURE_SKYBOX = 2,
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}
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public enum mjtIntegrator : int{
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mjINT_EULER = 0,
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mjINT_RK4 = 1,
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mjINT_IMPLICIT = 2,
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mjINT_IMPLICITFAST = 3,
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}
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public enum mjtCollision : int{
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mjCOL_ALL = 0,
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mjCOL_PAIR = 1,
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mjCOL_DYNAMIC = 2,
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}
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public enum mjtCone : int{
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mjCONE_PYRAMIDAL = 0,
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mjCONE_ELLIPTIC = 1,
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}
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public enum mjtJacobian : int{
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mjJAC_DENSE = 0,
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mjJAC_SPARSE = 1,
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mjJAC_AUTO = 2,
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}
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public enum mjtSolver : int{
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mjSOL_PGS = 0,
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mjSOL_CG = 1,
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mjSOL_NEWTON = 2,
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}
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public enum mjtEq : int{
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mjEQ_CONNECT = 0,
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mjEQ_WELD = 1,
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mjEQ_JOINT = 2,
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mjEQ_TENDON = 3,
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mjEQ_DISTANCE = 4,
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}
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public enum mjtWrap : int{
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mjWRAP_NONE = 0,
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mjWRAP_JOINT = 1,
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mjWRAP_PULLEY = 2,
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mjWRAP_SITE = 3,
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mjWRAP_SPHERE = 4,
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mjWRAP_CYLINDER = 5,
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}
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public enum mjtTrn : int{
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mjTRN_JOINT = 0,
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mjTRN_JOINTINPARENT = 1,
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mjTRN_SLIDERCRANK = 2,
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mjTRN_TENDON = 3,
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mjTRN_SITE = 4,
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mjTRN_BODY = 5,
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mjTRN_UNDEFINED = 1000,
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}
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public enum mjtDyn : int{
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mjDYN_NONE = 0,
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mjDYN_INTEGRATOR = 1,
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mjDYN_FILTER = 2,
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mjDYN_MUSCLE = 3,
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mjDYN_USER = 4,
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}
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public enum mjtGain : int{
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mjGAIN_FIXED = 0,
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mjGAIN_AFFINE = 1,
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mjGAIN_MUSCLE = 2,
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mjGAIN_USER = 3,
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}
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public enum mjtBias : int{
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mjBIAS_NONE = 0,
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mjBIAS_AFFINE = 1,
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mjBIAS_MUSCLE = 2,
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mjBIAS_USER = 3,
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}
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public enum mjtObj : int{
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mjOBJ_UNKNOWN = 0,
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mjOBJ_BODY = 1,
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mjOBJ_XBODY = 2,
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mjOBJ_JOINT = 3,
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mjOBJ_DOF = 4,
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mjOBJ_GEOM = 5,
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mjOBJ_SITE = 6,
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mjOBJ_CAMERA = 7,
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mjOBJ_LIGHT = 8,
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mjOBJ_MESH = 9,
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mjOBJ_SKIN = 10,
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mjOBJ_HFIELD = 11,
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mjOBJ_TEXTURE = 12,
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mjOBJ_MATERIAL = 13,
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mjOBJ_PAIR = 14,
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mjOBJ_EXCLUDE = 15,
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mjOBJ_EQUALITY = 16,
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mjOBJ_TENDON = 17,
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mjOBJ_ACTUATOR = 18,
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mjOBJ_SENSOR = 19,
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mjOBJ_NUMERIC = 20,
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mjOBJ_TEXT = 21,
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mjOBJ_TUPLE = 22,
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mjOBJ_KEY = 23,
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mjOBJ_PLUGIN = 24,
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}
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public enum mjtConstraint : int{
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mjCNSTR_EQUALITY = 0,
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mjCNSTR_FRICTION_DOF = 1,
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mjCNSTR_FRICTION_TENDON = 2,
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mjCNSTR_LIMIT_JOINT = 3,
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mjCNSTR_LIMIT_TENDON = 4,
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mjCNSTR_CONTACT_FRICTIONLESS = 5,
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mjCNSTR_CONTACT_PYRAMIDAL = 6,
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mjCNSTR_CONTACT_ELLIPTIC = 7,
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}
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public enum mjtConstraintState : int{
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mjCNSTRSTATE_SATISFIED = 0,
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mjCNSTRSTATE_QUADRATIC = 1,
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mjCNSTRSTATE_LINEARNEG = 2,
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mjCNSTRSTATE_LINEARPOS = 3,
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mjCNSTRSTATE_CONE = 4,
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}
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public enum mjtSensor : int{
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mjSENS_TOUCH = 0,
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mjSENS_ACCELEROMETER = 1,
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mjSENS_VELOCIMETER = 2,
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mjSENS_GYRO = 3,
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mjSENS_FORCE = 4,
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mjSENS_TORQUE = 5,
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mjSENS_MAGNETOMETER = 6,
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mjSENS_RANGEFINDER = 7,
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mjSENS_JOINTPOS = 8,
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mjSENS_JOINTVEL = 9,
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mjSENS_TENDONPOS = 10,
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mjSENS_TENDONVEL = 11,
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mjSENS_ACTUATORPOS = 12,
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mjSENS_ACTUATORVEL = 13,
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mjSENS_ACTUATORFRC = 14,
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mjSENS_BALLQUAT = 15,
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mjSENS_BALLANGVEL = 16,
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mjSENS_JOINTLIMITPOS = 17,
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mjSENS_JOINTLIMITVEL = 18,
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mjSENS_JOINTLIMITFRC = 19,
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mjSENS_TENDONLIMITPOS = 20,
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mjSENS_TENDONLIMITVEL = 21,
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mjSENS_TENDONLIMITFRC = 22,
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mjSENS_FRAMEPOS = 23,
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mjSENS_FRAMEQUAT = 24,
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mjSENS_FRAMEXAXIS = 25,
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mjSENS_FRAMEYAXIS = 26,
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mjSENS_FRAMEZAXIS = 27,
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mjSENS_FRAMELINVEL = 28,
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mjSENS_FRAMEANGVEL = 29,
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mjSENS_FRAMELINACC = 30,
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mjSENS_FRAMEANGACC = 31,
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mjSENS_SUBTREECOM = 32,
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mjSENS_SUBTREELINVEL = 33,
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mjSENS_SUBTREEANGMOM = 34,
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mjSENS_CLOCK = 35,
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mjSENS_PLUGIN = 36,
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mjSENS_USER = 37,
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}
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public enum mjtStage : int{
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mjSTAGE_NONE = 0,
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mjSTAGE_POS = 1,
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mjSTAGE_VEL = 2,
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mjSTAGE_ACC = 3,
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}
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public enum mjtDataType : int{
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mjDATATYPE_REAL = 0,
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mjDATATYPE_POSITIVE = 1,
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mjDATATYPE_AXIS = 2,
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mjDATATYPE_QUATERNION = 3,
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}
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public enum mjtLRMode : int{
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mjLRMODE_NONE = 0,
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mjLRMODE_MUSCLE = 1,
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mjLRMODE_MUSCLEUSER = 2,
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mjLRMODE_ALL = 3,
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}
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public enum mjtPluginCapabilityBit : int{
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mjPLUGIN_ACTUATOR = 1,
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mjPLUGIN_SENSOR = 2,
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mjPLUGIN_PASSIVE = 4,
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}
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public enum mjtGridPos : int{
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mjGRID_TOPLEFT = 0,
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mjGRID_TOPRIGHT = 1,
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mjGRID_BOTTOMLEFT = 2,
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mjGRID_BOTTOMRIGHT = 3,
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}
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public enum mjtFramebuffer : int{
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mjFB_WINDOW = 0,
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mjFB_OFFSCREEN = 1,
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}
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public enum mjtFontScale : int{
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mjFONTSCALE_50 = 50,
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mjFONTSCALE_100 = 100,
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mjFONTSCALE_150 = 150,
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mjFONTSCALE_200 = 200,
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mjFONTSCALE_250 = 250,
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mjFONTSCALE_300 = 300,
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}
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public enum mjtFont : int{
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mjFONT_NORMAL = 0,
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mjFONT_SHADOW = 1,
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mjFONT_BIG = 2,
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}
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public enum mjtButton : int{
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mjBUTTON_NONE = 0,
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mjBUTTON_LEFT = 1,
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mjBUTTON_RIGHT = 2,
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mjBUTTON_MIDDLE = 3,
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}
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public enum mjtEvent : int{
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mjEVENT_NONE = 0,
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mjEVENT_MOVE = 1,
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mjEVENT_PRESS = 2,
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mjEVENT_RELEASE = 3,
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mjEVENT_SCROLL = 4,
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mjEVENT_KEY = 5,
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mjEVENT_RESIZE = 6,
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mjEVENT_REDRAW = 7,
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mjEVENT_FILESDROP = 8,
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}
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public enum mjtCatBit : int{
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mjCAT_STATIC = 1,
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mjCAT_DYNAMIC = 2,
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mjCAT_DECOR = 4,
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mjCAT_ALL = 7,
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}
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public enum mjtMouse : int{
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mjMOUSE_NONE = 0,
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mjMOUSE_ROTATE_V = 1,
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mjMOUSE_ROTATE_H = 2,
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mjMOUSE_MOVE_V = 3,
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mjMOUSE_MOVE_H = 4,
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mjMOUSE_ZOOM = 5,
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mjMOUSE_SELECT = 6,
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}
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public enum mjtPertBit : int{
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mjPERT_TRANSLATE = 1,
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mjPERT_ROTATE = 2,
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}
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public enum mjtCamera : int{
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mjCAMERA_FREE = 0,
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mjCAMERA_TRACKING = 1,
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mjCAMERA_FIXED = 2,
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mjCAMERA_USER = 3,
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}
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public enum mjtLabel : int{
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mjLABEL_NONE = 0,
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mjLABEL_BODY = 1,
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mjLABEL_JOINT = 2,
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mjLABEL_GEOM = 3,
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mjLABEL_SITE = 4,
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mjLABEL_CAMERA = 5,
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mjLABEL_LIGHT = 6,
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mjLABEL_TENDON = 7,
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mjLABEL_ACTUATOR = 8,
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mjLABEL_CONSTRAINT = 9,
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mjLABEL_SKIN = 10,
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mjLABEL_SELECTION = 11,
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mjLABEL_SELPNT = 12,
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mjLABEL_CONTACTPOINT = 13,
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mjLABEL_CONTACTFORCE = 14,
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mjNLABEL = 15,
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}
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public enum mjtFrame : int{
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mjFRAME_NONE = 0,
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mjFRAME_BODY = 1,
|
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mjFRAME_GEOM = 2,
|
|
mjFRAME_SITE = 3,
|
|
mjFRAME_CAMERA = 4,
|
|
mjFRAME_LIGHT = 5,
|
|
mjFRAME_CONTACT = 6,
|
|
mjFRAME_WORLD = 7,
|
|
mjNFRAME = 8,
|
|
}
|
|
public enum mjtVisFlag : int{
|
|
mjVIS_CONVEXHULL = 0,
|
|
mjVIS_TEXTURE = 1,
|
|
mjVIS_JOINT = 2,
|
|
mjVIS_CAMERA = 3,
|
|
mjVIS_ACTUATOR = 4,
|
|
mjVIS_ACTIVATION = 5,
|
|
mjVIS_LIGHT = 6,
|
|
mjVIS_TENDON = 7,
|
|
mjVIS_RANGEFINDER = 8,
|
|
mjVIS_CONSTRAINT = 9,
|
|
mjVIS_INERTIA = 10,
|
|
mjVIS_SCLINERTIA = 11,
|
|
mjVIS_PERTFORCE = 12,
|
|
mjVIS_PERTOBJ = 13,
|
|
mjVIS_CONTACTPOINT = 14,
|
|
mjVIS_CONTACTFORCE = 15,
|
|
mjVIS_CONTACTSPLIT = 16,
|
|
mjVIS_TRANSPARENT = 17,
|
|
mjVIS_AUTOCONNECT = 18,
|
|
mjVIS_COM = 19,
|
|
mjVIS_SELECT = 20,
|
|
mjVIS_STATIC = 21,
|
|
mjVIS_SKIN = 22,
|
|
mjVIS_MIDPHASE = 23,
|
|
mjNVISFLAG = 24,
|
|
}
|
|
public enum mjtRndFlag : int{
|
|
mjRND_SHADOW = 0,
|
|
mjRND_WIREFRAME = 1,
|
|
mjRND_REFLECTION = 2,
|
|
mjRND_ADDITIVE = 3,
|
|
mjRND_SKYBOX = 4,
|
|
mjRND_FOG = 5,
|
|
mjRND_HAZE = 6,
|
|
mjRND_SEGMENT = 7,
|
|
mjRND_IDCOLOR = 8,
|
|
mjRND_CULL_FACE = 9,
|
|
mjNRNDFLAG = 10,
|
|
}
|
|
public enum mjtStereo : int{
|
|
mjSTEREO_NONE = 0,
|
|
mjSTEREO_QUADBUFFERED = 1,
|
|
mjSTEREO_SIDEBYSIDE = 2,
|
|
}
|
|
|
|
// -----------------------------struct declarations-----------------------------
|
|
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjContact_ {
|
|
public double dist;
|
|
public fixed double pos[3];
|
|
public fixed double frame[9];
|
|
public double includemargin;
|
|
public fixed double friction[5];
|
|
public fixed double solref[2];
|
|
public fixed double solimp[5];
|
|
public double mu;
|
|
public fixed double H[36];
|
|
public int dim;
|
|
public int geom1;
|
|
public int geom2;
|
|
public int exclude;
|
|
public int efc_address;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjWarningStat_ {
|
|
public int lastinfo;
|
|
public int number;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjTimerStat_ {
|
|
public double duration;
|
|
public int number;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjSolverStat_ {
|
|
public double improvement;
|
|
public double gradient;
|
|
public double lineslope;
|
|
public int nactive;
|
|
public int nchange;
|
|
public int neval;
|
|
public int nupdate;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjData_ {
|
|
public int nstack;
|
|
public int nbuffer;
|
|
public int nplugin;
|
|
public UIntPtr pstack;
|
|
public UIntPtr parena;
|
|
public int maxuse_stack;
|
|
public UIntPtr maxuse_arena;
|
|
public int maxuse_con;
|
|
public int maxuse_efc;
|
|
public mjWarningStat_ warning0;
|
|
public mjWarningStat_ warning1;
|
|
public mjWarningStat_ warning2;
|
|
public mjWarningStat_ warning3;
|
|
public mjWarningStat_ warning4;
|
|
public mjWarningStat_ warning5;
|
|
public mjWarningStat_ warning6;
|
|
public mjWarningStat_ warning7;
|
|
public mjTimerStat_ timer0;
|
|
public mjTimerStat_ timer1;
|
|
public mjTimerStat_ timer2;
|
|
public mjTimerStat_ timer3;
|
|
public mjTimerStat_ timer4;
|
|
public mjTimerStat_ timer5;
|
|
public mjTimerStat_ timer6;
|
|
public mjTimerStat_ timer7;
|
|
public mjTimerStat_ timer8;
|
|
public mjTimerStat_ timer9;
|
|
public mjTimerStat_ timer10;
|
|
public mjTimerStat_ timer11;
|
|
public mjTimerStat_ timer12;
|
|
public mjSolverStat_ solver0;
|
|
public mjSolverStat_ solver1;
|
|
public mjSolverStat_ solver2;
|
|
public mjSolverStat_ solver3;
|
|
public mjSolverStat_ solver4;
|
|
public mjSolverStat_ solver5;
|
|
public mjSolverStat_ solver6;
|
|
public mjSolverStat_ solver7;
|
|
public mjSolverStat_ solver8;
|
|
public mjSolverStat_ solver9;
|
|
public mjSolverStat_ solver10;
|
|
public mjSolverStat_ solver11;
|
|
public mjSolverStat_ solver12;
|
|
public mjSolverStat_ solver13;
|
|
public mjSolverStat_ solver14;
|
|
public mjSolverStat_ solver15;
|
|
public mjSolverStat_ solver16;
|
|
public mjSolverStat_ solver17;
|
|
public mjSolverStat_ solver18;
|
|
public mjSolverStat_ solver19;
|
|
public mjSolverStat_ solver20;
|
|
public mjSolverStat_ solver21;
|
|
public mjSolverStat_ solver22;
|
|
public mjSolverStat_ solver23;
|
|
public mjSolverStat_ solver24;
|
|
public mjSolverStat_ solver25;
|
|
public mjSolverStat_ solver26;
|
|
public mjSolverStat_ solver27;
|
|
public mjSolverStat_ solver28;
|
|
public mjSolverStat_ solver29;
|
|
public mjSolverStat_ solver30;
|
|
public mjSolverStat_ solver31;
|
|
public mjSolverStat_ solver32;
|
|
public mjSolverStat_ solver33;
|
|
public mjSolverStat_ solver34;
|
|
public mjSolverStat_ solver35;
|
|
public mjSolverStat_ solver36;
|
|
public mjSolverStat_ solver37;
|
|
public mjSolverStat_ solver38;
|
|
public mjSolverStat_ solver39;
|
|
public mjSolverStat_ solver40;
|
|
public mjSolverStat_ solver41;
|
|
public mjSolverStat_ solver42;
|
|
public mjSolverStat_ solver43;
|
|
public mjSolverStat_ solver44;
|
|
public mjSolverStat_ solver45;
|
|
public mjSolverStat_ solver46;
|
|
public mjSolverStat_ solver47;
|
|
public mjSolverStat_ solver48;
|
|
public mjSolverStat_ solver49;
|
|
public mjSolverStat_ solver50;
|
|
public mjSolverStat_ solver51;
|
|
public mjSolverStat_ solver52;
|
|
public mjSolverStat_ solver53;
|
|
public mjSolverStat_ solver54;
|
|
public mjSolverStat_ solver55;
|
|
public mjSolverStat_ solver56;
|
|
public mjSolverStat_ solver57;
|
|
public mjSolverStat_ solver58;
|
|
public mjSolverStat_ solver59;
|
|
public mjSolverStat_ solver60;
|
|
public mjSolverStat_ solver61;
|
|
public mjSolverStat_ solver62;
|
|
public mjSolverStat_ solver63;
|
|
public mjSolverStat_ solver64;
|
|
public mjSolverStat_ solver65;
|
|
public mjSolverStat_ solver66;
|
|
public mjSolverStat_ solver67;
|
|
public mjSolverStat_ solver68;
|
|
public mjSolverStat_ solver69;
|
|
public mjSolverStat_ solver70;
|
|
public mjSolverStat_ solver71;
|
|
public mjSolverStat_ solver72;
|
|
public mjSolverStat_ solver73;
|
|
public mjSolverStat_ solver74;
|
|
public mjSolverStat_ solver75;
|
|
public mjSolverStat_ solver76;
|
|
public mjSolverStat_ solver77;
|
|
public mjSolverStat_ solver78;
|
|
public mjSolverStat_ solver79;
|
|
public mjSolverStat_ solver80;
|
|
public mjSolverStat_ solver81;
|
|
public mjSolverStat_ solver82;
|
|
public mjSolverStat_ solver83;
|
|
public mjSolverStat_ solver84;
|
|
public mjSolverStat_ solver85;
|
|
public mjSolverStat_ solver86;
|
|
public mjSolverStat_ solver87;
|
|
public mjSolverStat_ solver88;
|
|
public mjSolverStat_ solver89;
|
|
public mjSolverStat_ solver90;
|
|
public mjSolverStat_ solver91;
|
|
public mjSolverStat_ solver92;
|
|
public mjSolverStat_ solver93;
|
|
public mjSolverStat_ solver94;
|
|
public mjSolverStat_ solver95;
|
|
public mjSolverStat_ solver96;
|
|
public mjSolverStat_ solver97;
|
|
public mjSolverStat_ solver98;
|
|
public mjSolverStat_ solver99;
|
|
public mjSolverStat_ solver100;
|
|
public mjSolverStat_ solver101;
|
|
public mjSolverStat_ solver102;
|
|
public mjSolverStat_ solver103;
|
|
public mjSolverStat_ solver104;
|
|
public mjSolverStat_ solver105;
|
|
public mjSolverStat_ solver106;
|
|
public mjSolverStat_ solver107;
|
|
public mjSolverStat_ solver108;
|
|
public mjSolverStat_ solver109;
|
|
public mjSolverStat_ solver110;
|
|
public mjSolverStat_ solver111;
|
|
public mjSolverStat_ solver112;
|
|
public mjSolverStat_ solver113;
|
|
public mjSolverStat_ solver114;
|
|
public mjSolverStat_ solver115;
|
|
public mjSolverStat_ solver116;
|
|
public mjSolverStat_ solver117;
|
|
public mjSolverStat_ solver118;
|
|
public mjSolverStat_ solver119;
|
|
public mjSolverStat_ solver120;
|
|
public mjSolverStat_ solver121;
|
|
public mjSolverStat_ solver122;
|
|
public mjSolverStat_ solver123;
|
|
public mjSolverStat_ solver124;
|
|
public mjSolverStat_ solver125;
|
|
public mjSolverStat_ solver126;
|
|
public mjSolverStat_ solver127;
|
|
public mjSolverStat_ solver128;
|
|
public mjSolverStat_ solver129;
|
|
public mjSolverStat_ solver130;
|
|
public mjSolverStat_ solver131;
|
|
public mjSolverStat_ solver132;
|
|
public mjSolverStat_ solver133;
|
|
public mjSolverStat_ solver134;
|
|
public mjSolverStat_ solver135;
|
|
public mjSolverStat_ solver136;
|
|
public mjSolverStat_ solver137;
|
|
public mjSolverStat_ solver138;
|
|
public mjSolverStat_ solver139;
|
|
public mjSolverStat_ solver140;
|
|
public mjSolverStat_ solver141;
|
|
public mjSolverStat_ solver142;
|
|
public mjSolverStat_ solver143;
|
|
public mjSolverStat_ solver144;
|
|
public mjSolverStat_ solver145;
|
|
public mjSolverStat_ solver146;
|
|
public mjSolverStat_ solver147;
|
|
public mjSolverStat_ solver148;
|
|
public mjSolverStat_ solver149;
|
|
public mjSolverStat_ solver150;
|
|
public mjSolverStat_ solver151;
|
|
public mjSolverStat_ solver152;
|
|
public mjSolverStat_ solver153;
|
|
public mjSolverStat_ solver154;
|
|
public mjSolverStat_ solver155;
|
|
public mjSolverStat_ solver156;
|
|
public mjSolverStat_ solver157;
|
|
public mjSolverStat_ solver158;
|
|
public mjSolverStat_ solver159;
|
|
public mjSolverStat_ solver160;
|
|
public mjSolverStat_ solver161;
|
|
public mjSolverStat_ solver162;
|
|
public mjSolverStat_ solver163;
|
|
public mjSolverStat_ solver164;
|
|
public mjSolverStat_ solver165;
|
|
public mjSolverStat_ solver166;
|
|
public mjSolverStat_ solver167;
|
|
public mjSolverStat_ solver168;
|
|
public mjSolverStat_ solver169;
|
|
public mjSolverStat_ solver170;
|
|
public mjSolverStat_ solver171;
|
|
public mjSolverStat_ solver172;
|
|
public mjSolverStat_ solver173;
|
|
public mjSolverStat_ solver174;
|
|
public mjSolverStat_ solver175;
|
|
public mjSolverStat_ solver176;
|
|
public mjSolverStat_ solver177;
|
|
public mjSolverStat_ solver178;
|
|
public mjSolverStat_ solver179;
|
|
public mjSolverStat_ solver180;
|
|
public mjSolverStat_ solver181;
|
|
public mjSolverStat_ solver182;
|
|
public mjSolverStat_ solver183;
|
|
public mjSolverStat_ solver184;
|
|
public mjSolverStat_ solver185;
|
|
public mjSolverStat_ solver186;
|
|
public mjSolverStat_ solver187;
|
|
public mjSolverStat_ solver188;
|
|
public mjSolverStat_ solver189;
|
|
public mjSolverStat_ solver190;
|
|
public mjSolverStat_ solver191;
|
|
public mjSolverStat_ solver192;
|
|
public mjSolverStat_ solver193;
|
|
public mjSolverStat_ solver194;
|
|
public mjSolverStat_ solver195;
|
|
public mjSolverStat_ solver196;
|
|
public mjSolverStat_ solver197;
|
|
public mjSolverStat_ solver198;
|
|
public mjSolverStat_ solver199;
|
|
public mjSolverStat_ solver200;
|
|
public mjSolverStat_ solver201;
|
|
public mjSolverStat_ solver202;
|
|
public mjSolverStat_ solver203;
|
|
public mjSolverStat_ solver204;
|
|
public mjSolverStat_ solver205;
|
|
public mjSolverStat_ solver206;
|
|
public mjSolverStat_ solver207;
|
|
public mjSolverStat_ solver208;
|
|
public mjSolverStat_ solver209;
|
|
public mjSolverStat_ solver210;
|
|
public mjSolverStat_ solver211;
|
|
public mjSolverStat_ solver212;
|
|
public mjSolverStat_ solver213;
|
|
public mjSolverStat_ solver214;
|
|
public mjSolverStat_ solver215;
|
|
public mjSolverStat_ solver216;
|
|
public mjSolverStat_ solver217;
|
|
public mjSolverStat_ solver218;
|
|
public mjSolverStat_ solver219;
|
|
public mjSolverStat_ solver220;
|
|
public mjSolverStat_ solver221;
|
|
public mjSolverStat_ solver222;
|
|
public mjSolverStat_ solver223;
|
|
public mjSolverStat_ solver224;
|
|
public mjSolverStat_ solver225;
|
|
public mjSolverStat_ solver226;
|
|
public mjSolverStat_ solver227;
|
|
public mjSolverStat_ solver228;
|
|
public mjSolverStat_ solver229;
|
|
public mjSolverStat_ solver230;
|
|
public mjSolverStat_ solver231;
|
|
public mjSolverStat_ solver232;
|
|
public mjSolverStat_ solver233;
|
|
public mjSolverStat_ solver234;
|
|
public mjSolverStat_ solver235;
|
|
public mjSolverStat_ solver236;
|
|
public mjSolverStat_ solver237;
|
|
public mjSolverStat_ solver238;
|
|
public mjSolverStat_ solver239;
|
|
public mjSolverStat_ solver240;
|
|
public mjSolverStat_ solver241;
|
|
public mjSolverStat_ solver242;
|
|
public mjSolverStat_ solver243;
|
|
public mjSolverStat_ solver244;
|
|
public mjSolverStat_ solver245;
|
|
public mjSolverStat_ solver246;
|
|
public mjSolverStat_ solver247;
|
|
public mjSolverStat_ solver248;
|
|
public mjSolverStat_ solver249;
|
|
public mjSolverStat_ solver250;
|
|
public mjSolverStat_ solver251;
|
|
public mjSolverStat_ solver252;
|
|
public mjSolverStat_ solver253;
|
|
public mjSolverStat_ solver254;
|
|
public mjSolverStat_ solver255;
|
|
public mjSolverStat_ solver256;
|
|
public mjSolverStat_ solver257;
|
|
public mjSolverStat_ solver258;
|
|
public mjSolverStat_ solver259;
|
|
public mjSolverStat_ solver260;
|
|
public mjSolverStat_ solver261;
|
|
public mjSolverStat_ solver262;
|
|
public mjSolverStat_ solver263;
|
|
public mjSolverStat_ solver264;
|
|
public mjSolverStat_ solver265;
|
|
public mjSolverStat_ solver266;
|
|
public mjSolverStat_ solver267;
|
|
public mjSolverStat_ solver268;
|
|
public mjSolverStat_ solver269;
|
|
public mjSolverStat_ solver270;
|
|
public mjSolverStat_ solver271;
|
|
public mjSolverStat_ solver272;
|
|
public mjSolverStat_ solver273;
|
|
public mjSolverStat_ solver274;
|
|
public mjSolverStat_ solver275;
|
|
public mjSolverStat_ solver276;
|
|
public mjSolverStat_ solver277;
|
|
public mjSolverStat_ solver278;
|
|
public mjSolverStat_ solver279;
|
|
public mjSolverStat_ solver280;
|
|
public mjSolverStat_ solver281;
|
|
public mjSolverStat_ solver282;
|
|
public mjSolverStat_ solver283;
|
|
public mjSolverStat_ solver284;
|
|
public mjSolverStat_ solver285;
|
|
public mjSolverStat_ solver286;
|
|
public mjSolverStat_ solver287;
|
|
public mjSolverStat_ solver288;
|
|
public mjSolverStat_ solver289;
|
|
public mjSolverStat_ solver290;
|
|
public mjSolverStat_ solver291;
|
|
public mjSolverStat_ solver292;
|
|
public mjSolverStat_ solver293;
|
|
public mjSolverStat_ solver294;
|
|
public mjSolverStat_ solver295;
|
|
public mjSolverStat_ solver296;
|
|
public mjSolverStat_ solver297;
|
|
public mjSolverStat_ solver298;
|
|
public mjSolverStat_ solver299;
|
|
public mjSolverStat_ solver300;
|
|
public mjSolverStat_ solver301;
|
|
public mjSolverStat_ solver302;
|
|
public mjSolverStat_ solver303;
|
|
public mjSolverStat_ solver304;
|
|
public mjSolverStat_ solver305;
|
|
public mjSolverStat_ solver306;
|
|
public mjSolverStat_ solver307;
|
|
public mjSolverStat_ solver308;
|
|
public mjSolverStat_ solver309;
|
|
public mjSolverStat_ solver310;
|
|
public mjSolverStat_ solver311;
|
|
public mjSolverStat_ solver312;
|
|
public mjSolverStat_ solver313;
|
|
public mjSolverStat_ solver314;
|
|
public mjSolverStat_ solver315;
|
|
public mjSolverStat_ solver316;
|
|
public mjSolverStat_ solver317;
|
|
public mjSolverStat_ solver318;
|
|
public mjSolverStat_ solver319;
|
|
public mjSolverStat_ solver320;
|
|
public mjSolverStat_ solver321;
|
|
public mjSolverStat_ solver322;
|
|
public mjSolverStat_ solver323;
|
|
public mjSolverStat_ solver324;
|
|
public mjSolverStat_ solver325;
|
|
public mjSolverStat_ solver326;
|
|
public mjSolverStat_ solver327;
|
|
public mjSolverStat_ solver328;
|
|
public mjSolverStat_ solver329;
|
|
public mjSolverStat_ solver330;
|
|
public mjSolverStat_ solver331;
|
|
public mjSolverStat_ solver332;
|
|
public mjSolverStat_ solver333;
|
|
public mjSolverStat_ solver334;
|
|
public mjSolverStat_ solver335;
|
|
public mjSolverStat_ solver336;
|
|
public mjSolverStat_ solver337;
|
|
public mjSolverStat_ solver338;
|
|
public mjSolverStat_ solver339;
|
|
public mjSolverStat_ solver340;
|
|
public mjSolverStat_ solver341;
|
|
public mjSolverStat_ solver342;
|
|
public mjSolverStat_ solver343;
|
|
public mjSolverStat_ solver344;
|
|
public mjSolverStat_ solver345;
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public mjSolverStat_ solver346;
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public mjSolverStat_ solver347;
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public mjSolverStat_ solver348;
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public mjSolverStat_ solver349;
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public mjSolverStat_ solver350;
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public mjSolverStat_ solver351;
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public mjSolverStat_ solver352;
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public mjSolverStat_ solver353;
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public mjSolverStat_ solver354;
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public mjSolverStat_ solver355;
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public mjSolverStat_ solver356;
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public mjSolverStat_ solver357;
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public mjSolverStat_ solver358;
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public mjSolverStat_ solver359;
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public mjSolverStat_ solver360;
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public mjSolverStat_ solver361;
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public mjSolverStat_ solver362;
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public mjSolverStat_ solver363;
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public mjSolverStat_ solver364;
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public mjSolverStat_ solver365;
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public mjSolverStat_ solver366;
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public mjSolverStat_ solver367;
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public mjSolverStat_ solver368;
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public mjSolverStat_ solver369;
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public mjSolverStat_ solver370;
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public mjSolverStat_ solver371;
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public mjSolverStat_ solver372;
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public mjSolverStat_ solver373;
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public mjSolverStat_ solver374;
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public mjSolverStat_ solver375;
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public mjSolverStat_ solver376;
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public mjSolverStat_ solver377;
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public mjSolverStat_ solver378;
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public mjSolverStat_ solver379;
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public mjSolverStat_ solver380;
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public mjSolverStat_ solver381;
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public mjSolverStat_ solver382;
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public mjSolverStat_ solver383;
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public mjSolverStat_ solver384;
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public mjSolverStat_ solver385;
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public mjSolverStat_ solver386;
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public mjSolverStat_ solver387;
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public mjSolverStat_ solver388;
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public mjSolverStat_ solver389;
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public mjSolverStat_ solver390;
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public mjSolverStat_ solver391;
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public mjSolverStat_ solver392;
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public mjSolverStat_ solver393;
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public mjSolverStat_ solver394;
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public mjSolverStat_ solver395;
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public mjSolverStat_ solver396;
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public mjSolverStat_ solver397;
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public mjSolverStat_ solver398;
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public mjSolverStat_ solver399;
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public mjSolverStat_ solver400;
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public mjSolverStat_ solver401;
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public mjSolverStat_ solver402;
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public mjSolverStat_ solver403;
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public mjSolverStat_ solver404;
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public mjSolverStat_ solver405;
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public mjSolverStat_ solver406;
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public mjSolverStat_ solver407;
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public mjSolverStat_ solver408;
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public mjSolverStat_ solver409;
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public mjSolverStat_ solver410;
|
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public mjSolverStat_ solver411;
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public mjSolverStat_ solver412;
|
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public mjSolverStat_ solver413;
|
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public mjSolverStat_ solver414;
|
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public mjSolverStat_ solver415;
|
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public mjSolverStat_ solver416;
|
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public mjSolverStat_ solver417;
|
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public mjSolverStat_ solver418;
|
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public mjSolverStat_ solver419;
|
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public mjSolverStat_ solver420;
|
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public mjSolverStat_ solver421;
|
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public mjSolverStat_ solver422;
|
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public mjSolverStat_ solver423;
|
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public mjSolverStat_ solver424;
|
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public mjSolverStat_ solver425;
|
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public mjSolverStat_ solver426;
|
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public mjSolverStat_ solver427;
|
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public mjSolverStat_ solver428;
|
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public mjSolverStat_ solver429;
|
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public mjSolverStat_ solver430;
|
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public mjSolverStat_ solver431;
|
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public mjSolverStat_ solver432;
|
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public mjSolverStat_ solver433;
|
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public mjSolverStat_ solver434;
|
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public mjSolverStat_ solver435;
|
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public mjSolverStat_ solver436;
|
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public mjSolverStat_ solver437;
|
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public mjSolverStat_ solver438;
|
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public mjSolverStat_ solver439;
|
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public mjSolverStat_ solver440;
|
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public mjSolverStat_ solver441;
|
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public mjSolverStat_ solver442;
|
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public mjSolverStat_ solver443;
|
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public mjSolverStat_ solver444;
|
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public mjSolverStat_ solver445;
|
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public mjSolverStat_ solver446;
|
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public mjSolverStat_ solver447;
|
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public mjSolverStat_ solver448;
|
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public mjSolverStat_ solver449;
|
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public mjSolverStat_ solver450;
|
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public mjSolverStat_ solver451;
|
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public mjSolverStat_ solver452;
|
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public mjSolverStat_ solver453;
|
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public mjSolverStat_ solver454;
|
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public mjSolverStat_ solver455;
|
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public mjSolverStat_ solver456;
|
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public mjSolverStat_ solver457;
|
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public mjSolverStat_ solver458;
|
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public mjSolverStat_ solver459;
|
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public mjSolverStat_ solver460;
|
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public mjSolverStat_ solver461;
|
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public mjSolverStat_ solver462;
|
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public mjSolverStat_ solver463;
|
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public mjSolverStat_ solver464;
|
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public mjSolverStat_ solver465;
|
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public mjSolverStat_ solver466;
|
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public mjSolverStat_ solver467;
|
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public mjSolverStat_ solver468;
|
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public mjSolverStat_ solver469;
|
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public mjSolverStat_ solver470;
|
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public mjSolverStat_ solver471;
|
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public mjSolverStat_ solver472;
|
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public mjSolverStat_ solver473;
|
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public mjSolverStat_ solver474;
|
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public mjSolverStat_ solver475;
|
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public mjSolverStat_ solver476;
|
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public mjSolverStat_ solver477;
|
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public mjSolverStat_ solver478;
|
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public mjSolverStat_ solver479;
|
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public mjSolverStat_ solver480;
|
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public mjSolverStat_ solver481;
|
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public mjSolverStat_ solver482;
|
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public mjSolverStat_ solver483;
|
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public mjSolverStat_ solver484;
|
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public mjSolverStat_ solver485;
|
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public mjSolverStat_ solver486;
|
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public mjSolverStat_ solver487;
|
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public mjSolverStat_ solver488;
|
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public mjSolverStat_ solver489;
|
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public mjSolverStat_ solver490;
|
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public mjSolverStat_ solver491;
|
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public mjSolverStat_ solver492;
|
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public mjSolverStat_ solver493;
|
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public mjSolverStat_ solver494;
|
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public mjSolverStat_ solver495;
|
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public mjSolverStat_ solver496;
|
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public mjSolverStat_ solver497;
|
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public mjSolverStat_ solver498;
|
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public mjSolverStat_ solver499;
|
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public mjSolverStat_ solver500;
|
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public mjSolverStat_ solver501;
|
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public mjSolverStat_ solver502;
|
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public mjSolverStat_ solver503;
|
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public mjSolverStat_ solver504;
|
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public mjSolverStat_ solver505;
|
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public mjSolverStat_ solver506;
|
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public mjSolverStat_ solver507;
|
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public mjSolverStat_ solver508;
|
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public mjSolverStat_ solver509;
|
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public mjSolverStat_ solver510;
|
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public mjSolverStat_ solver511;
|
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public mjSolverStat_ solver512;
|
|
public mjSolverStat_ solver513;
|
|
public mjSolverStat_ solver514;
|
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public mjSolverStat_ solver515;
|
|
public mjSolverStat_ solver516;
|
|
public mjSolverStat_ solver517;
|
|
public mjSolverStat_ solver518;
|
|
public mjSolverStat_ solver519;
|
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public mjSolverStat_ solver520;
|
|
public mjSolverStat_ solver521;
|
|
public mjSolverStat_ solver522;
|
|
public mjSolverStat_ solver523;
|
|
public mjSolverStat_ solver524;
|
|
public mjSolverStat_ solver525;
|
|
public mjSolverStat_ solver526;
|
|
public mjSolverStat_ solver527;
|
|
public mjSolverStat_ solver528;
|
|
public mjSolverStat_ solver529;
|
|
public mjSolverStat_ solver530;
|
|
public mjSolverStat_ solver531;
|
|
public mjSolverStat_ solver532;
|
|
public mjSolverStat_ solver533;
|
|
public mjSolverStat_ solver534;
|
|
public mjSolverStat_ solver535;
|
|
public mjSolverStat_ solver536;
|
|
public mjSolverStat_ solver537;
|
|
public mjSolverStat_ solver538;
|
|
public mjSolverStat_ solver539;
|
|
public mjSolverStat_ solver540;
|
|
public mjSolverStat_ solver541;
|
|
public mjSolverStat_ solver542;
|
|
public mjSolverStat_ solver543;
|
|
public mjSolverStat_ solver544;
|
|
public mjSolverStat_ solver545;
|
|
public mjSolverStat_ solver546;
|
|
public mjSolverStat_ solver547;
|
|
public mjSolverStat_ solver548;
|
|
public mjSolverStat_ solver549;
|
|
public mjSolverStat_ solver550;
|
|
public mjSolverStat_ solver551;
|
|
public mjSolverStat_ solver552;
|
|
public mjSolverStat_ solver553;
|
|
public mjSolverStat_ solver554;
|
|
public mjSolverStat_ solver555;
|
|
public mjSolverStat_ solver556;
|
|
public mjSolverStat_ solver557;
|
|
public mjSolverStat_ solver558;
|
|
public mjSolverStat_ solver559;
|
|
public mjSolverStat_ solver560;
|
|
public mjSolverStat_ solver561;
|
|
public mjSolverStat_ solver562;
|
|
public mjSolverStat_ solver563;
|
|
public mjSolverStat_ solver564;
|
|
public mjSolverStat_ solver565;
|
|
public mjSolverStat_ solver566;
|
|
public mjSolverStat_ solver567;
|
|
public mjSolverStat_ solver568;
|
|
public mjSolverStat_ solver569;
|
|
public mjSolverStat_ solver570;
|
|
public mjSolverStat_ solver571;
|
|
public mjSolverStat_ solver572;
|
|
public mjSolverStat_ solver573;
|
|
public mjSolverStat_ solver574;
|
|
public mjSolverStat_ solver575;
|
|
public mjSolverStat_ solver576;
|
|
public mjSolverStat_ solver577;
|
|
public mjSolverStat_ solver578;
|
|
public mjSolverStat_ solver579;
|
|
public mjSolverStat_ solver580;
|
|
public mjSolverStat_ solver581;
|
|
public mjSolverStat_ solver582;
|
|
public mjSolverStat_ solver583;
|
|
public mjSolverStat_ solver584;
|
|
public mjSolverStat_ solver585;
|
|
public mjSolverStat_ solver586;
|
|
public mjSolverStat_ solver587;
|
|
public mjSolverStat_ solver588;
|
|
public mjSolverStat_ solver589;
|
|
public mjSolverStat_ solver590;
|
|
public mjSolverStat_ solver591;
|
|
public mjSolverStat_ solver592;
|
|
public mjSolverStat_ solver593;
|
|
public mjSolverStat_ solver594;
|
|
public mjSolverStat_ solver595;
|
|
public mjSolverStat_ solver596;
|
|
public mjSolverStat_ solver597;
|
|
public mjSolverStat_ solver598;
|
|
public mjSolverStat_ solver599;
|
|
public mjSolverStat_ solver600;
|
|
public mjSolverStat_ solver601;
|
|
public mjSolverStat_ solver602;
|
|
public mjSolverStat_ solver603;
|
|
public mjSolverStat_ solver604;
|
|
public mjSolverStat_ solver605;
|
|
public mjSolverStat_ solver606;
|
|
public mjSolverStat_ solver607;
|
|
public mjSolverStat_ solver608;
|
|
public mjSolverStat_ solver609;
|
|
public mjSolverStat_ solver610;
|
|
public mjSolverStat_ solver611;
|
|
public mjSolverStat_ solver612;
|
|
public mjSolverStat_ solver613;
|
|
public mjSolverStat_ solver614;
|
|
public mjSolverStat_ solver615;
|
|
public mjSolverStat_ solver616;
|
|
public mjSolverStat_ solver617;
|
|
public mjSolverStat_ solver618;
|
|
public mjSolverStat_ solver619;
|
|
public mjSolverStat_ solver620;
|
|
public mjSolverStat_ solver621;
|
|
public mjSolverStat_ solver622;
|
|
public mjSolverStat_ solver623;
|
|
public mjSolverStat_ solver624;
|
|
public mjSolverStat_ solver625;
|
|
public mjSolverStat_ solver626;
|
|
public mjSolverStat_ solver627;
|
|
public mjSolverStat_ solver628;
|
|
public mjSolverStat_ solver629;
|
|
public mjSolverStat_ solver630;
|
|
public mjSolverStat_ solver631;
|
|
public mjSolverStat_ solver632;
|
|
public mjSolverStat_ solver633;
|
|
public mjSolverStat_ solver634;
|
|
public mjSolverStat_ solver635;
|
|
public mjSolverStat_ solver636;
|
|
public mjSolverStat_ solver637;
|
|
public mjSolverStat_ solver638;
|
|
public mjSolverStat_ solver639;
|
|
public mjSolverStat_ solver640;
|
|
public mjSolverStat_ solver641;
|
|
public mjSolverStat_ solver642;
|
|
public mjSolverStat_ solver643;
|
|
public mjSolverStat_ solver644;
|
|
public mjSolverStat_ solver645;
|
|
public mjSolverStat_ solver646;
|
|
public mjSolverStat_ solver647;
|
|
public mjSolverStat_ solver648;
|
|
public mjSolverStat_ solver649;
|
|
public mjSolverStat_ solver650;
|
|
public mjSolverStat_ solver651;
|
|
public mjSolverStat_ solver652;
|
|
public mjSolverStat_ solver653;
|
|
public mjSolverStat_ solver654;
|
|
public mjSolverStat_ solver655;
|
|
public mjSolverStat_ solver656;
|
|
public mjSolverStat_ solver657;
|
|
public mjSolverStat_ solver658;
|
|
public mjSolverStat_ solver659;
|
|
public mjSolverStat_ solver660;
|
|
public mjSolverStat_ solver661;
|
|
public mjSolverStat_ solver662;
|
|
public mjSolverStat_ solver663;
|
|
public mjSolverStat_ solver664;
|
|
public mjSolverStat_ solver665;
|
|
public mjSolverStat_ solver666;
|
|
public mjSolverStat_ solver667;
|
|
public mjSolverStat_ solver668;
|
|
public mjSolverStat_ solver669;
|
|
public mjSolverStat_ solver670;
|
|
public mjSolverStat_ solver671;
|
|
public mjSolverStat_ solver672;
|
|
public mjSolverStat_ solver673;
|
|
public mjSolverStat_ solver674;
|
|
public mjSolverStat_ solver675;
|
|
public mjSolverStat_ solver676;
|
|
public mjSolverStat_ solver677;
|
|
public mjSolverStat_ solver678;
|
|
public mjSolverStat_ solver679;
|
|
public mjSolverStat_ solver680;
|
|
public mjSolverStat_ solver681;
|
|
public mjSolverStat_ solver682;
|
|
public mjSolverStat_ solver683;
|
|
public mjSolverStat_ solver684;
|
|
public mjSolverStat_ solver685;
|
|
public mjSolverStat_ solver686;
|
|
public mjSolverStat_ solver687;
|
|
public mjSolverStat_ solver688;
|
|
public mjSolverStat_ solver689;
|
|
public mjSolverStat_ solver690;
|
|
public mjSolverStat_ solver691;
|
|
public mjSolverStat_ solver692;
|
|
public mjSolverStat_ solver693;
|
|
public mjSolverStat_ solver694;
|
|
public mjSolverStat_ solver695;
|
|
public mjSolverStat_ solver696;
|
|
public mjSolverStat_ solver697;
|
|
public mjSolverStat_ solver698;
|
|
public mjSolverStat_ solver699;
|
|
public mjSolverStat_ solver700;
|
|
public mjSolverStat_ solver701;
|
|
public mjSolverStat_ solver702;
|
|
public mjSolverStat_ solver703;
|
|
public mjSolverStat_ solver704;
|
|
public mjSolverStat_ solver705;
|
|
public mjSolverStat_ solver706;
|
|
public mjSolverStat_ solver707;
|
|
public mjSolverStat_ solver708;
|
|
public mjSolverStat_ solver709;
|
|
public mjSolverStat_ solver710;
|
|
public mjSolverStat_ solver711;
|
|
public mjSolverStat_ solver712;
|
|
public mjSolverStat_ solver713;
|
|
public mjSolverStat_ solver714;
|
|
public mjSolverStat_ solver715;
|
|
public mjSolverStat_ solver716;
|
|
public mjSolverStat_ solver717;
|
|
public mjSolverStat_ solver718;
|
|
public mjSolverStat_ solver719;
|
|
public mjSolverStat_ solver720;
|
|
public mjSolverStat_ solver721;
|
|
public mjSolverStat_ solver722;
|
|
public mjSolverStat_ solver723;
|
|
public mjSolverStat_ solver724;
|
|
public mjSolverStat_ solver725;
|
|
public mjSolverStat_ solver726;
|
|
public mjSolverStat_ solver727;
|
|
public mjSolverStat_ solver728;
|
|
public mjSolverStat_ solver729;
|
|
public mjSolverStat_ solver730;
|
|
public mjSolverStat_ solver731;
|
|
public mjSolverStat_ solver732;
|
|
public mjSolverStat_ solver733;
|
|
public mjSolverStat_ solver734;
|
|
public mjSolverStat_ solver735;
|
|
public mjSolverStat_ solver736;
|
|
public mjSolverStat_ solver737;
|
|
public mjSolverStat_ solver738;
|
|
public mjSolverStat_ solver739;
|
|
public mjSolverStat_ solver740;
|
|
public mjSolverStat_ solver741;
|
|
public mjSolverStat_ solver742;
|
|
public mjSolverStat_ solver743;
|
|
public mjSolverStat_ solver744;
|
|
public mjSolverStat_ solver745;
|
|
public mjSolverStat_ solver746;
|
|
public mjSolverStat_ solver747;
|
|
public mjSolverStat_ solver748;
|
|
public mjSolverStat_ solver749;
|
|
public mjSolverStat_ solver750;
|
|
public mjSolverStat_ solver751;
|
|
public mjSolverStat_ solver752;
|
|
public mjSolverStat_ solver753;
|
|
public mjSolverStat_ solver754;
|
|
public mjSolverStat_ solver755;
|
|
public mjSolverStat_ solver756;
|
|
public mjSolverStat_ solver757;
|
|
public mjSolverStat_ solver758;
|
|
public mjSolverStat_ solver759;
|
|
public mjSolverStat_ solver760;
|
|
public mjSolverStat_ solver761;
|
|
public mjSolverStat_ solver762;
|
|
public mjSolverStat_ solver763;
|
|
public mjSolverStat_ solver764;
|
|
public mjSolverStat_ solver765;
|
|
public mjSolverStat_ solver766;
|
|
public mjSolverStat_ solver767;
|
|
public mjSolverStat_ solver768;
|
|
public mjSolverStat_ solver769;
|
|
public mjSolverStat_ solver770;
|
|
public mjSolverStat_ solver771;
|
|
public mjSolverStat_ solver772;
|
|
public mjSolverStat_ solver773;
|
|
public mjSolverStat_ solver774;
|
|
public mjSolverStat_ solver775;
|
|
public mjSolverStat_ solver776;
|
|
public mjSolverStat_ solver777;
|
|
public mjSolverStat_ solver778;
|
|
public mjSolverStat_ solver779;
|
|
public mjSolverStat_ solver780;
|
|
public mjSolverStat_ solver781;
|
|
public mjSolverStat_ solver782;
|
|
public mjSolverStat_ solver783;
|
|
public mjSolverStat_ solver784;
|
|
public mjSolverStat_ solver785;
|
|
public mjSolverStat_ solver786;
|
|
public mjSolverStat_ solver787;
|
|
public mjSolverStat_ solver788;
|
|
public mjSolverStat_ solver789;
|
|
public mjSolverStat_ solver790;
|
|
public mjSolverStat_ solver791;
|
|
public mjSolverStat_ solver792;
|
|
public mjSolverStat_ solver793;
|
|
public mjSolverStat_ solver794;
|
|
public mjSolverStat_ solver795;
|
|
public mjSolverStat_ solver796;
|
|
public mjSolverStat_ solver797;
|
|
public mjSolverStat_ solver798;
|
|
public mjSolverStat_ solver799;
|
|
public mjSolverStat_ solver800;
|
|
public mjSolverStat_ solver801;
|
|
public mjSolverStat_ solver802;
|
|
public mjSolverStat_ solver803;
|
|
public mjSolverStat_ solver804;
|
|
public mjSolverStat_ solver805;
|
|
public mjSolverStat_ solver806;
|
|
public mjSolverStat_ solver807;
|
|
public mjSolverStat_ solver808;
|
|
public mjSolverStat_ solver809;
|
|
public mjSolverStat_ solver810;
|
|
public mjSolverStat_ solver811;
|
|
public mjSolverStat_ solver812;
|
|
public mjSolverStat_ solver813;
|
|
public mjSolverStat_ solver814;
|
|
public mjSolverStat_ solver815;
|
|
public mjSolverStat_ solver816;
|
|
public mjSolverStat_ solver817;
|
|
public mjSolverStat_ solver818;
|
|
public mjSolverStat_ solver819;
|
|
public mjSolverStat_ solver820;
|
|
public mjSolverStat_ solver821;
|
|
public mjSolverStat_ solver822;
|
|
public mjSolverStat_ solver823;
|
|
public mjSolverStat_ solver824;
|
|
public mjSolverStat_ solver825;
|
|
public mjSolverStat_ solver826;
|
|
public mjSolverStat_ solver827;
|
|
public mjSolverStat_ solver828;
|
|
public mjSolverStat_ solver829;
|
|
public mjSolverStat_ solver830;
|
|
public mjSolverStat_ solver831;
|
|
public mjSolverStat_ solver832;
|
|
public mjSolverStat_ solver833;
|
|
public mjSolverStat_ solver834;
|
|
public mjSolverStat_ solver835;
|
|
public mjSolverStat_ solver836;
|
|
public mjSolverStat_ solver837;
|
|
public mjSolverStat_ solver838;
|
|
public mjSolverStat_ solver839;
|
|
public mjSolverStat_ solver840;
|
|
public mjSolverStat_ solver841;
|
|
public mjSolverStat_ solver842;
|
|
public mjSolverStat_ solver843;
|
|
public mjSolverStat_ solver844;
|
|
public mjSolverStat_ solver845;
|
|
public mjSolverStat_ solver846;
|
|
public mjSolverStat_ solver847;
|
|
public mjSolverStat_ solver848;
|
|
public mjSolverStat_ solver849;
|
|
public mjSolverStat_ solver850;
|
|
public mjSolverStat_ solver851;
|
|
public mjSolverStat_ solver852;
|
|
public mjSolverStat_ solver853;
|
|
public mjSolverStat_ solver854;
|
|
public mjSolverStat_ solver855;
|
|
public mjSolverStat_ solver856;
|
|
public mjSolverStat_ solver857;
|
|
public mjSolverStat_ solver858;
|
|
public mjSolverStat_ solver859;
|
|
public mjSolverStat_ solver860;
|
|
public mjSolverStat_ solver861;
|
|
public mjSolverStat_ solver862;
|
|
public mjSolverStat_ solver863;
|
|
public mjSolverStat_ solver864;
|
|
public mjSolverStat_ solver865;
|
|
public mjSolverStat_ solver866;
|
|
public mjSolverStat_ solver867;
|
|
public mjSolverStat_ solver868;
|
|
public mjSolverStat_ solver869;
|
|
public mjSolverStat_ solver870;
|
|
public mjSolverStat_ solver871;
|
|
public mjSolverStat_ solver872;
|
|
public mjSolverStat_ solver873;
|
|
public mjSolverStat_ solver874;
|
|
public mjSolverStat_ solver875;
|
|
public mjSolverStat_ solver876;
|
|
public mjSolverStat_ solver877;
|
|
public mjSolverStat_ solver878;
|
|
public mjSolverStat_ solver879;
|
|
public mjSolverStat_ solver880;
|
|
public mjSolverStat_ solver881;
|
|
public mjSolverStat_ solver882;
|
|
public mjSolverStat_ solver883;
|
|
public mjSolverStat_ solver884;
|
|
public mjSolverStat_ solver885;
|
|
public mjSolverStat_ solver886;
|
|
public mjSolverStat_ solver887;
|
|
public mjSolverStat_ solver888;
|
|
public mjSolverStat_ solver889;
|
|
public mjSolverStat_ solver890;
|
|
public mjSolverStat_ solver891;
|
|
public mjSolverStat_ solver892;
|
|
public mjSolverStat_ solver893;
|
|
public mjSolverStat_ solver894;
|
|
public mjSolverStat_ solver895;
|
|
public mjSolverStat_ solver896;
|
|
public mjSolverStat_ solver897;
|
|
public mjSolverStat_ solver898;
|
|
public mjSolverStat_ solver899;
|
|
public mjSolverStat_ solver900;
|
|
public mjSolverStat_ solver901;
|
|
public mjSolverStat_ solver902;
|
|
public mjSolverStat_ solver903;
|
|
public mjSolverStat_ solver904;
|
|
public mjSolverStat_ solver905;
|
|
public mjSolverStat_ solver906;
|
|
public mjSolverStat_ solver907;
|
|
public mjSolverStat_ solver908;
|
|
public mjSolverStat_ solver909;
|
|
public mjSolverStat_ solver910;
|
|
public mjSolverStat_ solver911;
|
|
public mjSolverStat_ solver912;
|
|
public mjSolverStat_ solver913;
|
|
public mjSolverStat_ solver914;
|
|
public mjSolverStat_ solver915;
|
|
public mjSolverStat_ solver916;
|
|
public mjSolverStat_ solver917;
|
|
public mjSolverStat_ solver918;
|
|
public mjSolverStat_ solver919;
|
|
public mjSolverStat_ solver920;
|
|
public mjSolverStat_ solver921;
|
|
public mjSolverStat_ solver922;
|
|
public mjSolverStat_ solver923;
|
|
public mjSolverStat_ solver924;
|
|
public mjSolverStat_ solver925;
|
|
public mjSolverStat_ solver926;
|
|
public mjSolverStat_ solver927;
|
|
public mjSolverStat_ solver928;
|
|
public mjSolverStat_ solver929;
|
|
public mjSolverStat_ solver930;
|
|
public mjSolverStat_ solver931;
|
|
public mjSolverStat_ solver932;
|
|
public mjSolverStat_ solver933;
|
|
public mjSolverStat_ solver934;
|
|
public mjSolverStat_ solver935;
|
|
public mjSolverStat_ solver936;
|
|
public mjSolverStat_ solver937;
|
|
public mjSolverStat_ solver938;
|
|
public mjSolverStat_ solver939;
|
|
public mjSolverStat_ solver940;
|
|
public mjSolverStat_ solver941;
|
|
public mjSolverStat_ solver942;
|
|
public mjSolverStat_ solver943;
|
|
public mjSolverStat_ solver944;
|
|
public mjSolverStat_ solver945;
|
|
public mjSolverStat_ solver946;
|
|
public mjSolverStat_ solver947;
|
|
public mjSolverStat_ solver948;
|
|
public mjSolverStat_ solver949;
|
|
public mjSolverStat_ solver950;
|
|
public mjSolverStat_ solver951;
|
|
public mjSolverStat_ solver952;
|
|
public mjSolverStat_ solver953;
|
|
public mjSolverStat_ solver954;
|
|
public mjSolverStat_ solver955;
|
|
public mjSolverStat_ solver956;
|
|
public mjSolverStat_ solver957;
|
|
public mjSolverStat_ solver958;
|
|
public mjSolverStat_ solver959;
|
|
public mjSolverStat_ solver960;
|
|
public mjSolverStat_ solver961;
|
|
public mjSolverStat_ solver962;
|
|
public mjSolverStat_ solver963;
|
|
public mjSolverStat_ solver964;
|
|
public mjSolverStat_ solver965;
|
|
public mjSolverStat_ solver966;
|
|
public mjSolverStat_ solver967;
|
|
public mjSolverStat_ solver968;
|
|
public mjSolverStat_ solver969;
|
|
public mjSolverStat_ solver970;
|
|
public mjSolverStat_ solver971;
|
|
public mjSolverStat_ solver972;
|
|
public mjSolverStat_ solver973;
|
|
public mjSolverStat_ solver974;
|
|
public mjSolverStat_ solver975;
|
|
public mjSolverStat_ solver976;
|
|
public mjSolverStat_ solver977;
|
|
public mjSolverStat_ solver978;
|
|
public mjSolverStat_ solver979;
|
|
public mjSolverStat_ solver980;
|
|
public mjSolverStat_ solver981;
|
|
public mjSolverStat_ solver982;
|
|
public mjSolverStat_ solver983;
|
|
public mjSolverStat_ solver984;
|
|
public mjSolverStat_ solver985;
|
|
public mjSolverStat_ solver986;
|
|
public mjSolverStat_ solver987;
|
|
public mjSolverStat_ solver988;
|
|
public mjSolverStat_ solver989;
|
|
public mjSolverStat_ solver990;
|
|
public mjSolverStat_ solver991;
|
|
public mjSolverStat_ solver992;
|
|
public mjSolverStat_ solver993;
|
|
public mjSolverStat_ solver994;
|
|
public mjSolverStat_ solver995;
|
|
public mjSolverStat_ solver996;
|
|
public mjSolverStat_ solver997;
|
|
public mjSolverStat_ solver998;
|
|
public mjSolverStat_ solver999;
|
|
public int solver_iter;
|
|
public int solver_nnz;
|
|
public fixed double solver_fwdinv[2];
|
|
public int nbodypair_broad;
|
|
public int nbodypair_narrow;
|
|
public int ngeompair_mid;
|
|
public int ngeompair_narrow;
|
|
public int ne;
|
|
public int nf;
|
|
public int nefc;
|
|
public int nnzJ;
|
|
public int ncon;
|
|
public double time;
|
|
public fixed double energy[2];
|
|
public void* buffer;
|
|
public void* arena;
|
|
public double* qpos;
|
|
public double* qvel;
|
|
public double* act;
|
|
public double* qacc_warmstart;
|
|
public double* plugin_state;
|
|
public double* ctrl;
|
|
public double* qfrc_applied;
|
|
public double* xfrc_applied;
|
|
public double* mocap_pos;
|
|
public double* mocap_quat;
|
|
public double* qacc;
|
|
public double* act_dot;
|
|
public double* userdata;
|
|
public double* sensordata;
|
|
public int* plugin;
|
|
public UIntPtr* plugin_data;
|
|
public double* xpos;
|
|
public double* xquat;
|
|
public double* xmat;
|
|
public double* xipos;
|
|
public double* ximat;
|
|
public double* xanchor;
|
|
public double* xaxis;
|
|
public double* geom_xpos;
|
|
public double* geom_xmat;
|
|
public double* site_xpos;
|
|
public double* site_xmat;
|
|
public double* cam_xpos;
|
|
public double* cam_xmat;
|
|
public double* light_xpos;
|
|
public double* light_xdir;
|
|
public double* subtree_com;
|
|
public double* cdof;
|
|
public double* cinert;
|
|
public int* ten_wrapadr;
|
|
public int* ten_wrapnum;
|
|
public int* ten_J_rownnz;
|
|
public int* ten_J_rowadr;
|
|
public int* ten_J_colind;
|
|
public double* ten_length;
|
|
public double* ten_J;
|
|
public int* wrap_obj;
|
|
public double* wrap_xpos;
|
|
public double* actuator_length;
|
|
public double* actuator_moment;
|
|
public double* crb;
|
|
public double* qM;
|
|
public double* qLD;
|
|
public double* qLDiagInv;
|
|
public double* qLDiagSqrtInv;
|
|
public byte* bvh_active;
|
|
public double* ten_velocity;
|
|
public double* actuator_velocity;
|
|
public double* cvel;
|
|
public double* cdof_dot;
|
|
public double* qfrc_bias;
|
|
public double* qfrc_passive;
|
|
public double* efc_vel;
|
|
public double* efc_aref;
|
|
public double* subtree_linvel;
|
|
public double* subtree_angmom;
|
|
public double* qH;
|
|
public double* qHDiagInv;
|
|
public int* D_rownnz;
|
|
public int* D_rowadr;
|
|
public int* D_colind;
|
|
public int* B_rownnz;
|
|
public int* B_rowadr;
|
|
public int* B_colind;
|
|
public double* qDeriv;
|
|
public double* qLU;
|
|
public double* actuator_force;
|
|
public double* qfrc_actuator;
|
|
public double* qfrc_smooth;
|
|
public double* qacc_smooth;
|
|
public double* qfrc_constraint;
|
|
public double* qfrc_inverse;
|
|
public double* cacc;
|
|
public double* cfrc_int;
|
|
public double* cfrc_ext;
|
|
public mjContact_* contact;
|
|
public int* efc_type;
|
|
public int* efc_id;
|
|
public int* efc_J_rownnz;
|
|
public int* efc_J_rowadr;
|
|
public int* efc_J_rowsuper;
|
|
public int* efc_J_colind;
|
|
public int* efc_JT_rownnz;
|
|
public int* efc_JT_rowadr;
|
|
public int* efc_JT_rowsuper;
|
|
public int* efc_JT_colind;
|
|
public double* efc_J;
|
|
public double* efc_JT;
|
|
public double* efc_pos;
|
|
public double* efc_margin;
|
|
public double* efc_frictionloss;
|
|
public double* efc_diagApprox;
|
|
public double* efc_KBIP;
|
|
public double* efc_D;
|
|
public double* efc_R;
|
|
public double* efc_b;
|
|
public double* efc_force;
|
|
public int* efc_state;
|
|
public int* efc_AR_rownnz;
|
|
public int* efc_AR_rowadr;
|
|
public int* efc_AR_colind;
|
|
public double* efc_AR;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjLROpt_ {
|
|
public int mode;
|
|
public int useexisting;
|
|
public int uselimit;
|
|
public double accel;
|
|
public double maxforce;
|
|
public double timeconst;
|
|
public double timestep;
|
|
public double inttotal;
|
|
public double interval;
|
|
public double tolrange;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct _mjVFS
|
|
{
|
|
public int nfile;
|
|
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2000 * 1000)] public char[] filename;
|
|
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2000)] public int[] filesize;
|
|
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2000)] public IntPtr[] filedata;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjOption_ {
|
|
public double timestep;
|
|
public double apirate;
|
|
public double impratio;
|
|
public double tolerance;
|
|
public double noslip_tolerance;
|
|
public double mpr_tolerance;
|
|
public fixed double gravity[3];
|
|
public fixed double wind[3];
|
|
public fixed double magnetic[3];
|
|
public double density;
|
|
public double viscosity;
|
|
public double o_margin;
|
|
public fixed double o_solref[2];
|
|
public fixed double o_solimp[5];
|
|
public int integrator;
|
|
public int collision;
|
|
public int cone;
|
|
public int jacobian;
|
|
public int solver;
|
|
public int iterations;
|
|
public int noslip_iterations;
|
|
public int mpr_iterations;
|
|
public int disableflags;
|
|
public int enableflags;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct global {
|
|
public float fovy;
|
|
public float ipd;
|
|
public float azimuth;
|
|
public float elevation;
|
|
public float linewidth;
|
|
public float glow;
|
|
public float realtime;
|
|
public int offwidth;
|
|
public int offheight;
|
|
public int ellipsoidinertia;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct quality {
|
|
public int shadowsize;
|
|
public int offsamples;
|
|
public int numslices;
|
|
public int numstacks;
|
|
public int numquads;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct headlight {
|
|
public fixed float ambient[3];
|
|
public fixed float diffuse[3];
|
|
public fixed float specular[3];
|
|
public int active;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct map {
|
|
public float stiffness;
|
|
public float stiffnessrot;
|
|
public float force;
|
|
public float torque;
|
|
public float alpha;
|
|
public float fogstart;
|
|
public float fogend;
|
|
public float znear;
|
|
public float zfar;
|
|
public float haze;
|
|
public float shadowclip;
|
|
public float shadowscale;
|
|
public float actuatortendon;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct scale {
|
|
public float forcewidth;
|
|
public float contactwidth;
|
|
public float contactheight;
|
|
public float connect;
|
|
public float com;
|
|
public float camera;
|
|
public float light;
|
|
public float selectpoint;
|
|
public float jointlength;
|
|
public float jointwidth;
|
|
public float actuatorlength;
|
|
public float actuatorwidth;
|
|
public float framelength;
|
|
public float framewidth;
|
|
public float constraint;
|
|
public float slidercrank;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct rgba {
|
|
public fixed float fog[4];
|
|
public fixed float haze[4];
|
|
public fixed float force[4];
|
|
public fixed float inertia[4];
|
|
public fixed float joint[4];
|
|
public fixed float actuator[4];
|
|
public fixed float actuatornegative[4];
|
|
public fixed float actuatorpositive[4];
|
|
public fixed float com[4];
|
|
public fixed float camera[4];
|
|
public fixed float light[4];
|
|
public fixed float selectpoint[4];
|
|
public fixed float connect[4];
|
|
public fixed float contactpoint[4];
|
|
public fixed float contactforce[4];
|
|
public fixed float contactfriction[4];
|
|
public fixed float contacttorque[4];
|
|
public fixed float contactgap[4];
|
|
public fixed float rangefinder[4];
|
|
public fixed float constraint[4];
|
|
public fixed float slidercrank[4];
|
|
public fixed float crankbroken[4];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjVisual_ {
|
|
public global global;
|
|
public quality quality;
|
|
public headlight headlight;
|
|
public map map;
|
|
public scale scale;
|
|
public rgba rgba;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjStatistic_ {
|
|
public double meaninertia;
|
|
public double meanmass;
|
|
public double meansize;
|
|
public double extent;
|
|
public fixed double center[3];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjModel_ {
|
|
public int nq;
|
|
public int nv;
|
|
public int nu;
|
|
public int na;
|
|
public int nbody;
|
|
public int nbvh;
|
|
public int njnt;
|
|
public int ngeom;
|
|
public int nsite;
|
|
public int ncam;
|
|
public int nlight;
|
|
public int nmesh;
|
|
public int nmeshvert;
|
|
public int nmeshnormal;
|
|
public int nmeshtexcoord;
|
|
public int nmeshface;
|
|
public int nmeshgraph;
|
|
public int nskin;
|
|
public int nskinvert;
|
|
public int nskintexvert;
|
|
public int nskinface;
|
|
public int nskinbone;
|
|
public int nskinbonevert;
|
|
public int nhfield;
|
|
public int nhfielddata;
|
|
public int ntex;
|
|
public int ntexdata;
|
|
public int nmat;
|
|
public int npair;
|
|
public int nexclude;
|
|
public int neq;
|
|
public int ntendon;
|
|
public int nwrap;
|
|
public int nsensor;
|
|
public int nnumeric;
|
|
public int nnumericdata;
|
|
public int ntext;
|
|
public int ntextdata;
|
|
public int ntuple;
|
|
public int ntupledata;
|
|
public int nkey;
|
|
public int nmocap;
|
|
public int nplugin;
|
|
public int npluginattr;
|
|
public int nuser_body;
|
|
public int nuser_jnt;
|
|
public int nuser_geom;
|
|
public int nuser_site;
|
|
public int nuser_cam;
|
|
public int nuser_tendon;
|
|
public int nuser_actuator;
|
|
public int nuser_sensor;
|
|
public int nnames;
|
|
public int nnames_map;
|
|
public int nM;
|
|
public int nD;
|
|
public int nB;
|
|
public int nemax;
|
|
public int njmax;
|
|
public int nconmax;
|
|
public int nstack;
|
|
public int nuserdata;
|
|
public int nsensordata;
|
|
public int npluginstate;
|
|
public int nbuffer;
|
|
public mjOption_ opt;
|
|
public mjVisual_ vis;
|
|
public mjStatistic_ stat;
|
|
public void* buffer;
|
|
public double* qpos0;
|
|
public double* qpos_spring;
|
|
public int* body_parentid;
|
|
public int* body_rootid;
|
|
public int* body_weldid;
|
|
public int* body_mocapid;
|
|
public int* body_jntnum;
|
|
public int* body_jntadr;
|
|
public int* body_dofnum;
|
|
public int* body_dofadr;
|
|
public int* body_geomnum;
|
|
public int* body_geomadr;
|
|
public byte* body_simple;
|
|
public byte* body_sameframe;
|
|
public double* body_pos;
|
|
public double* body_quat;
|
|
public double* body_ipos;
|
|
public double* body_iquat;
|
|
public double* body_mass;
|
|
public double* body_subtreemass;
|
|
public double* body_inertia;
|
|
public double* body_invweight0;
|
|
public double* body_gravcomp;
|
|
public double* body_user;
|
|
public int* body_plugin;
|
|
public int* body_bvhadr;
|
|
public int* body_bvhnum;
|
|
public int* bvh_depth;
|
|
public int* bvh_child;
|
|
public int* bvh_geomid;
|
|
public double* bvh_aabb;
|
|
public int* jnt_type;
|
|
public int* jnt_qposadr;
|
|
public int* jnt_dofadr;
|
|
public int* jnt_bodyid;
|
|
public int* jnt_group;
|
|
public byte* jnt_limited;
|
|
public double* jnt_solref;
|
|
public double* jnt_solimp;
|
|
public double* jnt_pos;
|
|
public double* jnt_axis;
|
|
public double* jnt_stiffness;
|
|
public double* jnt_range;
|
|
public double* jnt_margin;
|
|
public double* jnt_user;
|
|
public int* dof_bodyid;
|
|
public int* dof_jntid;
|
|
public int* dof_parentid;
|
|
public int* dof_Madr;
|
|
public int* dof_simplenum;
|
|
public double* dof_solref;
|
|
public double* dof_solimp;
|
|
public double* dof_frictionloss;
|
|
public double* dof_armature;
|
|
public double* dof_damping;
|
|
public double* dof_invweight0;
|
|
public double* dof_M0;
|
|
public int* geom_type;
|
|
public int* geom_contype;
|
|
public int* geom_conaffinity;
|
|
public int* geom_condim;
|
|
public int* geom_bodyid;
|
|
public int* geom_dataid;
|
|
public int* geom_matid;
|
|
public int* geom_group;
|
|
public int* geom_priority;
|
|
public byte* geom_sameframe;
|
|
public double* geom_solmix;
|
|
public double* geom_solref;
|
|
public double* geom_solimp;
|
|
public double* geom_size;
|
|
public double* geom_aabb;
|
|
public double* geom_rbound;
|
|
public double* geom_pos;
|
|
public double* geom_quat;
|
|
public double* geom_friction;
|
|
public double* geom_margin;
|
|
public double* geom_gap;
|
|
public double* geom_fluid;
|
|
public double* geom_user;
|
|
public float* geom_rgba;
|
|
public int* site_type;
|
|
public int* site_bodyid;
|
|
public int* site_matid;
|
|
public int* site_group;
|
|
public byte* site_sameframe;
|
|
public double* site_size;
|
|
public double* site_pos;
|
|
public double* site_quat;
|
|
public double* site_user;
|
|
public float* site_rgba;
|
|
public int* cam_mode;
|
|
public int* cam_bodyid;
|
|
public int* cam_targetbodyid;
|
|
public double* cam_pos;
|
|
public double* cam_quat;
|
|
public double* cam_poscom0;
|
|
public double* cam_pos0;
|
|
public double* cam_mat0;
|
|
public double* cam_fovy;
|
|
public double* cam_ipd;
|
|
public double* cam_user;
|
|
public int* light_mode;
|
|
public int* light_bodyid;
|
|
public int* light_targetbodyid;
|
|
public byte* light_directional;
|
|
public byte* light_castshadow;
|
|
public byte* light_active;
|
|
public double* light_pos;
|
|
public double* light_dir;
|
|
public double* light_poscom0;
|
|
public double* light_pos0;
|
|
public double* light_dir0;
|
|
public float* light_attenuation;
|
|
public float* light_cutoff;
|
|
public float* light_exponent;
|
|
public float* light_ambient;
|
|
public float* light_diffuse;
|
|
public float* light_specular;
|
|
public int* mesh_vertadr;
|
|
public int* mesh_vertnum;
|
|
public int* mesh_faceadr;
|
|
public int* mesh_facenum;
|
|
public int* mesh_normaladr;
|
|
public int* mesh_normalnum;
|
|
public int* mesh_texcoordadr;
|
|
public int* mesh_texcoordnum;
|
|
public int* mesh_graphadr;
|
|
public float* mesh_vert;
|
|
public float* mesh_normal;
|
|
public float* mesh_texcoord;
|
|
public int* mesh_face;
|
|
public int* mesh_facenormal;
|
|
public int* mesh_facetexcoord;
|
|
public int* mesh_graph;
|
|
public int* skin_matid;
|
|
public int* skin_group;
|
|
public float* skin_rgba;
|
|
public float* skin_inflate;
|
|
public int* skin_vertadr;
|
|
public int* skin_vertnum;
|
|
public int* skin_texcoordadr;
|
|
public int* skin_faceadr;
|
|
public int* skin_facenum;
|
|
public int* skin_boneadr;
|
|
public int* skin_bonenum;
|
|
public float* skin_vert;
|
|
public float* skin_texcoord;
|
|
public int* skin_face;
|
|
public int* skin_bonevertadr;
|
|
public int* skin_bonevertnum;
|
|
public float* skin_bonebindpos;
|
|
public float* skin_bonebindquat;
|
|
public int* skin_bonebodyid;
|
|
public int* skin_bonevertid;
|
|
public float* skin_bonevertweight;
|
|
public double* hfield_size;
|
|
public int* hfield_nrow;
|
|
public int* hfield_ncol;
|
|
public int* hfield_adr;
|
|
public float* hfield_data;
|
|
public int* tex_type;
|
|
public int* tex_height;
|
|
public int* tex_width;
|
|
public int* tex_adr;
|
|
public byte* tex_rgb;
|
|
public int* mat_texid;
|
|
public byte* mat_texuniform;
|
|
public float* mat_texrepeat;
|
|
public float* mat_emission;
|
|
public float* mat_specular;
|
|
public float* mat_shininess;
|
|
public float* mat_reflectance;
|
|
public float* mat_rgba;
|
|
public int* pair_dim;
|
|
public int* pair_geom1;
|
|
public int* pair_geom2;
|
|
public int* pair_signature;
|
|
public double* pair_solref;
|
|
public double* pair_solimp;
|
|
public double* pair_margin;
|
|
public double* pair_gap;
|
|
public double* pair_friction;
|
|
public int* exclude_signature;
|
|
public int* eq_type;
|
|
public int* eq_obj1id;
|
|
public int* eq_obj2id;
|
|
public byte* eq_active;
|
|
public double* eq_solref;
|
|
public double* eq_solimp;
|
|
public double* eq_data;
|
|
public int* tendon_adr;
|
|
public int* tendon_num;
|
|
public int* tendon_matid;
|
|
public int* tendon_group;
|
|
public byte* tendon_limited;
|
|
public double* tendon_width;
|
|
public double* tendon_solref_lim;
|
|
public double* tendon_solimp_lim;
|
|
public double* tendon_solref_fri;
|
|
public double* tendon_solimp_fri;
|
|
public double* tendon_range;
|
|
public double* tendon_margin;
|
|
public double* tendon_stiffness;
|
|
public double* tendon_damping;
|
|
public double* tendon_frictionloss;
|
|
public double* tendon_lengthspring;
|
|
public double* tendon_length0;
|
|
public double* tendon_invweight0;
|
|
public double* tendon_user;
|
|
public float* tendon_rgba;
|
|
public int* wrap_type;
|
|
public int* wrap_objid;
|
|
public double* wrap_prm;
|
|
public int* actuator_trntype;
|
|
public int* actuator_dyntype;
|
|
public int* actuator_gaintype;
|
|
public int* actuator_biastype;
|
|
public int* actuator_trnid;
|
|
public int* actuator_actadr;
|
|
public int* actuator_actnum;
|
|
public int* actuator_group;
|
|
public byte* actuator_ctrllimited;
|
|
public byte* actuator_forcelimited;
|
|
public byte* actuator_actlimited;
|
|
public double* actuator_dynprm;
|
|
public double* actuator_gainprm;
|
|
public double* actuator_biasprm;
|
|
public double* actuator_ctrlrange;
|
|
public double* actuator_forcerange;
|
|
public double* actuator_actrange;
|
|
public double* actuator_gear;
|
|
public double* actuator_cranklength;
|
|
public double* actuator_acc0;
|
|
public double* actuator_length0;
|
|
public double* actuator_lengthrange;
|
|
public double* actuator_user;
|
|
public int* actuator_plugin;
|
|
public int* sensor_type;
|
|
public int* sensor_datatype;
|
|
public int* sensor_needstage;
|
|
public int* sensor_objtype;
|
|
public int* sensor_objid;
|
|
public int* sensor_reftype;
|
|
public int* sensor_refid;
|
|
public int* sensor_dim;
|
|
public int* sensor_adr;
|
|
public double* sensor_cutoff;
|
|
public double* sensor_noise;
|
|
public double* sensor_user;
|
|
public int* sensor_plugin;
|
|
public int* plugin;
|
|
public int* plugin_stateadr;
|
|
public int* plugin_statenum;
|
|
public char* plugin_attr;
|
|
public int* plugin_attradr;
|
|
public int* numeric_adr;
|
|
public int* numeric_size;
|
|
public double* numeric_data;
|
|
public int* text_adr;
|
|
public int* text_size;
|
|
public char* text_data;
|
|
public int* tuple_adr;
|
|
public int* tuple_size;
|
|
public int* tuple_objtype;
|
|
public int* tuple_objid;
|
|
public double* tuple_objprm;
|
|
public double* key_time;
|
|
public double* key_qpos;
|
|
public double* key_qvel;
|
|
public double* key_act;
|
|
public double* key_mpos;
|
|
public double* key_mquat;
|
|
public double* key_ctrl;
|
|
public int* name_bodyadr;
|
|
public int* name_jntadr;
|
|
public int* name_geomadr;
|
|
public int* name_siteadr;
|
|
public int* name_camadr;
|
|
public int* name_lightadr;
|
|
public int* name_meshadr;
|
|
public int* name_skinadr;
|
|
public int* name_hfieldadr;
|
|
public int* name_texadr;
|
|
public int* name_matadr;
|
|
public int* name_pairadr;
|
|
public int* name_excludeadr;
|
|
public int* name_eqadr;
|
|
public int* name_tendonadr;
|
|
public int* name_actuatoradr;
|
|
public int* name_sensoradr;
|
|
public int* name_numericadr;
|
|
public int* name_textadr;
|
|
public int* name_tupleadr;
|
|
public int* name_keyadr;
|
|
public int* name_pluginadr;
|
|
public char* names;
|
|
public int* names_map;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjrRect_ {
|
|
public int left;
|
|
public int bottom;
|
|
public int width;
|
|
public int height;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjrContext_ {
|
|
public float lineWidth;
|
|
public float shadowClip;
|
|
public float shadowScale;
|
|
public float fogStart;
|
|
public float fogEnd;
|
|
public fixed float fogRGBA[4];
|
|
public int shadowSize;
|
|
public int offWidth;
|
|
public int offHeight;
|
|
public int offSamples;
|
|
public int fontScale;
|
|
public fixed int auxWidth[10];
|
|
public fixed int auxHeight[10];
|
|
public fixed int auxSamples[10];
|
|
public uint offFBO;
|
|
public uint offFBO_r;
|
|
public uint offColor;
|
|
public uint offColor_r;
|
|
public uint offDepthStencil;
|
|
public uint offDepthStencil_r;
|
|
public uint shadowFBO;
|
|
public uint shadowTex;
|
|
public fixed uint auxFBO[10];
|
|
public fixed uint auxFBO_r[10];
|
|
public fixed uint auxColor[10];
|
|
public fixed uint auxColor_r[10];
|
|
public int ntexture;
|
|
public fixed int textureType[100];
|
|
public fixed uint texture[100];
|
|
public uint basePlane;
|
|
public uint baseMesh;
|
|
public uint baseHField;
|
|
public uint baseBuiltin;
|
|
public uint baseFontNormal;
|
|
public uint baseFontShadow;
|
|
public uint baseFontBig;
|
|
public int rangePlane;
|
|
public int rangeMesh;
|
|
public int rangeHField;
|
|
public int rangeBuiltin;
|
|
public int rangeFont;
|
|
public int nskin;
|
|
public uint* skinvertVBO;
|
|
public uint* skinnormalVBO;
|
|
public uint* skintexcoordVBO;
|
|
public uint* skinfaceVBO;
|
|
public fixed int charWidth[127];
|
|
public fixed int charWidthBig[127];
|
|
public int charHeight;
|
|
public int charHeightBig;
|
|
public int glInitialized;
|
|
public int windowAvailable;
|
|
public int windowSamples;
|
|
public int windowStereo;
|
|
public int windowDoublebuffer;
|
|
public int currentBuffer;
|
|
public int readPixelFormat;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiState_ {
|
|
public int nrect;
|
|
public mjrRect_ rect0;
|
|
public mjrRect_ rect1;
|
|
public mjrRect_ rect2;
|
|
public mjrRect_ rect3;
|
|
public mjrRect_ rect4;
|
|
public mjrRect_ rect5;
|
|
public mjrRect_ rect6;
|
|
public mjrRect_ rect7;
|
|
public mjrRect_ rect8;
|
|
public mjrRect_ rect9;
|
|
public mjrRect_ rect10;
|
|
public mjrRect_ rect11;
|
|
public mjrRect_ rect12;
|
|
public mjrRect_ rect13;
|
|
public mjrRect_ rect14;
|
|
public mjrRect_ rect15;
|
|
public mjrRect_ rect16;
|
|
public mjrRect_ rect17;
|
|
public mjrRect_ rect18;
|
|
public mjrRect_ rect19;
|
|
public mjrRect_ rect20;
|
|
public mjrRect_ rect21;
|
|
public mjrRect_ rect22;
|
|
public mjrRect_ rect23;
|
|
public mjrRect_ rect24;
|
|
public void* userdata;
|
|
public int type;
|
|
public int left;
|
|
public int right;
|
|
public int middle;
|
|
public int doubleclick;
|
|
public int button;
|
|
public double buttontime;
|
|
public double x;
|
|
public double y;
|
|
public double dx;
|
|
public double dy;
|
|
public double sx;
|
|
public double sy;
|
|
public int control;
|
|
public int shift;
|
|
public int alt;
|
|
public int key;
|
|
public double keytime;
|
|
public int mouserect;
|
|
public int dragrect;
|
|
public int dragbutton;
|
|
public int dropcount;
|
|
public char** droppaths;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiThemeSpacing_ {
|
|
public int total;
|
|
public int scroll;
|
|
public int label;
|
|
public int section;
|
|
public int itemside;
|
|
public int itemmid;
|
|
public int itemver;
|
|
public int texthor;
|
|
public int textver;
|
|
public int linescroll;
|
|
public int samples;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiThemeColor_ {
|
|
public fixed float master[3];
|
|
public fixed float thumb[3];
|
|
public fixed float secttitle[3];
|
|
public fixed float sectfont[3];
|
|
public fixed float sectsymbol[3];
|
|
public fixed float sectpane[3];
|
|
public fixed float shortcut[3];
|
|
public fixed float fontactive[3];
|
|
public fixed float fontinactive[3];
|
|
public fixed float decorinactive[3];
|
|
public fixed float decorinactive2[3];
|
|
public fixed float button[3];
|
|
public fixed float check[3];
|
|
public fixed float radio[3];
|
|
public fixed float select[3];
|
|
public fixed float select2[3];
|
|
public fixed float slider[3];
|
|
public fixed float slider2[3];
|
|
public fixed float edit[3];
|
|
public fixed float edit2[3];
|
|
public fixed float cursor[3];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiItemSingle_ {
|
|
public int modifier;
|
|
public int shortcut;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiItemMulti_ {
|
|
public int nelem;
|
|
public fixed sbyte name[35 * 40];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiItemSlider_ {
|
|
public fixed double range[2];
|
|
public double divisions;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiItemEdit_ {
|
|
public int nelem;
|
|
public fixed double range[7 * 2];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiSection_ {
|
|
public fixed sbyte name[40];
|
|
public int state;
|
|
public int modifier;
|
|
public int shortcut;
|
|
public int nitem;
|
|
public mjrRect_ rtitle;
|
|
public mjrRect_ rcontent;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjUI_ {
|
|
public mjuiThemeSpacing_ spacing;
|
|
public mjuiThemeColor_ color;
|
|
public mjfItemEnable predicate;
|
|
public void* userdata;
|
|
public int rectid;
|
|
public int auxid;
|
|
public int radiocol;
|
|
public int width;
|
|
public int height;
|
|
public int maxheight;
|
|
public int scroll;
|
|
public int mousesect;
|
|
public int mouseitem;
|
|
public int mousehelp;
|
|
public int editsect;
|
|
public int edititem;
|
|
public int editcursor;
|
|
public int editscroll;
|
|
public fixed sbyte edittext[300];
|
|
public mjuiItem_* editchanged;
|
|
public int nsect;
|
|
public mjuiSection_ sect0;
|
|
public mjuiSection_ sect1;
|
|
public mjuiSection_ sect2;
|
|
public mjuiSection_ sect3;
|
|
public mjuiSection_ sect4;
|
|
public mjuiSection_ sect5;
|
|
public mjuiSection_ sect6;
|
|
public mjuiSection_ sect7;
|
|
public mjuiSection_ sect8;
|
|
public mjuiSection_ sect9;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjuiDef_ {
|
|
public int type;
|
|
public fixed sbyte name[40];
|
|
public int state;
|
|
public void* pdata;
|
|
public fixed sbyte other[300];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvPerturb_ {
|
|
public int select;
|
|
public int skinselect;
|
|
public int active;
|
|
public int active2;
|
|
public fixed double refpos[3];
|
|
public fixed double refquat[4];
|
|
public fixed double refselpos[3];
|
|
public fixed double localpos[3];
|
|
public double localmass;
|
|
public double scale;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvCamera_ {
|
|
public int type;
|
|
public int fixedcamid;
|
|
public int trackbodyid;
|
|
public fixed double lookat[3];
|
|
public double distance;
|
|
public double azimuth;
|
|
public double elevation;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvGLCamera_ {
|
|
public fixed float pos[3];
|
|
public fixed float forward[3];
|
|
public fixed float up[3];
|
|
public float frustum_center;
|
|
public float frustum_bottom;
|
|
public float frustum_top;
|
|
public float frustum_near;
|
|
public float frustum_far;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvGeom_ {
|
|
public int type;
|
|
public int dataid;
|
|
public int objtype;
|
|
public int objid;
|
|
public int category;
|
|
public int texid;
|
|
public int texuniform;
|
|
public int texcoord;
|
|
public int segid;
|
|
public fixed float texrepeat[2];
|
|
public fixed float size[3];
|
|
public fixed float pos[3];
|
|
public fixed float mat[9];
|
|
public fixed float rgba[4];
|
|
public float emission;
|
|
public float specular;
|
|
public float shininess;
|
|
public float reflectance;
|
|
public fixed sbyte label[100];
|
|
public float camdist;
|
|
public float modelrbound;
|
|
public byte transparent;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvLight_ {
|
|
public fixed float pos[3];
|
|
public fixed float dir[3];
|
|
public fixed float attenuation[3];
|
|
public float cutoff;
|
|
public float exponent;
|
|
public fixed float ambient[3];
|
|
public fixed float diffuse[3];
|
|
public fixed float specular[3];
|
|
public byte headlight;
|
|
public byte directional;
|
|
public byte castshadow;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvOption_ {
|
|
public int label;
|
|
public int frame;
|
|
public fixed byte geomgroup[6];
|
|
public fixed byte sitegroup[6];
|
|
public fixed byte jointgroup[6];
|
|
public fixed byte tendongroup[6];
|
|
public fixed byte actuatorgroup[6];
|
|
public fixed byte skingroup[6];
|
|
public fixed byte flags[24];
|
|
public int bvh_depth;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvScene_ {
|
|
public int maxgeom;
|
|
public int ngeom;
|
|
public mjvGeom_* geoms;
|
|
public int* geomorder;
|
|
public int nskin;
|
|
public int* skinfacenum;
|
|
public int* skinvertadr;
|
|
public int* skinvertnum;
|
|
public float* skinvert;
|
|
public float* skinnormal;
|
|
public int nlight;
|
|
public mjvLight_ lights0;
|
|
public mjvLight_ lights1;
|
|
public mjvLight_ lights2;
|
|
public mjvLight_ lights3;
|
|
public mjvLight_ lights4;
|
|
public mjvLight_ lights5;
|
|
public mjvLight_ lights6;
|
|
public mjvLight_ lights7;
|
|
public mjvLight_ lights8;
|
|
public mjvLight_ lights9;
|
|
public mjvLight_ lights10;
|
|
public mjvLight_ lights11;
|
|
public mjvLight_ lights12;
|
|
public mjvLight_ lights13;
|
|
public mjvLight_ lights14;
|
|
public mjvLight_ lights15;
|
|
public mjvLight_ lights16;
|
|
public mjvLight_ lights17;
|
|
public mjvLight_ lights18;
|
|
public mjvLight_ lights19;
|
|
public mjvLight_ lights20;
|
|
public mjvLight_ lights21;
|
|
public mjvLight_ lights22;
|
|
public mjvLight_ lights23;
|
|
public mjvLight_ lights24;
|
|
public mjvLight_ lights25;
|
|
public mjvLight_ lights26;
|
|
public mjvLight_ lights27;
|
|
public mjvLight_ lights28;
|
|
public mjvLight_ lights29;
|
|
public mjvLight_ lights30;
|
|
public mjvLight_ lights31;
|
|
public mjvLight_ lights32;
|
|
public mjvLight_ lights33;
|
|
public mjvLight_ lights34;
|
|
public mjvLight_ lights35;
|
|
public mjvLight_ lights36;
|
|
public mjvLight_ lights37;
|
|
public mjvLight_ lights38;
|
|
public mjvLight_ lights39;
|
|
public mjvLight_ lights40;
|
|
public mjvLight_ lights41;
|
|
public mjvLight_ lights42;
|
|
public mjvLight_ lights43;
|
|
public mjvLight_ lights44;
|
|
public mjvLight_ lights45;
|
|
public mjvLight_ lights46;
|
|
public mjvLight_ lights47;
|
|
public mjvLight_ lights48;
|
|
public mjvLight_ lights49;
|
|
public mjvLight_ lights50;
|
|
public mjvLight_ lights51;
|
|
public mjvLight_ lights52;
|
|
public mjvLight_ lights53;
|
|
public mjvLight_ lights54;
|
|
public mjvLight_ lights55;
|
|
public mjvLight_ lights56;
|
|
public mjvLight_ lights57;
|
|
public mjvLight_ lights58;
|
|
public mjvLight_ lights59;
|
|
public mjvLight_ lights60;
|
|
public mjvLight_ lights61;
|
|
public mjvLight_ lights62;
|
|
public mjvLight_ lights63;
|
|
public mjvLight_ lights64;
|
|
public mjvLight_ lights65;
|
|
public mjvLight_ lights66;
|
|
public mjvLight_ lights67;
|
|
public mjvLight_ lights68;
|
|
public mjvLight_ lights69;
|
|
public mjvLight_ lights70;
|
|
public mjvLight_ lights71;
|
|
public mjvLight_ lights72;
|
|
public mjvLight_ lights73;
|
|
public mjvLight_ lights74;
|
|
public mjvLight_ lights75;
|
|
public mjvLight_ lights76;
|
|
public mjvLight_ lights77;
|
|
public mjvLight_ lights78;
|
|
public mjvLight_ lights79;
|
|
public mjvLight_ lights80;
|
|
public mjvLight_ lights81;
|
|
public mjvLight_ lights82;
|
|
public mjvLight_ lights83;
|
|
public mjvLight_ lights84;
|
|
public mjvLight_ lights85;
|
|
public mjvLight_ lights86;
|
|
public mjvLight_ lights87;
|
|
public mjvLight_ lights88;
|
|
public mjvLight_ lights89;
|
|
public mjvLight_ lights90;
|
|
public mjvLight_ lights91;
|
|
public mjvLight_ lights92;
|
|
public mjvLight_ lights93;
|
|
public mjvLight_ lights94;
|
|
public mjvLight_ lights95;
|
|
public mjvLight_ lights96;
|
|
public mjvLight_ lights97;
|
|
public mjvLight_ lights98;
|
|
public mjvLight_ lights99;
|
|
public mjvGLCamera_ camera0;
|
|
public mjvGLCamera_ camera1;
|
|
public byte enabletransform;
|
|
public fixed float translate[3];
|
|
public fixed float rotate[4];
|
|
public float scale;
|
|
public int stereo;
|
|
public fixed byte flags[10];
|
|
public int framewidth;
|
|
public fixed float framergb[3];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvFigure_ {
|
|
public int flg_legend;
|
|
public fixed int flg_ticklabel[2];
|
|
public int flg_extend;
|
|
public int flg_barplot;
|
|
public int flg_selection;
|
|
public int flg_symmetric;
|
|
public float linewidth;
|
|
public float gridwidth;
|
|
public fixed int gridsize[2];
|
|
public fixed float gridrgb[3];
|
|
public fixed float figurergba[4];
|
|
public fixed float panergba[4];
|
|
public fixed float legendrgba[4];
|
|
public fixed float textrgb[3];
|
|
public fixed float linergb[100 * 3];
|
|
public fixed float range[2 * 2];
|
|
public fixed sbyte xformat[20];
|
|
public fixed sbyte yformat[20];
|
|
public fixed sbyte minwidth[20];
|
|
public fixed sbyte title[1000];
|
|
public fixed sbyte xlabel[100];
|
|
public fixed sbyte linename[100 * 100];
|
|
public int legendoffset;
|
|
public int subplot;
|
|
public fixed int highlight[2];
|
|
public int highlightid;
|
|
public float selection;
|
|
public fixed int linepnt[100];
|
|
public fixed float linedata[100 * 2000];
|
|
public fixed int xaxispixel[2];
|
|
public fixed int yaxispixel[2];
|
|
public fixed float xaxisdata[2];
|
|
public fixed float yaxisdata[2];
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct model {
|
|
public int nu;
|
|
public int na;
|
|
public int nbody;
|
|
public int nbvh;
|
|
public int njnt;
|
|
public int ngeom;
|
|
public int nsite;
|
|
public int ncam;
|
|
public int nlight;
|
|
public int nmesh;
|
|
public int nskin;
|
|
public int nskinvert;
|
|
public int nskinface;
|
|
public int nskinbone;
|
|
public int nskinbonevert;
|
|
public int nmat;
|
|
public int neq;
|
|
public int ntendon;
|
|
public int nwrap;
|
|
public int nsensor;
|
|
public int nnames;
|
|
public int nsensordata;
|
|
public mjOption_ opt;
|
|
public mjVisual_ vis;
|
|
public mjStatistic_ stat;
|
|
public int* body_parentid;
|
|
public int* body_rootid;
|
|
public int* body_weldid;
|
|
public int* body_mocapid;
|
|
public int* body_jntnum;
|
|
public int* body_jntadr;
|
|
public int* body_geomnum;
|
|
public int* body_geomadr;
|
|
public double* body_iquat;
|
|
public double* body_mass;
|
|
public double* body_inertia;
|
|
public int* body_bvhadr;
|
|
public int* body_bvhnum;
|
|
public int* bvh_depth;
|
|
public int* bvh_child;
|
|
public int* bvh_geomid;
|
|
public double* bvh_aabb;
|
|
public int* jnt_type;
|
|
public int* jnt_bodyid;
|
|
public int* jnt_group;
|
|
public int* geom_type;
|
|
public int* geom_bodyid;
|
|
public int* geom_dataid;
|
|
public int* geom_matid;
|
|
public int* geom_group;
|
|
public double* geom_size;
|
|
public double* geom_aabb;
|
|
public double* geom_rbound;
|
|
public float* geom_rgba;
|
|
public int* site_type;
|
|
public int* site_bodyid;
|
|
public int* site_matid;
|
|
public int* site_group;
|
|
public double* site_size;
|
|
public float* site_rgba;
|
|
public double* cam_fovy;
|
|
public double* cam_ipd;
|
|
public byte* light_directional;
|
|
public byte* light_castshadow;
|
|
public byte* light_active;
|
|
public float* light_attenuation;
|
|
public float* light_cutoff;
|
|
public float* light_exponent;
|
|
public float* light_ambient;
|
|
public float* light_diffuse;
|
|
public float* light_specular;
|
|
public int* mesh_texcoordadr;
|
|
public int* mesh_graphadr;
|
|
public int* skin_matid;
|
|
public int* skin_group;
|
|
public float* skin_rgba;
|
|
public float* skin_inflate;
|
|
public int* skin_vertadr;
|
|
public int* skin_vertnum;
|
|
public int* skin_texcoordadr;
|
|
public int* skin_faceadr;
|
|
public int* skin_facenum;
|
|
public int* skin_boneadr;
|
|
public int* skin_bonenum;
|
|
public float* skin_vert;
|
|
public int* skin_face;
|
|
public int* skin_bonevertadr;
|
|
public int* skin_bonevertnum;
|
|
public float* skin_bonebindpos;
|
|
public float* skin_bonebindquat;
|
|
public int* skin_bonebodyid;
|
|
public int* skin_bonevertid;
|
|
public float* skin_bonevertweight;
|
|
public int* mat_texid;
|
|
public byte* mat_texuniform;
|
|
public float* mat_texrepeat;
|
|
public float* mat_emission;
|
|
public float* mat_specular;
|
|
public float* mat_shininess;
|
|
public float* mat_reflectance;
|
|
public float* mat_rgba;
|
|
public int* eq_type;
|
|
public int* eq_obj1id;
|
|
public int* eq_obj2id;
|
|
public byte* eq_active;
|
|
public double* eq_data;
|
|
public int* tendon_num;
|
|
public int* tendon_matid;
|
|
public int* tendon_group;
|
|
public byte* tendon_limited;
|
|
public double* tendon_width;
|
|
public double* tendon_range;
|
|
public double* tendon_stiffness;
|
|
public double* tendon_damping;
|
|
public double* tendon_frictionloss;
|
|
public double* tendon_lengthspring;
|
|
public float* tendon_rgba;
|
|
public int* actuator_trntype;
|
|
public int* actuator_dyntype;
|
|
public int* actuator_trnid;
|
|
public int* actuator_actadr;
|
|
public int* actuator_actnum;
|
|
public int* actuator_group;
|
|
public byte* actuator_ctrllimited;
|
|
public byte* actuator_actlimited;
|
|
public double* actuator_ctrlrange;
|
|
public double* actuator_actrange;
|
|
public double* actuator_cranklength;
|
|
public int* sensor_type;
|
|
public int* sensor_objid;
|
|
public int* sensor_adr;
|
|
public int* name_bodyadr;
|
|
public int* name_jntadr;
|
|
public int* name_geomadr;
|
|
public int* name_siteadr;
|
|
public int* name_camadr;
|
|
public int* name_lightadr;
|
|
public int* name_eqadr;
|
|
public int* name_tendonadr;
|
|
public int* name_actuatoradr;
|
|
public char* names;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct data {
|
|
public mjWarningStat_ warning0;
|
|
public mjWarningStat_ warning1;
|
|
public mjWarningStat_ warning2;
|
|
public mjWarningStat_ warning3;
|
|
public mjWarningStat_ warning4;
|
|
public mjWarningStat_ warning5;
|
|
public mjWarningStat_ warning6;
|
|
public mjWarningStat_ warning7;
|
|
public int nefc;
|
|
public int ncon;
|
|
public double time;
|
|
public double* act;
|
|
public double* ctrl;
|
|
public double* xfrc_applied;
|
|
public double* sensordata;
|
|
public double* xpos;
|
|
public double* xquat;
|
|
public double* xmat;
|
|
public double* xipos;
|
|
public double* ximat;
|
|
public double* xanchor;
|
|
public double* xaxis;
|
|
public double* geom_xpos;
|
|
public double* geom_xmat;
|
|
public double* site_xpos;
|
|
public double* site_xmat;
|
|
public double* cam_xpos;
|
|
public double* cam_xmat;
|
|
public double* light_xpos;
|
|
public double* light_xdir;
|
|
public double* subtree_com;
|
|
public int* ten_wrapadr;
|
|
public int* ten_wrapnum;
|
|
public int* wrap_obj;
|
|
public double* wrap_xpos;
|
|
public byte* bvh_active;
|
|
public mjContact_* contact;
|
|
public double* efc_force;
|
|
}
|
|
|
|
[StructLayout(LayoutKind.Sequential)]
|
|
public unsafe struct mjvSceneState_ {
|
|
public int nbuffer;
|
|
public void* buffer;
|
|
public int maxgeom;
|
|
public mjvScene_ plugincache;
|
|
public model model;
|
|
public data data;
|
|
}public struct mjuiItem_ {}public struct mjfItemEnable {}
|
|
|
|
// ----------------------------Function declarations----------------------------
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_defaultVFS(void* vfs);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_addFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string directory, [MarshalAs(UnmanagedType.LPStr)]string filename);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_makeEmptyFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename, int filesize);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_findFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_deleteFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_deleteVFS(void* vfs);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern mjModel_* mj_loadXML([MarshalAs(UnmanagedType.LPStr)]string filename, void* vfs, StringBuilder error, int error_sz);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern int mj_saveLastXML([MarshalAs(UnmanagedType.LPStr)]string filename, mjModel_* m, StringBuilder error, int error_sz);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_freeLastXML();
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mj_printSchema([MarshalAs(UnmanagedType.LPStr)]string filename, StringBuilder buffer, int buffer_sz, int flg_html, int flg_pad);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_step(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_step1(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_step2(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_forward(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_inverse(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_forwardSkip(mjModel_* m, mjData_* d, int skipstage, int skipsensor);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_inverseSkip(mjModel_* m, mjData_* d, int skipstage, int skipsensor);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_defaultLROpt(mjLROpt_* opt);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_defaultSolRefImp(double* solref, double* solimp);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_defaultOption(mjOption_* opt);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_defaultVisual(mjVisual_* vis);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern mjModel_* mj_copyModel(mjModel_* dest, mjModel_* src);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_saveModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, void* buffer, int buffer_sz);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern mjModel_* mj_loadModel([MarshalAs(UnmanagedType.LPStr)]string filename, void* vfs);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_deleteModel(mjModel_* m);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern int mj_sizeModel(mjModel_* m);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern mjData_* mj_makeData(mjModel_* m);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern mjData_* mj_copyData(mjData_* dest, mjModel_* m, mjData_* src);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_resetData(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_resetDataDebug(mjModel_* m, mjData_* d, byte debug_value);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_resetDataKeyframe(mjModel_* m, mjData_* d, int key);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern double* mj_stackAlloc(mjData_* d, int size);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern int* mj_stackAllocInt(mjData_* d, int size);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_deleteData(mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_resetCallbacks();
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mj_setConst(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_setLengthRange(mjModel_* m, mjData_* d, int index, mjLROpt_* opt, StringBuilder error, int error_sz);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_printFormattedModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_printModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_printFormattedData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_printData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_printMat(double* mat, int nr, int nc);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_printMatSparse(double* mat, int nr, int* rownnz, int* rowadr, int* colind);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_fwdPosition(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_fwdVelocity(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_fwdActuation(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_fwdAcceleration(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_fwdConstraint(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_Euler(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_RungeKutta(mjModel_* m, mjData_* d, int N);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_invPosition(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_invVelocity(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_invConstraint(mjModel_* m, mjData_* d);
|
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_compareFwdInv(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_sensorPos(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_sensorVel(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_sensorAcc(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_energyPos(mjModel_* m, mjData_* d);
|
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|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_energyVel(mjModel_* m, mjData_* d);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_checkPos(mjModel_* m, mjData_* d);
|
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_checkVel(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_checkAcc(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_kinematics(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_comPos(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_camlight(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_tendon(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_transmission(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_crb(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_factorM(mjModel_* m, mjData_* d);
|
|
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_solveM(mjModel_* m, mjData_* d, double* x, double* y, int n);
|
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_solveM2(mjModel_* m, mjData_* d, double* x, double* y, int n);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_comVel(mjModel_* m, mjData_* d);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_passive(mjModel_* m, mjData_* d);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_subtreeVel(mjModel_* m, mjData_* d);
|
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_rne(mjModel_* m, mjData_* d, int flg_acc, double* result);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_rnePostConstraint(mjModel_* m, mjData_* d);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_collision(mjModel_* m, mjData_* d);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_makeConstraint(mjModel_* m, mjData_* d);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_projectConstraint(mjModel_* m, mjData_* d);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_referenceConstraint(mjModel_* m, mjData_* d);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_constraintUpdate(mjModel_* m, mjData_* d, double* jar, double* cost, int flg_coneHessian);
|
|
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_addContact(mjModel_* m, mjData_* d, mjContact_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_isPyramidal(mjModel_* m);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_isSparse(mjModel_* m);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_isDual(mjModel_* m);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_mulJacVec(mjModel_* m, mjData_* d, double* res, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_mulJacTVec(mjModel_* m, mjData_* d, double* res, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jac(mjModel_* m, mjData_* d, double* jacp, double* jacr, double* point, int body);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jacBody(mjModel_* m, mjData_* d, double* jacp, double* jacr, int body);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jacBodyCom(mjModel_* m, mjData_* d, double* jacp, double* jacr, int body);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jacSubtreeCom(mjModel_* m, mjData_* d, double* jacp, int body);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jacGeom(mjModel_* m, mjData_* d, double* jacp, double* jacr, int geom);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jacSite(mjModel_* m, mjData_* d, double* jacp, double* jacr, int site);
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_jacPointAxis(mjModel_* m, mjData_* d, double* jacPoint, double* jacAxis, double* point, double* axis, int body);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_name2id(mjModel_* m, int type, [MarshalAs(UnmanagedType.LPStr)]string name);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
[return: MarshalAs(UnmanagedType.LPStr)]
|
|
public static unsafe extern string mj_id2name(mjModel_* m, int type, int id);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_fullM(mjModel_* m, double* dst, double* M);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_mulM(mjModel_* m, mjData_* d, double* res, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_mulM2(mjModel_* m, mjData_* d, double* res, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_addM(mjModel_* m, mjData_* d, double* dst, int* rownnz, int* rowadr, int* colind);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_applyFT(mjModel_* m, mjData_* d, double* force, double* torque, double* point, int body, double* qfrc_target);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_objectVelocity(mjModel_* m, mjData_* d, int objtype, int objid, double* res, int flg_local);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_objectAcceleration(mjModel_* m, mjData_* d, int objtype, int objid, double* res, int flg_local);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_contactForce(mjModel_* m, mjData_* d, int id, double* result);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_differentiatePos(mjModel_* m, double* qvel, double dt, double* qpos1, double* qpos2);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_integratePos(mjModel_* m, double* qpos, double* qvel, double dt);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_normalizeQuat(mjModel_* m, double* qpos);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_local2Global(mjData_* d, double* xpos, double* xmat, double* pos, double* quat, int body, byte sameframe);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mj_getTotalmass(mjModel_* m);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_setTotalmass(mjModel_* m, double newmass);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
[return: MarshalAs(UnmanagedType.LPStr)]
|
|
public static unsafe extern string mj_getPluginConfig(mjModel_* m, int plugin_id, [MarshalAs(UnmanagedType.LPStr)]string attrib);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_loadPluginLibrary([MarshalAs(UnmanagedType.LPStr)]string path);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_version();
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mj_ray(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mj_rayHfield(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mj_rayMesh(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_rayGeom(double* pos, double* mat, double* size, double* pnt, double* vec, int geomtype);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_raySkin(int nface, int nvert, int* face, float* vert, double* pnt, double* vec, int* vertid);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultCamera(mjvCamera_* cam);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultFreeCamera(mjModel_* m, mjvCamera_* cam);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultPerturb(mjvPerturb_* pert);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_room2model(double* modelpos, double* modelquat, double* roompos, double* roomquat, mjvScene_* scn);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_model2room(double* roompos, double* roomquat, double* modelpos, double* modelquat, mjvScene_* scn);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_cameraInModel(double* headpos, double* forward, double* up, mjvScene_* scn);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_cameraInRoom(double* headpos, double* forward, double* up, mjvScene_* scn);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mjv_frustumHeight(mjvScene_* scn);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_alignToCamera(double* res, double* vec, double* forward);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_moveCameraFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_movePerturb(mjModel_* m, mjData_* d, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_movePerturbFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_moveModel(mjModel_* m, int action, double reldx, double reldy, double* roomup, mjvScene_* scn);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_initPerturb(mjModel_* m, mjData_* d, mjvScene_* scn, mjvPerturb_* pert);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_applyPerturbPose(mjModel_* m, mjData_* d, mjvPerturb_* pert, int flg_paused);
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_applyPerturbForce(mjModel_* m, mjData_* d, mjvPerturb_* pert);
|
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|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern mjvGLCamera_* mjv_averageCamera(mjvGLCamera_* cam1, mjvGLCamera_* cam2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mjv_select(mjModel_* m, mjData_* d, mjvOption_* vopt, double aspectratio, double relx, double rely, mjvScene_* scn, double* selpnt, int* geomid, int* skinid);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultOption(mjvOption_* opt);
|
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultFigure(mjvFigure_* fig);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_initGeom(mjvGeom_* geom, int type, double* size, double* pos, double* mat, float* rgba);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_makeConnector(mjvGeom_* geom, int type, double width, double a0, double a1, double a2, double b0, double b1, double b2);
|
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|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultScene(mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_makeScene(mjModel_* m, mjvScene_* scn, int maxgeom);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_freeScene(mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_updateScene(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mjv_updateSceneFromState(mjvSceneState_* scnstate, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_defaultSceneState(mjvSceneState_* scnstate);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_makeSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate, int maxgeom);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_freeSceneState(mjvSceneState_* scnstate);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_makeLights(mjModel_* m, mjData_* d, mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_updateCamera(mjModel_* m, mjData_* d, mjvCamera_* cam, mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjv_updateSkin(mjModel_* m, mjData_* d, mjvScene_* scn);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_defaultContext(mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_makeContext(mjModel_* m, mjrContext_* con, int fontscale);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_changeFont(int fontscale, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_addAux(int index, int width, int height, int samples, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_freeContext(mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_resizeOffscreen(int width, int height, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_uploadTexture(mjModel_* m, mjrContext_* con, int texid);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_uploadMesh(mjModel_* m, mjrContext_* con, int meshid);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_uploadHField(mjModel_* m, mjrContext_* con, int hfieldid);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_restoreBuffer(mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_setBuffer(int framebuffer, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_readPixels(byte* rgb, float* depth, mjrRect_* viewport, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_drawPixels(byte* rgb, float* depth, mjrRect_* viewport, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_blitBuffer(mjrRect_* src, mjrRect_* dst, int flg_color, int flg_depth, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_setAux(int index, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_blitAux(int index, mjrRect_* src, int left, int bottom, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_text(int font, [MarshalAs(UnmanagedType.LPStr)]string txt, mjrContext_* con, float x, float y, float r, float g, float b);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_overlay(int font, int gridpos, mjrRect_* viewport, [MarshalAs(UnmanagedType.LPStr)]string overlay, [MarshalAs(UnmanagedType.LPStr)]string overlay2, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern mjrRect_* mjr_maxViewport(mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_rectangle(mjrRect_* viewport, float r, float g, float b, float a);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_label(mjrRect_* viewport, int font, [MarshalAs(UnmanagedType.LPStr)]string txt, float r, float g, float b, float a, float rt, float gt, float bt, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_figure(mjrRect_* viewport, mjvFigure_* fig, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_render(mjrRect_* viewport, mjvScene_* scn, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjr_finish();
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mjr_getError();
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mjr_findRect(int x, int y, int nrect, mjrRect_* rect);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern mjuiThemeSpacing_* mjui_themeSpacing(int ind);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern mjuiThemeColor_* mjui_themeColor(int ind);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjui_add(mjUI_* ui, mjuiDef_* def);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjui_addToSection(mjUI_* ui, int sect, mjuiDef_* def);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjui_resize(mjUI_* ui, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjui_update(int section, int item, mjUI_* ui, mjuiState_* state, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern mjuiItem_* mjui_event(mjUI_* ui, mjuiState_* state, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mjui_render(mjUI_* ui, mjuiState_* state, mjrContext_* con);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_error_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_error_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_warning_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_warning_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_clearHandlers();
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void* mju_malloc(UIntPtr size);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_free(void* ptr);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_warning(mjData_* d, int warning, int info);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_writeLog([MarshalAs(UnmanagedType.LPStr)]string type, [MarshalAs(UnmanagedType.LPStr)]string msg);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern int mj_activate([MarshalAs(UnmanagedType.LPStr)]string filename);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mj_deactivate();
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_zero3(double* res);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_copy3(double* res, double* data);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_scl3(double* res, double* vec, double scl);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_add3(double* res, double* vec1, double* vec2);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_sub3(double* res, double* vec1, double* vec2);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_addTo3(double* res, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_subFrom3(double* res, double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_addToScl3(double* res, double* vec, double scl);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_addScl3(double* res, double* vec1, double* vec2, double scl);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_normalize3(double* res);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_norm3(double* vec);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_dot3(double* vec1, double* vec2);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_dist3(double* pos1, double* pos2);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_rotVecMat(double* res, double* vec, double* mat);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_rotVecMatT(double* res, double* vec, double* mat);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_cross(double* res, double* a, double* b);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_zero4(double* res);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_unit4(double* res);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_copy4(double* res, double* data);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_normalize4(double* res);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_zero(double* res, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_fill(double* res, double val, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_copy(double* res, double* data, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_sum(double* vec, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern double mju_L1(double* vec, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_scl(double* res, double* vec, double scl, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_add(double* res, double* vec1, double* vec2, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_sub(double* res, double* vec1, double* vec2, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_addTo(double* res, double* vec, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_subFrom(double* res, double* vec, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
|
public static unsafe extern void mju_addToScl(double* res, double* vec, double scl, int n);
|
|
|
|
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
|
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public static unsafe extern void mju_addScl(double* res, double* vec1, double* vec2, double scl, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_normalize(double* res, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_norm(double* res, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_dot(double* vec1, double* vec2, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulMatVec(double* res, double* mat, double* vec, int nr, int nc);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulMatTVec(double* res, double* mat, double* vec, int nr, int nc);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_mulVecMatVec(double* vec1, double* mat, double* vec2, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_transpose(double* res, double* mat, int nr, int nc);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_symmetrize(double* res, double* mat, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_eye(double* mat, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulMatMat(double* res, double* mat1, double* mat2, int r1, int c1, int c2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulMatMatT(double* res, double* mat1, double* mat2, int r1, int c1, int r2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulMatTMat(double* res, double* mat1, double* mat2, int r1, int c1, int c2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_sqrMatTD(double* res, double* mat, double* diag, int nr, int nc);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_transformSpatial(double* res, double* vec, int flg_force, double* newpos, double* oldpos, double* rotnew2old);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_rotVecQuat(double* res, double* vec, double* quat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_negQuat(double* res, double* quat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulQuat(double* res, double* quat1, double* quat2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulQuatAxis(double* res, double* quat, double* axis);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_axisAngle2Quat(double* res, double* axis, double angle);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_quat2Vel(double* res, double* quat, double dt);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_subQuat(double* res, double* qa, double* qb);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_quat2Mat(double* res, double* quat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mat2Quat(double* quat, double* mat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_derivQuat(double* res, double* quat, double* vel);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_quatIntegrate(double* quat, double* vel, double scale);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_quatZ2Vec(double* quat, double* vec);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_mulPose(double* posres, double* quatres, double* pos1, double* quat1, double* pos2, double* quat2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_negPose(double* posres, double* quatres, double* pos, double* quat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_trnVecPose(double* res, double* pos, double* quat, double* vec);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_cholFactor(double* mat, int n, double mindiag);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_cholSolve(double* res, double* mat, double* vec, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_cholUpdate(double* mat, double* x, int n, int flg_plus);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_eig3(double* eigval, double* eigvec, double* quat, double* mat);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_boxQP(double* res, double* R, int* index, double* H, double* g, int n, double* lower, double* upper);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_boxQPmalloc(double** res, double** R, int** index, double** H, double** g, int n, double** lower, double** upper);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_muscleGain(double len, double vel, double* lengthrange, double acc0, double* prm);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_muscleBias(double len, double* lengthrange, double acc0, double* prm);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_muscleDynamics(double ctrl, double act, double* prm);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_encodePyramid(double* pyramid, double* force, double* mu, int dim);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_decodePyramid(double* force, double* pyramid, double* mu, int dim);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_springDamper(double pos0, double vel0, double Kp, double Kv, double dt);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_min(double a, double b);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_max(double a, double b);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_clip(double x, double min, double max);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_sign(double x);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_round(double x);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static unsafe extern string mju_type2Str(int type);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_str2Type([MarshalAs(UnmanagedType.LPStr)]string str);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static unsafe extern string mju_writeNumBytes(UIntPtr nbytes);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static unsafe extern string mju_warningText(int warning, UIntPtr info);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_isBad(double x);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mju_isZero(double* vec, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_standardNormal(double* num2);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_f2n(double* res, float* vec, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_n2f(float* res, double* vec, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_d2n(double* res, double* vec, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_n2d(double* res, double* vec, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_insertionSort(double* list, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mju_insertionSortInt(int* list, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_Halton(int index, int base_);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static unsafe extern string mju_strncpy(StringBuilder dst, [MarshalAs(UnmanagedType.LPStr)]string src, int n);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern double mju_sigmoid(double x);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjd_transitionFD(mjModel_* m, mjData_* d, double eps, byte centered, double* A, double* B, double* C, double* D);
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}
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}
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