Yuval Tassa
b4d29abfc1
PiperOrigin-RevId: 516191825 Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
121 lines
3.3 KiB
ReStructuredText
121 lines
3.3 KiB
ReStructuredText
.. _API:
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=========
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Functions
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=========
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The main header `mujoco.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a large
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number of functions. However the functions that most users are likely to need are a small fraction.
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API function can be classified as:
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- :ref:`Virtual file system<Virtualfilesystem>`, used to load assets from memory.
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- :ref:`Parse and compile<Parseandcompile>` an :ref:`mjModel` from XML files and assets.
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- :ref:`Main simulation<Mainsimulation>` entry points, including :ref:`mj_step`.
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- :ref:`Initialization<Initialization>` of data structures.
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- :ref:`Printing<Printing>` of various quantities.
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- :ref:`Components<Components>` of the simulation pipeline, called from :ref:`mj_step`, :ref:`mj_forward` and :ref:`mj_inverse`.
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- :ref:`Sub components<Subcomponents>` of the simulation pipeline.
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- :ref:`Support<Support>` functions requiring :ref:`mjModel` and :ref:`mjData`.
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- :ref:`Ray casting<Raycollisions>`.
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- :ref:`Abstract interaction<Interaction>`: mouse control of cameras and perturbations.
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- :ref:`Abstract Visualization<Visualization-api>`.
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- :ref:`OpenGL rendering<OpenGLrendering>`.
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- :ref:`UI framework<UIframework>`.
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- :ref:`Error and memory<Errorandmemory>`.
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- Deprecated :ref:`activation<Activation>` mechanism.
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- :ref:`Aliases for C standard math<Standardmath>` functions.
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- :ref:`Vector math<Vectormath>`.
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- :ref:`Quaternions<Quaternions>`.
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- :ref:`Poses transformations<Poses>`.
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- :ref:`Matrix decompositions and solvers<Decompositions>`.
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- :ref:`Miscellaneous<Miscellaneous>` functions.
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- :ref:`Dynamics derivatives<Derivatives-api>`.
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- :ref:`Plugin<Plugins-api>` related functions.
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- :ref:`Macros<Macros>`.
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.. TODO(b/273075045): Better category-label namespacing.
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.. include:: functions.rst
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.. _Macros:
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Macros
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^^^^^^
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.. _mjMARKSTACK:
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mjMARKSTACK
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~~~~~~~~~~~
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.. code-block:: C
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#define mjMARKSTACK int _mark = d->pstack;
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This macro is helpful when using the MuJoCo stack in custom computations. It works together with the next macro and the
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:ref:`mj_stackAlloc` function, and assumes that mjData\* d is defined. The use pattern is this:
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::
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mjMARKSTACK
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mjtNum* temp = mj_stackAlloc(d, 100);
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// ... use temp as needed
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mjFREESTACK
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.. _mjFREESTACK:
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mjFREESTACK
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~~~~~~~~~~~
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.. code-block:: C
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#define mjFREESTACK d->pstack = _mark;
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Reset the MuJoCo stack pointer to the variable \_mark, normally saved by mjMARKSTACK.
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.. _mjDISABLED:
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mjDISABLED
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~~~~~~~~~~
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.. code-block:: C
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#define mjDISABLED(x) (m->opt.disableflags & (x))
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Check if a given standard feature has been disabled via the physics options, assuming mjModel\* m is defined. x is of
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type :ref:`mjtDisableBit`.
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.. _mjENABLED:
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mjENABLED
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~~~~~~~~~
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.. code-block:: C
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#define mjENABLED(x) (m->opt.enableflags & (x))
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Check if a given optional feature has been enabled via the physics options, assuming mjModel\* m is defined. x is of
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type :ref:`mjtEnableBit`.
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.. _mjMAX:
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mjMAX
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~~~~~
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.. code-block:: C
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#define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
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Return maximum value. To avoid repeated evaluation with mjtNum types, use the function :ref:`mju_max`.
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.. _mjMIN:
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mjMIN
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~~~~~
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.. code-block:: C
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#define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
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Return minimum value. To avoid repeated evaluation with mjtNum types, use the function :ref:`mju_min`.
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