Alessio Quaglino
ea230a950c
This CL replaces the post-hoc implicit flex correction (`flexInterp_cgsolve`) with a **linearly-implicit effective metric** `M̃ = M + (h² + h·damping)·K` carried by the CG constraint solver itself. Contact/friction forces and implicit flex elasticity are now computed against one consistent metric, instead of the solver seeing `M` and a post-solve correction changing `qacc` behind its back. Gate (unchanged semantics): `solver="CG"` + implicit/implicitfast integrator + pyramidal cones + flex stiffness present. Newton and PGS are untouched. `solver="CG"` remains the user-facing contract — the factorization is an implementation detail of the preconditioner. ### What's in the metric - **mjData `efm_*`** (arena, efc-like lifetime/skip semantics; built in `mj_fwdPosition`, value-refreshed in `mj_fwdVelocity`): the per-step stiffness CSR `efm_B_*`, its reverse-Cholesky factor `efm_dofid` + `efm_L_*` (nested-dissection ordered, separators-first for the reverse factorization), and the smooth-force shift `efm_c = h·K·qvel`. - **`mjd_flexStiff_assemble`** now assembles stretch (Gauss–Newton), standard dim-2 bending, and — via the cached corotated stiffness `d->flexelem_krot` — interp stiffness (all node bodies on simple sliders: point Jacobian is I₃, `flex_centered` not required; fixed nodes drop like pins) into one dof-level CSR. `mjd_effMulAdd`/`mjd_effSolve` apply the metric, with matrix-free operator fallbacks where assembly does not apply. - **mjModel `efm0_*`** (`nefm0dof`/`nefm0L`): the constant part of the metric factor — currently the dim-2 bending factor, computed once in `mj_setConst` — so bending-only models pay zero per-step factorization cost. Naming mirrors mjData's `efm_*` with the standard `0`-suffix (reference/constant) idiom, and is deliberately not bending-specific: future constant contributors extend it without renames. - The solver consumes the metric through pre-shifted `qfrc_smooth` and the metric products `Ma`/`Mv`/`Mgrad`; `qacc_smooth` becomes the unconstrained minimizer of the implicit dynamics, which makes the no-constraint shortcut and the warmstart choice consistent by construction. - **`mj_inverse` adds `B·qacc − c`**, making inverse dynamics discrete-consistent with the gated forward dynamics — exact, since the gated path has no qDeriv term (new test `ForwardTest.GatedFlexInverseConsistency`). ### Performance All numbers: ms/step over the same 2000-step window, models as shipped on each side (old code with the old model settings vs this CL with the new ones). The new solver path activates on exactly two shipped models — the ponchos, the only flex models that need an implicit integrator (poncho on Euler degenerates to >200 ms/step). For them, this CL trades speed for consistency: the implicit bending solve now runs inside every solver iteration, where the contact solve can see the stiffness, instead of once after the solve. Solver iterations drop because the curvature is visible, but each iteration pays for the implicit solve: | model | before | after | solver iters/step | |---|---|---|---| | poncho | 2.47 | 3.30 (1.33×) | 16.8 → 11.8 | | poncho_edgeequality | 1.96 | 2.72 (1.39×) | 13.2 → 10.0 | What that price buys: contact forces consistent with the implicit elasticity (previously the post-hoc correction changed `qacc` after the constraint solve), discrete-consistent inverse dynamics, and the removal of the post-hoc special case from the integration path. Raising poncho's timestep from 2 to 5 ms leaves its per-step cost nearly flat, so the consistency price can be recovered by taking fewer steps where accuracy allows. Every other flex model was measured stable on Euler at its shipped timestep and switches to it (these models predate the post-hoc integrator; implicit was never load-bearing for them). They end up equal or faster than before: bunny_multicell 0.47 → 0.40, trampoline 0.28 → 0.25, plate 1.02 → 0.99, pancake 0.34 → 0.33. Finally, the per-step factorization makes configurations practical that the old code could only integrate explicitly: implicit stretch elasticity (`elastic2d="stretch"`/`"both"`, dim-3 solids) and factorized interp stiffness. No before/after exists for these — stock has no implicit treatment of stretch at all. ### Behavior changes - With the post-hoc correction deleted, interp/bending models running `solver="Newton"` (or elliptic cones, or islands) now integrate flex elasticity **explicitly** (previously: post-hoc implicit). Affects e.g. `gripper_trilinear` (stable, and faster, but different semantics). Follow-up options: Newton-side metric support, or a documented fallback. - With the gate on, `mj_forward` outputs are timestep-dependent for gated models (they answer the linearly-implicit discrete problem); `qacc_smooth` and `mj_inverse` change accordingly. Non-gated models are bit-identical (full suite green throughout). ### Validation - 1737/1737 tests, including new: `FlexStretchDerivatives` (FD-validated GN operator), `FlexStiffAssemble`/`FlexStiffAssembleInterp` (CSR ≡ operators), `GatedFlexInverseConsistency` (fails pre-change), equivalence tests vs the old post-hoc treatment (bending matches to 2e-11). - Fingerprint discipline throughout: bending-only models bit-exact across every refactor; permutation/kernel changes verified iteration-identical. ### Known follow-ups (not in this CL) 3×3-block sparse Cholesky kernel (the numeric factorization is index-bound; projected ~3× on the factor); mjModel persistence of the factor's symbolic pattern (rest-pose ND makes sizes compile-time); the general effective-metric mode (all solvers, all PSD-safe force classes, behind an enable flag). PiperOrigin-RevId: 948561856 Change-Id: I8b8e32ebd0428042af71647d0470d10773bf6daf
1081 lines
65 KiB
C
1081 lines
65 KiB
C
// Copyright 2021 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_MJXMACRO_H_
|
|
#define MUJOCO_MJXMACRO_H_
|
|
|
|
|
|
//-------------------------------- mjOption --------------------------------------------------------
|
|
|
|
// fields of mjOption
|
|
// XVEC means that a field is a vector (i.e. size > 1)
|
|
#define MJOPTION_FIELDS \
|
|
X ( mjtNum, timestep, 1 ) \
|
|
X ( mjtNum, impratio, 1 ) \
|
|
X ( mjtNum, tolerance, 1 ) \
|
|
X ( mjtNum, ls_tolerance, 1 ) \
|
|
X ( mjtNum, noslip_tolerance, 1 ) \
|
|
X ( mjtNum, ccd_tolerance, 1 ) \
|
|
X ( mjtNum, sleep_tolerance, 1 ) \
|
|
XVEC( mjtNum, gravity, 3 ) \
|
|
XVEC( mjtNum, wind, 3 ) \
|
|
XVEC( mjtNum, magnetic, 3 ) \
|
|
X ( mjtNum, density, 1 ) \
|
|
X ( mjtNum, viscosity, 1 ) \
|
|
X ( mjtNum, o_margin, 1 ) \
|
|
XVEC( mjtNum, o_solref, mjNREF ) \
|
|
XVEC( mjtNum, o_solimp, mjNIMP ) \
|
|
XVEC( mjtNum, o_friction, 5 ) \
|
|
X ( int, integrator, 1 ) \
|
|
X ( int, cone, 1 ) \
|
|
X ( int, jacobian, 1 ) \
|
|
X ( int, solver, 1 ) \
|
|
X ( int, iterations, 1 ) \
|
|
X ( int, ls_iterations, 1 ) \
|
|
X ( int, noslip_iterations, 1 ) \
|
|
X ( int, ccd_iterations, 1 ) \
|
|
X ( int, disableflags, 1 ) \
|
|
X ( int, enableflags, 1 ) \
|
|
X ( int, disableactuator, 1 ) \
|
|
X ( int, sdf_initpoints, 1 ) \
|
|
X ( int, sdf_iterations, 1 )
|
|
|
|
|
|
//-------------------------------- mjStatistic -----------------------------------------------------
|
|
|
|
// fields of mjStatistic
|
|
#define MJSTATISTIC_FIELDS \
|
|
X ( meaninertia, 1 ) \
|
|
X ( meanmass, 1 ) \
|
|
X ( meansize, 1 ) \
|
|
X ( extent, 1 ) \
|
|
XVEC( center, 3 )
|
|
|
|
|
|
//-------------------------------- mjVisual --------------------------------------------------------
|
|
|
|
// fields of mjVisual
|
|
#define MJVISUAL_GLOBAL_FIELDS \
|
|
X ( int, cameraid, 1 ) \
|
|
X ( int, orthographic, 1 ) \
|
|
X ( float, fovy, 1 ) \
|
|
X ( float, ipd, 1 ) \
|
|
X ( float, azimuth, 1 ) \
|
|
X ( float, elevation, 1 ) \
|
|
X ( float, linewidth, 1 ) \
|
|
X ( float, glow, 1 ) \
|
|
X ( float, realtime, 1 ) \
|
|
X ( int, offwidth, 1 ) \
|
|
X ( int, offheight, 1 ) \
|
|
X ( int, ellipsoidinertia, 1 ) \
|
|
X ( int, bvactive, 1 )
|
|
|
|
#define MJVISUAL_QUALITY_FIELDS \
|
|
X ( int, shadowsize, 1 ) \
|
|
X ( int, offsamples, 1 ) \
|
|
X ( int, numslices, 1 ) \
|
|
X ( int, numstacks, 1 ) \
|
|
X ( int, numquads, 1 )
|
|
|
|
#define MJVISUAL_HEADLIGHT_FIELDS \
|
|
XVEC( float, ambient, 3 ) \
|
|
XVEC( float, diffuse, 3 ) \
|
|
XVEC( float, specular, 3 ) \
|
|
X ( int, active, 1 )
|
|
|
|
#define MJVISUAL_MAP_FIELDS \
|
|
X ( float, stiffness, 1 ) \
|
|
X ( float, stiffnessrot, 1 ) \
|
|
X ( float, force, 1 ) \
|
|
X ( float, torque, 1 ) \
|
|
X ( float, alpha, 1 ) \
|
|
X ( float, fogstart, 1 ) \
|
|
X ( float, fogend, 1 ) \
|
|
X ( float, znear, 1 ) \
|
|
X ( float, zfar, 1 ) \
|
|
X ( float, haze, 1 ) \
|
|
X ( float, shadowclip, 1 ) \
|
|
X ( float, shadowscale, 1 ) \
|
|
X ( float, actuatortendon, 1 )
|
|
|
|
#define MJVISUAL_SCALE_FIELDS \
|
|
X ( float, forcewidth, 1 ) \
|
|
X ( float, contactwidth, 1 ) \
|
|
X ( float, contactheight, 1 ) \
|
|
X ( float, connect, 1 ) \
|
|
X ( float, com, 1 ) \
|
|
X ( float, camera, 1 ) \
|
|
X ( float, light, 1 ) \
|
|
X ( float, selectpoint, 1 ) \
|
|
X ( float, jointlength, 1 ) \
|
|
X ( float, jointwidth, 1 ) \
|
|
X ( float, actuatorlength, 1 ) \
|
|
X ( float, actuatorwidth, 1 ) \
|
|
X ( float, framelength, 1 ) \
|
|
X ( float, framewidth, 1 ) \
|
|
X ( float, constraint, 1 ) \
|
|
X ( float, slidercrank, 1 ) \
|
|
X ( float, frustum, 1 )
|
|
|
|
#define MJVISUAL_RGBA_FIELDS \
|
|
XVEC( float, fog, 4 ) \
|
|
XVEC( float, haze, 4 ) \
|
|
XVEC( float, force, 4 ) \
|
|
XVEC( float, inertia, 4 ) \
|
|
XVEC( float, joint, 4 ) \
|
|
XVEC( float, actuator, 4 ) \
|
|
XVEC( float, actuatornegative, 4 ) \
|
|
XVEC( float, actuatorpositive, 4 ) \
|
|
XVEC( float, com, 4 ) \
|
|
XVEC( float, camera, 4 ) \
|
|
XVEC( float, light, 4 ) \
|
|
XVEC( float, selectpoint, 4 ) \
|
|
XVEC( float, connect, 4 ) \
|
|
XVEC( float, contactpoint, 4 ) \
|
|
XVEC( float, contactforce, 4 ) \
|
|
XVEC( float, contactfriction, 4 ) \
|
|
XVEC( float, contacttorque, 4 ) \
|
|
XVEC( float, contactgap, 4 ) \
|
|
XVEC( float, rangefinder, 4 ) \
|
|
XVEC( float, constraint, 4 ) \
|
|
XVEC( float, slidercrank, 4 ) \
|
|
XVEC( float, crankbroken, 4 ) \
|
|
XVEC( float, frustum, 4 ) \
|
|
XVEC( float, bv, 4 ) \
|
|
XVEC( float, bvactive, 4 )
|
|
|
|
|
|
//-------------------------------- mjModel ---------------------------------------------------------
|
|
|
|
// size fields of mjModel
|
|
#define MJMODEL_SIZES \
|
|
X( nq ) \
|
|
X( nv ) \
|
|
X( nu ) \
|
|
X( nactuator ) \
|
|
X( nout ) \
|
|
X( na ) \
|
|
X( nbody ) \
|
|
X( nbvh ) \
|
|
X( nbvhstatic ) \
|
|
X( nbvhdynamic ) \
|
|
X( noct ) \
|
|
X( njnt ) \
|
|
X( ntree ) \
|
|
X( nM ) \
|
|
X( nB ) \
|
|
X( nC ) \
|
|
X( nD ) \
|
|
X( ngeom ) \
|
|
X( nsite ) \
|
|
X( ncam ) \
|
|
X( nlight ) \
|
|
X( nflex ) \
|
|
X( nflexnode ) \
|
|
X( nflexvert ) \
|
|
X( nflexedge ) \
|
|
X( nflexelem ) \
|
|
X( nflexelemdata ) \
|
|
X( nflexstiffness ) \
|
|
X( nflexbending ) \
|
|
X( nefm0dof ) \
|
|
X( nefm0L ) \
|
|
X( nflexelemedge ) \
|
|
X( nflexshelldata ) \
|
|
X( nflexevpair ) \
|
|
X( nflextexcoord ) \
|
|
X( nJfe ) \
|
|
X( nJfv ) \
|
|
X( nmesh ) \
|
|
X( nmeshvert ) \
|
|
X( nmeshnormal ) \
|
|
X( nmeshtexcoord ) \
|
|
X( nmeshface ) \
|
|
X( nmeshgraph ) \
|
|
X( nmeshpoly ) \
|
|
X( nmeshpolyvert ) \
|
|
X( nmeshpolymap ) \
|
|
X( nskin ) \
|
|
X( nskinvert ) \
|
|
X( nskintexvert ) \
|
|
X( nskinface ) \
|
|
X( nskinbone ) \
|
|
X( nskinbonevert ) \
|
|
X( nhfield ) \
|
|
X( nhfielddata ) \
|
|
X( ntex ) \
|
|
X( ntexdata ) \
|
|
X( nmat ) \
|
|
X( npair ) \
|
|
X( nexclude ) \
|
|
X( neq ) \
|
|
X( ntendon ) \
|
|
X( nJten ) \
|
|
X( nwrap ) \
|
|
X( nsensor ) \
|
|
X( nnumeric ) \
|
|
X( nnumericdata ) \
|
|
X( ntext ) \
|
|
X( ntextdata ) \
|
|
X( ntuple ) \
|
|
X( ntupledata ) \
|
|
X( nkey ) \
|
|
X( nmocap ) \
|
|
X( nplugin ) \
|
|
X( npluginattr ) \
|
|
X( nuser_body ) \
|
|
X( nuser_jnt ) \
|
|
X( nuser_geom ) \
|
|
X( nuser_site ) \
|
|
X( nuser_cam ) \
|
|
X( nuser_tendon ) \
|
|
X( nuser_actuator ) \
|
|
X( nuser_sensor ) \
|
|
X( nnames ) \
|
|
X( npaths ) \
|
|
X( nnames_map ) \
|
|
X( nJmom ) \
|
|
X( ngravcomp ) \
|
|
X( nemax ) \
|
|
X( njmax ) \
|
|
X( nconmax ) \
|
|
X( npolygonmax ) \
|
|
X( nmeshdegmax ) \
|
|
X( nuserdata ) \
|
|
X( nsensordata ) \
|
|
X( npluginstate ) \
|
|
X( nhistory ) \
|
|
X( narena ) \
|
|
X( nbuffer )
|
|
|
|
/* nbuffer needs to be the final field */
|
|
|
|
|
|
// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
|
|
#define MJMODEL_POINTERS_PREAMBLE( m ) \
|
|
int nuser_body = m->nuser_body; \
|
|
int nuser_jnt = m->nuser_jnt; \
|
|
int nuser_geom = m->nuser_geom; \
|
|
int nuser_site = m->nuser_site; \
|
|
int nuser_cam = m->nuser_cam; \
|
|
int nuser_tendon = m->nuser_tendon; \
|
|
int nuser_actuator = m->nuser_actuator; \
|
|
int nuser_sensor = m->nuser_sensor; \
|
|
int nq = m->nq; \
|
|
int nv = m->nv; \
|
|
int na = m->na; \
|
|
int nu = m->nu; \
|
|
int nmocap = m->nmocap;
|
|
|
|
// macro for annotating that an array size in an X macro is a member of mjModel
|
|
// by default this macro does nothing, but users can redefine it as necessary
|
|
#define MJ_M(n) n
|
|
|
|
|
|
// pointer fields of mjModel
|
|
// XNV means that the field is not required to construct mjvScene
|
|
// (by default we define XNV to be the same as X)
|
|
#define MJMODEL_POINTERS_BODY \
|
|
X ( int, body_parentid, nbody, 1 ) \
|
|
X ( int, body_rootid, nbody, 1 ) \
|
|
X ( int, body_weldid, nbody, 1 ) \
|
|
X ( int, body_mocapid, nbody, 1 ) \
|
|
X ( int, body_jntnum, nbody, 1 ) \
|
|
X ( int, body_jntadr, nbody, 1 ) \
|
|
X ( int, body_dofnum, nbody, 1 ) \
|
|
X ( int, body_dofadr, nbody, 1 ) \
|
|
X ( int, body_treeid, nbody, 1 ) \
|
|
X ( int, body_geomnum, nbody, 1 ) \
|
|
X ( int, body_geomadr, nbody, 1 ) \
|
|
X ( mjtByte, body_simple, nbody, 1 ) \
|
|
X ( mjtByte, body_sameframe, nbody, 1 ) \
|
|
X ( mjtNum, body_pos, nbody, 3 ) \
|
|
X ( mjtNum, body_quat, nbody, 4 ) \
|
|
X ( mjtNum, body_ipos, nbody, 3 ) \
|
|
X ( mjtNum, body_iquat, nbody, 4 ) \
|
|
X ( mjtNum, body_mass, nbody, 1 ) \
|
|
X ( mjtNum, body_subtreemass, nbody, 1 ) \
|
|
X ( mjtNum, body_inertia, nbody, 3 ) \
|
|
X ( mjtNum, body_invweight0, nbody, 2 ) \
|
|
X ( mjtNum, body_gravcomp, nbody, 1 ) \
|
|
X ( mjtNum, body_margin, nbody, 1 ) \
|
|
X ( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
|
|
X ( int, body_plugin, nbody, 1 ) \
|
|
X ( int, body_contype, nbody, 1 ) \
|
|
X ( int, body_conaffinity, nbody, 1 ) \
|
|
X ( int, body_bvhadr, nbody, 1 ) \
|
|
X ( int, body_bvhnum, nbody, 1 )
|
|
|
|
#define MJMODEL_POINTERS_JOINT \
|
|
X ( int, jnt_type, njnt, 1 ) \
|
|
X ( int, jnt_qposadr, njnt, 1 ) \
|
|
X ( int, jnt_dofadr, njnt, 1 ) \
|
|
X ( int, jnt_bodyid, njnt, 1 ) \
|
|
X ( int, jnt_actuatorid, njnt, 1 ) \
|
|
X ( int, jnt_group, njnt, 1 ) \
|
|
X ( mjtBool, jnt_limited, njnt, 1 ) \
|
|
X ( mjtBool, jnt_actfrclimited, njnt, 1 ) \
|
|
X ( mjtBool, jnt_actgravcomp, njnt, 1 ) \
|
|
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
|
|
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
|
|
X ( mjtNum, jnt_pos, njnt, 3 ) \
|
|
X ( mjtNum, jnt_axis, njnt, 3 ) \
|
|
X ( mjtNum, jnt_stiffness, njnt, 1 ) \
|
|
X ( mjtNum, jnt_stiffnesspoly, njnt, mjNPOLY ) \
|
|
X ( mjtNum, jnt_range, njnt, 2 ) \
|
|
X ( mjtNum, jnt_actfrcrange, njnt, 2 ) \
|
|
X ( mjtNum, jnt_margin, njnt, 1 ) \
|
|
X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) )
|
|
|
|
#define MJMODEL_POINTERS_DOF \
|
|
X ( int, dof_bodyid, nv, 1 ) \
|
|
X ( int, dof_jntid, nv, 1 ) \
|
|
X ( int, dof_parentid, nv, 1 ) \
|
|
X ( int, dof_treeid, nv, 1 ) \
|
|
X ( int, dof_Madr, nv, 1 ) \
|
|
X ( int, dof_simplenum, nv, 1 ) \
|
|
X ( mjtNum, dof_solref, nv, mjNREF ) \
|
|
X ( mjtNum, dof_solimp, nv, mjNIMP ) \
|
|
X ( mjtNum, dof_frictionloss, nv, 1 ) \
|
|
X ( mjtNum, dof_armature, nv, 1 ) \
|
|
X ( mjtNum, dof_damping, nv, 1 ) \
|
|
X ( mjtNum, dof_dampingpoly, nv, mjNPOLY ) \
|
|
X ( mjtNum, dof_invweight0, nv, 1 ) \
|
|
X ( mjtNum, dof_M0, nv, 1 ) \
|
|
X ( mjtNum, dof_length, nv, 1 )
|
|
|
|
#define MJMODEL_POINTERS_TREE \
|
|
X ( int, tree_bodyadr, ntree, 1 ) \
|
|
X ( int, tree_bodynum, ntree, 1 ) \
|
|
X ( int, tree_dofadr, ntree, 1 ) \
|
|
X ( int, tree_dofnum, ntree, 1 ) \
|
|
X ( int, tree_sleep_policy, ntree, 1 )
|
|
|
|
#define MJMODEL_POINTERS_GEOM \
|
|
X ( int, geom_type, ngeom, 1 ) \
|
|
X ( int, geom_contype, ngeom, 1 ) \
|
|
X ( int, geom_conaffinity, ngeom, 1 ) \
|
|
X ( int, geom_condim, ngeom, 1 ) \
|
|
X ( int, geom_bodyid, ngeom, 1 ) \
|
|
X ( int, geom_dataid, ngeom, 1 ) \
|
|
X ( int, geom_matid, ngeom, 1 ) \
|
|
X ( int, geom_group, ngeom, 1 ) \
|
|
X ( int, geom_priority, ngeom, 1 ) \
|
|
X ( int, geom_plugin, ngeom, 1 ) \
|
|
X ( mjtByte, geom_sameframe, ngeom, 1 ) \
|
|
X ( mjtNum, geom_solmix, ngeom, 1 ) \
|
|
X ( mjtNum, geom_solref, ngeom, mjNREF ) \
|
|
X ( mjtNum, geom_solimp, ngeom, mjNIMP ) \
|
|
X ( mjtNum, geom_size, ngeom, 3 ) \
|
|
X ( mjtNum, geom_aabb, ngeom, 6 ) \
|
|
X ( mjtNum, geom_rbound, ngeom, 1 ) \
|
|
X ( mjtNum, geom_pos, ngeom, 3 ) \
|
|
X ( mjtNum, geom_quat, ngeom, 4 ) \
|
|
X ( mjtNum, geom_friction, ngeom, 3 ) \
|
|
X ( mjtNum, geom_margin, ngeom, 1 ) \
|
|
X ( mjtNum, geom_gap, ngeom, 1 ) \
|
|
XNV ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
|
|
X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
|
|
X ( float, geom_rgba, ngeom, 4 )
|
|
|
|
#define MJMODEL_POINTERS_SITE \
|
|
X ( int, site_type, nsite, 1 ) \
|
|
X ( int, site_bodyid, nsite, 1 ) \
|
|
X ( int, site_matid, nsite, 1 ) \
|
|
X ( int, site_group, nsite, 1 ) \
|
|
X ( mjtByte, site_sameframe, nsite, 1 ) \
|
|
X ( mjtNum, site_size, nsite, 3 ) \
|
|
X ( mjtNum, site_pos, nsite, 3 ) \
|
|
X ( mjtNum, site_quat, nsite, 4 ) \
|
|
X ( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
|
|
X ( float, site_rgba, nsite, 4 )
|
|
|
|
#define MJMODEL_POINTERS_CAMERA \
|
|
X ( int, cam_mode, ncam, 1 ) \
|
|
X ( int, cam_bodyid, ncam, 1 ) \
|
|
X ( int, cam_targetbodyid, ncam, 1 ) \
|
|
X ( mjtNum, cam_pos, ncam, 3 ) \
|
|
X ( mjtNum, cam_quat, ncam, 4 ) \
|
|
X ( mjtNum, cam_poscom0, ncam, 3 ) \
|
|
X ( mjtNum, cam_pos0, ncam, 3 ) \
|
|
X ( mjtNum, cam_mat0, ncam, 9 ) \
|
|
X ( int, cam_projection, ncam, 1 ) \
|
|
X ( mjtNum, cam_fovy, ncam, 1 ) \
|
|
X ( mjtNum, cam_ipd, ncam, 1 ) \
|
|
X ( int, cam_resolution, ncam, 2 ) \
|
|
X ( int, cam_output, ncam, 1 ) \
|
|
X ( float, cam_sensorsize, ncam, 2 ) \
|
|
X ( float, cam_intrinsic, ncam, 4 ) \
|
|
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) )
|
|
|
|
#define MJMODEL_POINTERS_LIGHT \
|
|
X ( int, light_mode, nlight, 1 ) \
|
|
X ( int, light_bodyid, nlight, 1 ) \
|
|
X ( int, light_targetbodyid, nlight, 1 ) \
|
|
X ( int, light_type, nlight, 1 ) \
|
|
X ( int, light_texid, nlight, 1 ) \
|
|
X ( mjtBool, light_castshadow, nlight, 1 ) \
|
|
X ( float, light_bulbradius, nlight, 1 ) \
|
|
X ( float, light_intensity, nlight, 1 ) \
|
|
X ( float, light_range, nlight, 1 ) \
|
|
X ( mjtBool, light_active, nlight, 1 ) \
|
|
X ( mjtNum, light_pos, nlight, 3 ) \
|
|
X ( mjtNum, light_dir, nlight, 3 ) \
|
|
X ( mjtNum, light_poscom0, nlight, 3 ) \
|
|
X ( mjtNum, light_pos0, nlight, 3 ) \
|
|
X ( mjtNum, light_dir0, nlight, 3 ) \
|
|
X ( float, light_attenuation, nlight, 3 ) \
|
|
X ( float, light_cutoff, nlight, 1 ) \
|
|
X ( float, light_exponent, nlight, 1 ) \
|
|
X ( float, light_ambient, nlight, 3 ) \
|
|
X ( float, light_diffuse, nlight, 3 ) \
|
|
X ( float, light_specular, nlight, 3 )
|
|
|
|
#define MJMODEL_POINTERS_FLEX \
|
|
X ( int, flex_contype, nflex, 1 ) \
|
|
X ( int, flex_conaffinity, nflex, 1 ) \
|
|
X ( int, flex_condim, nflex, 1 ) \
|
|
X ( int, flex_priority, nflex, 1 ) \
|
|
X ( mjtNum, flex_solmix, nflex, 1 ) \
|
|
X ( mjtNum, flex_solref, nflex, mjNREF ) \
|
|
X ( mjtNum, flex_solimp, nflex, mjNIMP ) \
|
|
X ( mjtNum, flex_friction, nflex, 3 ) \
|
|
X ( mjtNum, flex_margin, nflex, 1 ) \
|
|
X ( mjtNum, flex_gap, nflex, 1 ) \
|
|
X ( mjtBool, flex_internal, nflex, 1 ) \
|
|
X ( int, flex_selfcollide, nflex, 1 ) \
|
|
X ( int, flex_activelayers, nflex, 1 ) \
|
|
X ( int, flex_passive, nflex, 1 ) \
|
|
X ( int, flex_dim, nflex, 1 ) \
|
|
X ( int, flex_matid, nflex, 1 ) \
|
|
X ( int, flex_group, nflex, 1 ) \
|
|
X ( int, flex_interp, nflex, 1 ) \
|
|
X ( int, flex_cellnum, nflex, 3 ) \
|
|
X ( int, flex_nodeadr, nflex, 1 ) \
|
|
X ( int, flex_nodenum, nflex, 1 ) \
|
|
X ( int, flex_vertadr, nflex, 1 ) \
|
|
X ( int, flex_vertnum, nflex, 1 ) \
|
|
X ( int, flex_edgeadr, nflex, 1 ) \
|
|
X ( int, flex_edgenum, nflex, 1 ) \
|
|
X ( int, flex_elemadr, nflex, 1 ) \
|
|
X ( int, flex_elemnum, nflex, 1 ) \
|
|
X ( int, flex_elemdataadr, nflex, 1 ) \
|
|
X ( int, flex_stiffnessadr, nflex, 1 ) \
|
|
X ( int, flex_elemedgeadr, nflex, 1 ) \
|
|
X ( int, flex_bendingadr, nflex, 1 ) \
|
|
X ( int, flex_shellnum, nflex, 1 ) \
|
|
X ( int, flex_shelldataadr, nflex, 1 ) \
|
|
X ( int, flex_evpairadr, nflex, 1 ) \
|
|
X ( int, flex_evpairnum, nflex, 1 ) \
|
|
X ( int, flex_texcoordadr, nflex, 1 ) \
|
|
X ( int, flex_nodebodyid, nflexnode, 1 ) \
|
|
X ( int, flex_vertbodyid, nflexvert, 1 ) \
|
|
X ( int, flex_vertedgeadr, nflexvert, 1 ) \
|
|
X ( int, flex_vertedgenum, nflexvert, 1 ) \
|
|
X ( int, flex_vertedge, nflexedge, 2 ) \
|
|
X ( int, flex_edge, nflexedge, 2 ) \
|
|
X ( int, flex_edgeflap, nflexedge, 2 ) \
|
|
X ( int, flex_elem, nflexelemdata, 1 ) \
|
|
X ( int, flex_elemtexcoord, nflexelemdata, 1 ) \
|
|
X ( int, flex_elemedge, nflexelemedge, 1 ) \
|
|
X ( int, flex_elemlayer, nflexelem, 1 ) \
|
|
X ( int, flex_shell, nflexshelldata,1 ) \
|
|
X ( int, flex_evpair, nflexevpair, 2 ) \
|
|
X ( mjtNum, flex_vert, nflexvert, 3 ) \
|
|
X ( mjtNum, flex_vert0, nflexvert, 3 ) \
|
|
X ( mjtNum, flex_vertmetric, nflexvert, 4 ) \
|
|
X ( mjtNum, flex_node, nflexnode, 3 ) \
|
|
X ( mjtNum, flex_node0, nflexnode, 3 ) \
|
|
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
|
|
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
|
|
X ( mjtNum, flex_radius, nflex, 1 ) \
|
|
X ( mjtNum, flex_size, nflex, 3 ) \
|
|
X ( mjtNum, flex_stiffness, nflexstiffness, 1 ) \
|
|
X ( mjtNum, flex_bending, nflexbending, 1 ) \
|
|
X ( int, efm0_dofid, nefm0dof, 1 ) \
|
|
X ( int, efm0_L_rownnz, nefm0dof, 1 ) \
|
|
X ( int, efm0_L_rowadr, nefm0dof, 1 ) \
|
|
X ( int, efm0_L_colind, nefm0L, 1 ) \
|
|
X ( mjtNum, efm0_L, nefm0L, 1 ) \
|
|
X ( mjtNum, flex_damping, nflex, 1 ) \
|
|
X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
|
|
X ( mjtNum, flex_edgedamping, nflex, 1 ) \
|
|
X ( int, flex_edgeequality, nflex, 1 ) \
|
|
X ( mjtBool, flex_rigid, nflex, 1 ) \
|
|
X ( mjtBool, flexedge_rigid, nflexedge, 1 ) \
|
|
X ( mjtBool, flex_centered, nflex, 1 ) \
|
|
X ( mjtBool, flex_flatskin, nflex, 1 ) \
|
|
X ( int, flex_bvhadr, nflex, 1 ) \
|
|
X ( int, flex_bvhnum, nflex, 1 ) \
|
|
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
|
|
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
|
|
X ( int, flexedge_J_colind, nJfe, 1 ) \
|
|
X ( int, flexvert_J_rownnz, nflexvert, 2 ) \
|
|
X ( int, flexvert_J_rowadr, nflexvert, 2 ) \
|
|
X ( int, flexvert_J_colind, nJfv, 2 ) \
|
|
X ( float, flex_rgba, nflex, 4 ) \
|
|
X ( float, flex_texcoord, nflextexcoord, 2 )
|
|
|
|
#define MJMODEL_POINTERS_MESH \
|
|
X ( int, mesh_vertadr, nmesh, 1 ) \
|
|
X ( int, mesh_vertnum, nmesh, 1 ) \
|
|
X ( int, mesh_faceadr, nmesh, 1 ) \
|
|
X ( int, mesh_facenum, nmesh, 1 ) \
|
|
X ( int, mesh_bvhadr, nmesh, 1 ) \
|
|
X ( int, mesh_bvhnum, nmesh, 1 ) \
|
|
X ( int, mesh_octadr, nmesh, 1 ) \
|
|
X ( int, mesh_octnum, nmesh, 1 ) \
|
|
X ( int, mesh_normaladr, nmesh, 1 ) \
|
|
X ( int, mesh_normalnum, nmesh, 1 ) \
|
|
X ( int, mesh_texcoordadr, nmesh, 1 ) \
|
|
X ( int, mesh_texcoordnum, nmesh, 1 ) \
|
|
X ( int, mesh_graphadr, nmesh, 1 ) \
|
|
XNV ( float, mesh_vert, nmeshvert, 3 ) \
|
|
XNV ( float, mesh_normal, nmeshnormal, 3 ) \
|
|
XNV ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
|
|
XNV ( int, mesh_face, nmeshface, 3 ) \
|
|
XNV ( int, mesh_facenormal, nmeshface, 3 ) \
|
|
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
|
|
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
|
|
X ( mjtNum, mesh_scale, nmesh, 3 ) \
|
|
X ( mjtNum, mesh_pos, nmesh, 3 ) \
|
|
X ( mjtNum, mesh_quat, nmesh, 4 ) \
|
|
X ( int, mesh_pathadr, nmesh, 1 ) \
|
|
XNV ( int, mesh_polynum, nmesh, 1 ) \
|
|
XNV ( int, mesh_polyadr, nmesh, 1 ) \
|
|
XNV ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
|
|
XNV ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
|
|
XNV ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
|
|
XNV ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
|
|
XNV ( int, mesh_polymapadr, nmeshvert, 1 ) \
|
|
XNV ( int, mesh_polymapnum, nmeshvert, 1 ) \
|
|
XNV ( int, mesh_polymap, nmeshpolymap, 1 )
|
|
|
|
#define MJMODEL_POINTERS_SKIN \
|
|
X ( int, skin_matid, nskin, 1 ) \
|
|
X ( int, skin_group, nskin, 1 ) \
|
|
X ( float, skin_rgba, nskin, 4 ) \
|
|
X ( float, skin_inflate, nskin, 1 ) \
|
|
X ( int, skin_vertadr, nskin, 1 ) \
|
|
X ( int, skin_vertnum, nskin, 1 ) \
|
|
X ( int, skin_texcoordadr, nskin, 1 ) \
|
|
X ( int, skin_faceadr, nskin, 1 ) \
|
|
X ( int, skin_facenum, nskin, 1 ) \
|
|
X ( int, skin_boneadr, nskin, 1 ) \
|
|
X ( int, skin_bonenum, nskin, 1 ) \
|
|
X ( float, skin_vert, nskinvert, 3 ) \
|
|
X ( float, skin_texcoord, nskintexvert, 2 ) \
|
|
X ( int, skin_face, nskinface, 3 ) \
|
|
X ( int, skin_bonevertadr, nskinbone, 1 ) \
|
|
X ( int, skin_bonevertnum, nskinbone, 1 ) \
|
|
X ( float, skin_bonebindpos, nskinbone, 3 ) \
|
|
X ( float, skin_bonebindquat, nskinbone, 4 ) \
|
|
X ( int, skin_bonebodyid, nskinbone, 1 ) \
|
|
X ( int, skin_bonevertid, nskinbonevert, 1 ) \
|
|
X ( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
|
X ( int, skin_pathadr, nskin, 1 )
|
|
|
|
#define MJMODEL_POINTERS_HFIELD \
|
|
X ( mjtNum, hfield_size, nhfield, 4 ) \
|
|
X ( int, hfield_nrow, nhfield, 1 ) \
|
|
X ( int, hfield_ncol, nhfield, 1 ) \
|
|
X ( int, hfield_adr, nhfield, 1 ) \
|
|
XNV ( float, hfield_data, nhfielddata, 1 ) \
|
|
X ( int, hfield_pathadr, nhfield, 1 )
|
|
|
|
#define MJMODEL_POINTERS_TEXTURE \
|
|
X ( int, tex_type, ntex, 1 ) \
|
|
X ( int, tex_colorspace, ntex, 1 ) \
|
|
X ( int, tex_height, ntex, 1 ) \
|
|
X ( int, tex_width, ntex, 1 ) \
|
|
X ( int, tex_nchannel, ntex, 1 ) \
|
|
X ( mjtSize, tex_adr, ntex, 1 ) \
|
|
XNV ( mjtByte, tex_data, ntexdata, 1 ) \
|
|
X ( int, tex_pathadr, ntex, 1 )
|
|
|
|
#define MJMODEL_POINTERS_MATERIAL \
|
|
X ( int, mat_texid, nmat, mjNTEXROLE ) \
|
|
X ( mjtBool, mat_texuniform, nmat, 1 ) \
|
|
X ( float, mat_texrepeat, nmat, 2 ) \
|
|
X ( float, mat_emission, nmat, 1 ) \
|
|
X ( float, mat_specular, nmat, 1 ) \
|
|
X ( float, mat_shininess, nmat, 1 ) \
|
|
X ( float, mat_reflectance, nmat, 1 ) \
|
|
X ( float, mat_metallic, nmat, 1 ) \
|
|
X ( float, mat_roughness, nmat, 1 ) \
|
|
X ( float, mat_rgba, nmat, 4 )
|
|
|
|
#define MJMODEL_POINTERS_PAIR \
|
|
X ( int, pair_dim, npair, 1 ) \
|
|
X ( int, pair_geom1, npair, 1 ) \
|
|
X ( int, pair_geom2, npair, 1 ) \
|
|
X ( int, pair_signature, npair, 1 ) \
|
|
X ( mjtNum, pair_solref, npair, mjNREF ) \
|
|
X ( mjtNum, pair_solreffriction, npair, mjNREF ) \
|
|
X ( mjtNum, pair_solimp, npair, mjNIMP ) \
|
|
X ( mjtNum, pair_margin, npair, 1 ) \
|
|
X ( mjtNum, pair_gap, npair, 1 ) \
|
|
X ( mjtNum, pair_friction, npair, 5 )
|
|
|
|
#define MJMODEL_POINTERS_EXCLUDE \
|
|
X ( int, exclude_signature, nexclude, 1 )
|
|
|
|
#define MJMODEL_POINTERS_EQUALITY \
|
|
X ( int, eq_type, neq, 1 ) \
|
|
X ( int, eq_obj1id, neq, 1 ) \
|
|
X ( int, eq_obj2id, neq, 1 ) \
|
|
X ( int, eq_objtype, neq, 1 ) \
|
|
X ( mjtBool, eq_active0, neq, 1 ) \
|
|
X ( mjtNum, eq_solref, neq, mjNREF ) \
|
|
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
|
|
X ( mjtNum, eq_data, neq, mjNEQDATA )
|
|
|
|
#define MJMODEL_POINTERS_TENDON \
|
|
X ( int, tendon_adr, ntendon, 1 ) \
|
|
X ( int, tendon_num, ntendon, 1 ) \
|
|
X ( int, tendon_matid, ntendon, 1 ) \
|
|
X ( int, tendon_actuatorid, ntendon, 1 ) \
|
|
X ( int, tendon_group, ntendon, 1 ) \
|
|
X ( int, tendon_treenum, ntendon, 1 ) \
|
|
X ( int, tendon_treeid, ntendon, 2 ) \
|
|
X ( int, ten_J_rownnz, ntendon, 1 ) \
|
|
X ( int, ten_J_rowadr, ntendon, 1 ) \
|
|
X ( int, ten_J_colind, nJten, 1 ) \
|
|
X ( mjtBool, tendon_limited, ntendon, 1 ) \
|
|
X ( mjtBool, tendon_actfrclimited, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_width, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
|
|
X ( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
|
|
X ( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
|
|
X ( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
|
|
X ( mjtNum, tendon_range, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_margin, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_stiffnesspoly, ntendon, mjNPOLY ) \
|
|
X ( mjtNum, tendon_damping, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_dampingpoly, ntendon, mjNPOLY ) \
|
|
X ( mjtNum, tendon_armature, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_lengthspring, ntendon, 2 ) \
|
|
X ( mjtNum, tendon_length0, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_invweight0, ntendon, 1 ) \
|
|
X ( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
|
|
X ( float, tendon_rgba, ntendon, 4 )
|
|
|
|
#define MJMODEL_POINTERS_ACTUATOR \
|
|
X ( int, actuator_trntype, nactuator, 1 ) \
|
|
X ( int, actuator_dyntype, nactuator, 1 ) \
|
|
X ( int, actuator_gaintype, nactuator, 1 ) \
|
|
X ( int, actuator_biastype, nactuator, 1 ) \
|
|
X ( int, actuator_ctrladr, nactuator, 1 ) \
|
|
X ( int, actuator_ctrlnum, nactuator, 1 ) \
|
|
X ( int, actuator_outadr, nactuator, 1 ) \
|
|
X ( int, actuator_outnum, nactuator, 1 ) \
|
|
X ( int, actuator_actadr, nactuator, 1 ) \
|
|
X ( int, actuator_actnum, nactuator, 1 ) \
|
|
X ( int, actuator_trnid, nactuator, 2 ) \
|
|
X ( mjtNum, actuator_cranklength, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_dynprm, nactuator, mjNDYN ) \
|
|
X ( mjtNum, actuator_gainprm, nactuator, mjNGAIN ) \
|
|
X ( mjtNum, actuator_biasprm, nactuator, mjNBIAS ) \
|
|
X ( mjtBool, actuator_actlimited, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_actrange, nactuator, 2 ) \
|
|
X ( mjtBool, actuator_actearly, nactuator, 1 ) \
|
|
X ( int, actuator_history, nactuator, 2 ) \
|
|
X ( int, actuator_historyadr, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_delay, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_damping, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_dampingpoly, nactuator, mjNPOLY ) \
|
|
X ( mjtNum, actuator_armature, nactuator, 1 ) \
|
|
X ( int, actuator_group, nactuator, 1 ) \
|
|
X ( mjtNum, actuator_user, nactuator, MJ_M(nuser_actuator) ) \
|
|
X ( int, actuator_plugin, nactuator, 1 ) \
|
|
X ( mjtBool, actuator_ctrllimited, nu, 1 ) \
|
|
X ( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
|
X ( mjtNum, actuator_gear, nout, 6 ) \
|
|
X ( mjtBool, actuator_forcelimited, nout, 1 ) \
|
|
X ( mjtNum, actuator_forcerange, nout, 2 ) \
|
|
X ( mjtNum, actuator_acc0, nout, 1 ) \
|
|
X ( mjtNum, actuator_length0, nout, 1 ) \
|
|
X ( mjtNum, actuator_lengthrange, nout, 2 )
|
|
|
|
#define MJMODEL_POINTERS_SENSOR \
|
|
X ( int, sensor_type, nsensor, 1 ) \
|
|
X ( int, sensor_datatype, nsensor, 1 ) \
|
|
X ( int, sensor_needstage, nsensor, 1 ) \
|
|
X ( int, sensor_objtype, nsensor, 1 ) \
|
|
X ( int, sensor_objid, nsensor, 1 ) \
|
|
X ( int, sensor_reftype, nsensor, 1 ) \
|
|
X ( int, sensor_refid, nsensor, 1 ) \
|
|
X ( int, sensor_intprm, nsensor, mjNSENS ) \
|
|
X ( int, sensor_dim, nsensor, 1 ) \
|
|
X ( int, sensor_adr, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_noise, nsensor, 1 ) \
|
|
X ( int, sensor_history, nsensor, 2 ) \
|
|
X ( int, sensor_historyadr, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_delay, nsensor, 1 ) \
|
|
X ( mjtNum, sensor_interval, nsensor, 2 ) \
|
|
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
|
|
X ( int, sensor_plugin, nsensor, 1 )
|
|
|
|
#define MJMODEL_POINTERS \
|
|
X ( mjtNum, qpos0, nq, 1 ) \
|
|
X ( mjtNum, qpos_spring, nq, 1 ) \
|
|
MJMODEL_POINTERS_BODY \
|
|
X ( int, bvh_depth, nbvh, 1 ) \
|
|
X ( int, bvh_child, nbvh, 2 ) \
|
|
X ( int, bvh_nodeid, nbvh, 1 ) \
|
|
X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
|
|
X ( int, oct_depth, noct, 1 ) \
|
|
X ( int, oct_child, noct, 8 ) \
|
|
X ( mjtNum, oct_aabb, noct, 6 ) \
|
|
X ( mjtNum, oct_coeff, noct, 8 ) \
|
|
MJMODEL_POINTERS_JOINT \
|
|
MJMODEL_POINTERS_DOF \
|
|
MJMODEL_POINTERS_TREE \
|
|
MJMODEL_POINTERS_GEOM \
|
|
MJMODEL_POINTERS_SITE \
|
|
MJMODEL_POINTERS_CAMERA \
|
|
MJMODEL_POINTERS_LIGHT \
|
|
MJMODEL_POINTERS_FLEX \
|
|
MJMODEL_POINTERS_MESH \
|
|
MJMODEL_POINTERS_SKIN \
|
|
MJMODEL_POINTERS_HFIELD \
|
|
MJMODEL_POINTERS_TEXTURE \
|
|
MJMODEL_POINTERS_MATERIAL \
|
|
MJMODEL_POINTERS_PAIR \
|
|
MJMODEL_POINTERS_EXCLUDE \
|
|
MJMODEL_POINTERS_EQUALITY \
|
|
MJMODEL_POINTERS_TENDON \
|
|
X ( int, wrap_type, nwrap, 1 ) \
|
|
X ( int, wrap_objid, nwrap, 1 ) \
|
|
X ( mjtNum, wrap_prm, nwrap, 1 ) \
|
|
MJMODEL_POINTERS_ACTUATOR \
|
|
MJMODEL_POINTERS_SENSOR \
|
|
X ( int, plugin, nplugin, 1 ) \
|
|
X ( int, plugin_stateadr, nplugin, 1 ) \
|
|
X ( int, plugin_statenum, nplugin, 1 ) \
|
|
X ( char, plugin_attr, npluginattr, 1 ) \
|
|
X ( int, plugin_attradr, nplugin, 1 ) \
|
|
X ( int, numeric_adr, nnumeric, 1 ) \
|
|
X ( int, numeric_size, nnumeric, 1 ) \
|
|
X ( mjtNum, numeric_data, nnumericdata, 1 ) \
|
|
X ( int, text_adr, ntext, 1 ) \
|
|
X ( int, text_size, ntext, 1 ) \
|
|
X ( char, text_data, ntextdata, 1 ) \
|
|
X ( int, tuple_adr, ntuple, 1 ) \
|
|
X ( int, tuple_size, ntuple, 1 ) \
|
|
X ( int, tuple_objtype, ntupledata, 1 ) \
|
|
X ( int, tuple_objid, ntupledata, 1 ) \
|
|
X ( mjtNum, tuple_objprm, ntupledata, 1 ) \
|
|
X ( mjtNum, key_time, nkey, 1 ) \
|
|
X ( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
|
|
X ( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
|
|
X ( mjtNum, key_act, nkey, MJ_M(na) ) \
|
|
X ( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
|
|
X ( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
|
|
X ( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
|
|
X ( int, name_bodyadr, nbody, 1 ) \
|
|
X ( int, name_jntadr, njnt, 1 ) \
|
|
X ( int, name_geomadr, ngeom, 1 ) \
|
|
X ( int, name_siteadr, nsite, 1 ) \
|
|
X ( int, name_camadr, ncam, 1 ) \
|
|
X ( int, name_lightadr, nlight, 1 ) \
|
|
X ( int, name_flexadr, nflex, 1 ) \
|
|
X ( int, name_meshadr, nmesh, 1 ) \
|
|
X ( int, name_skinadr, nskin, 1 ) \
|
|
X ( int, name_hfieldadr, nhfield, 1 ) \
|
|
X ( int, name_texadr, ntex, 1 ) \
|
|
X ( int, name_matadr, nmat, 1 ) \
|
|
X ( int, name_pairadr, npair, 1 ) \
|
|
X ( int, name_excludeadr, nexclude, 1 ) \
|
|
X ( int, name_eqadr, neq, 1 ) \
|
|
X ( int, name_tendonadr, ntendon, 1 ) \
|
|
X ( int, name_actuatoradr, nactuator, 1 ) \
|
|
X ( int, name_sensoradr, nsensor, 1 ) \
|
|
X ( int, name_numericadr, nnumeric, 1 ) \
|
|
X ( int, name_textadr, ntext, 1 ) \
|
|
X ( int, name_tupleadr, ntuple, 1 ) \
|
|
X ( int, name_keyadr, nkey, 1 ) \
|
|
X ( int, name_pluginadr, nplugin, 1 ) \
|
|
X ( char, names, nnames, 1 ) \
|
|
X ( int, names_map, nnames_map, 1 ) \
|
|
X ( char, paths, npaths, 1 ) \
|
|
X ( int, B_rownnz, nbody, 1 ) \
|
|
X ( int, B_rowadr, nbody, 1 ) \
|
|
X ( int, B_colind, nB, 1 ) \
|
|
X ( int, M_rownnz, nv, 1 ) \
|
|
X ( int, M_rowadr, nv, 1 ) \
|
|
X ( int, M_colind, nC, 1 ) \
|
|
X ( int, mapM2M, nC, 1 ) \
|
|
X ( int, D_rownnz, nv, 1 ) \
|
|
X ( int, D_rowadr, nv, 1 ) \
|
|
X ( int, D_diag, nv, 1 ) \
|
|
X ( int, D_colind, nD, 1 ) \
|
|
X ( int, mapM2D, nD, 1 ) \
|
|
X ( int, mapD2M, nC, 1 )
|
|
|
|
//-------------------------------- mjData ----------------------------------------------------------
|
|
|
|
// pointer fields of mjData
|
|
// XNV means that the field is not required to construct mjvScene
|
|
// (by default we define XNV to be the same as X)
|
|
#define MJDATA_POINTERS \
|
|
X ( mjtNum, qpos, nq, 1 ) \
|
|
X ( mjtNum, qvel, nv, 1 ) \
|
|
X ( mjtNum, act, na, 1 ) \
|
|
X ( mjtNum, history, nhistory, 1 ) \
|
|
X ( mjtNum, qacc_warmstart, nv, 1 ) \
|
|
X ( mjtNum, plugin_state, npluginstate, 1 ) \
|
|
X ( mjtNum, ctrl, nu, 1 ) \
|
|
X ( mjtNum, qfrc_applied, nv, 1 ) \
|
|
X ( mjtNum, xfrc_applied, nbody, 6 ) \
|
|
X ( mjtBool, eq_active, neq, 1 ) \
|
|
X ( mjtNum, mocap_pos, nmocap, 3 ) \
|
|
X ( mjtNum, mocap_quat, nmocap, 4 ) \
|
|
X ( mjtNum, qacc, nv, 1 ) \
|
|
X ( mjtNum, act_dot, na, 1 ) \
|
|
X ( mjtNum, userdata, nuserdata, 1 ) \
|
|
X ( mjtNum, sensordata, nsensordata, 1 ) \
|
|
X ( int, tree_asleep, ntree, 1 ) \
|
|
X ( int, plugin, nplugin, 1 ) \
|
|
X ( uintptr_t, plugin_data, nplugin, 1 ) \
|
|
X ( mjtNum, xpos, nbody, 3 ) \
|
|
X ( mjtNum, xquat, nbody, 4 ) \
|
|
X ( mjtNum, xmat, nbody, 9 ) \
|
|
X ( mjtNum, xipos, nbody, 3 ) \
|
|
X ( mjtNum, ximat, nbody, 9 ) \
|
|
X ( mjtNum, xanchor, njnt, 3 ) \
|
|
X ( mjtNum, xaxis, njnt, 3 ) \
|
|
X ( mjtNum, geom_xpos, ngeom, 3 ) \
|
|
X ( mjtNum, geom_xmat, ngeom, 9 ) \
|
|
X ( mjtNum, site_xpos, nsite, 3 ) \
|
|
X ( mjtNum, site_xmat, nsite, 9 ) \
|
|
X ( mjtNum, cam_xpos, ncam, 3 ) \
|
|
X ( mjtNum, cam_xmat, ncam, 9 ) \
|
|
X ( mjtNum, light_xpos, nlight, 3 ) \
|
|
X ( mjtNum, light_xdir, nlight, 3 ) \
|
|
X ( mjtNum, subtree_com, nbody, 3 ) \
|
|
X ( mjtNum, cdof, nv, 6 ) \
|
|
X ( mjtNum, cinert, nbody, 10 ) \
|
|
X ( mjtNum, flexvert_xpos, nflexvert, 3 ) \
|
|
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
|
|
X ( mjtNum, flexelem_krot, nflexstiffness, 1 ) \
|
|
X ( mjtNum, flexedge_J, nJfe, 1 ) \
|
|
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
|
|
X ( mjtNum, flexvert_J, nJfv, 2 ) \
|
|
X ( mjtNum, flexvert_length, nflexvert, 2 ) \
|
|
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
|
|
X ( int, ten_wrapadr, ntendon, 1 ) \
|
|
X ( int, ten_wrapnum, ntendon, 1 ) \
|
|
X ( mjtNum, ten_J, nJten, 1 ) \
|
|
X ( mjtNum, ten_length, ntendon, 1 ) \
|
|
X ( int, wrap_obj, nwrap, 2 ) \
|
|
X ( mjtNum, wrap_xpos, nwrap, 6 ) \
|
|
X ( mjtNum, actuator_length, nout, 1 ) \
|
|
X ( int, moment_rownnz, nout, 1 ) \
|
|
X ( int, moment_rowadr, nout, 1 ) \
|
|
X ( int, moment_colind, nJmom, 1 ) \
|
|
X ( mjtNum, actuator_moment, nJmom, 1 ) \
|
|
XNV ( mjtNum, crb, nbody, 10 ) \
|
|
XNV ( mjtNum, M, nC, 1 ) \
|
|
XNV ( mjtNum, qLD, nC, 1 ) \
|
|
X ( mjtNum, qLDiagInv, nv, 1 ) \
|
|
X ( mjtBool, bvh_active, nbvh, 1 ) \
|
|
X ( int, tree_awake, ntree, 1 ) \
|
|
X ( int, body_awake, nbody, 1 ) \
|
|
X ( int, body_awake_ind, nbody, 1 ) \
|
|
X ( int, parent_awake_ind, nbody, 1 ) \
|
|
X ( int, dof_awake_ind, nv, 1 ) \
|
|
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
|
|
X ( mjtNum, ten_velocity, ntendon, 1 ) \
|
|
X ( mjtNum, actuator_velocity, nout, 1 ) \
|
|
X ( mjtNum, cvel, nbody, 6 ) \
|
|
X ( mjtNum, cdof_dot, nv, 6 ) \
|
|
X ( mjtNum, qfrc_bias, nv, 1 ) \
|
|
X ( mjtNum, qfrc_spring, nv, 1 ) \
|
|
X ( mjtNum, qfrc_damper, nv, 1 ) \
|
|
X ( mjtNum, qfrc_gravcomp, nv, 1 ) \
|
|
X ( mjtNum, qfrc_fluid, nv, 1 ) \
|
|
X ( mjtNum, qfrc_passive, nv, 1 ) \
|
|
X ( mjtNum, subtree_linvel, nbody, 3 ) \
|
|
X ( mjtNum, subtree_angmom, nbody, 3 ) \
|
|
XNV ( mjtNum, qH, nC, 1 ) \
|
|
X ( mjtNum, qHDiagInv, nv, 1 ) \
|
|
XNV ( mjtNum, qDeriv, nD, 1 ) \
|
|
XNV ( mjtNum, qLU, nD, 1 ) \
|
|
X ( mjtNum, actuator_force, nout, 1 ) \
|
|
X ( mjtNum, qfrc_actuator, nv, 1 ) \
|
|
X ( mjtNum, qfrc_smooth, nv, 1 ) \
|
|
X ( mjtNum, qacc_smooth, nv, 1 ) \
|
|
X ( mjtNum, qfrc_constraint, nv, 1 ) \
|
|
X ( mjtNum, qfrc_inverse, nv, 1 ) \
|
|
X ( mjtNum, cacc, nbody, 6 ) \
|
|
X ( mjtNum, cfrc_int, nbody, 6 ) \
|
|
X ( mjtNum, cfrc_ext, nbody, 6 )
|
|
|
|
|
|
// macro for annotating that an array size in an X macro is a member of mjData
|
|
// by default this macro does nothing, but users can redefine it as necessary
|
|
#define MJ_D(n) n
|
|
|
|
// array of contacts
|
|
#define MJDATA_ARENA_POINTERS_CONTACT \
|
|
X( mjContact, contact, MJ_D(ncon), 1 )
|
|
|
|
// array fields of mjData that are used in the primal problem
|
|
#define MJDATA_ARENA_POINTERS_SOLVER \
|
|
X ( int, efc_type, MJ_D(nefc), 1 ) \
|
|
X ( int, efc_id, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_J_colind, MJ_D(nJ), 1 ) \
|
|
XNV( mjtNum, efc_J, MJ_D(nJ), 1 ) \
|
|
X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_diagA, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
|
|
X ( mjtNum, efc_D, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_R, MJ_D(nefc), 1 ) \
|
|
X ( int, tendon_efcadr, MJ_M(ntendon), 1 ) \
|
|
X ( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_b, MJ_D(nefc), 1 ) \
|
|
X ( int, efc_state, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, efc_force, MJ_D(nefc), 1 )
|
|
|
|
// array fields of mjData that are used in the dual problem
|
|
#define MJDATA_ARENA_POINTERS_DUAL \
|
|
XNV( int, efc_Y_rownnz, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_Y_rowadr, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_Y_colind, MJ_D(nY), 1 ) \
|
|
XNV( mjtNum, efc_Y, MJ_D(nY), 1 ) \
|
|
XNV( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
|
|
XNV( int, efc_AR_colind, MJ_D(nA), 1 ) \
|
|
XNV( mjtNum, efc_AR, MJ_D(nA), 1 )
|
|
|
|
// array fields of mjData that are used for constraint islands
|
|
#define MJDATA_ARENA_POINTERS_ISLAND \
|
|
X ( int, tree_island, MJ_M(ntree), 1 ) \
|
|
X ( int, island_ntree, MJ_D(nisland), 1 ) \
|
|
X ( int, island_itreeadr, MJ_D(nisland), 1 ) \
|
|
X ( int, map_itree2tree, MJ_M(ntree), 1 ) \
|
|
X ( int, dof_island, MJ_M(nv), 1 ) \
|
|
X ( int, island_nv, MJ_D(nisland), 1 ) \
|
|
X ( int, island_idofadr, MJ_D(nisland), 1 ) \
|
|
X ( int, island_dofadr, MJ_D(nisland), 1 ) \
|
|
X ( int, map_dof2idof, MJ_M(nv), 1 ) \
|
|
X ( int, map_idof2dof, MJ_M(nv), 1 ) \
|
|
X ( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
|
|
X ( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
|
|
X ( mjtNum, iacc, MJ_D(nidof), 1 ) \
|
|
X ( int, efc_island, MJ_D(nefc), 1 ) \
|
|
X ( int, island_ne, MJ_D(nisland), 1 ) \
|
|
X ( int, island_nf, MJ_D(nisland), 1 ) \
|
|
X ( int, island_nefc, MJ_D(nisland), 1 ) \
|
|
X ( int, island_iefcadr, MJ_D(nisland), 1 ) \
|
|
X ( int, map_efc2iefc, MJ_D(nefc), 1 ) \
|
|
X ( int, map_iefc2efc, MJ_D(nefc), 1 ) \
|
|
X ( int, iefc_type, MJ_D(nefc), 1 ) \
|
|
X ( int, iefc_id, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_aref, MJ_D(nefc), 1 ) \
|
|
X ( int, iefc_state, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, iefc_force, MJ_D(nefc), 1 ) \
|
|
X ( mjtNum, ifrc_constraint, MJ_D(nidof), 1 )
|
|
|
|
// array fields of mjData that live in d->arena
|
|
#define MJDATA_ARENA_POINTERS_EFM \
|
|
X ( mjtNum, efm_c, MJ_M(nv), 1 ) \
|
|
X ( int, efm_K_rownnz, MJ_M(nv), 1 ) \
|
|
X ( int, efm_K_rowadr, MJ_M(nv), 1 ) \
|
|
X ( int, efm_K_colind, MJ_D(nefmK), 1 ) \
|
|
X ( mjtNum, efm_K_val, MJ_D(nefmK), 1 ) \
|
|
X ( int, efm_dofid, MJ_D(nefmdof), 1 ) \
|
|
X ( int, efm_L_rownnz, MJ_D(nefmdof), 1 ) \
|
|
X ( int, efm_L_rowadr, MJ_D(nefmdof), 1 ) \
|
|
X ( int, efm_L_colind, MJ_D(nefmL), 1 ) \
|
|
X ( mjtNum, efm_L, MJ_D(nefmL), 1 )
|
|
|
|
|
|
#define MJDATA_ARENA_POINTERS \
|
|
MJDATA_ARENA_POINTERS_CONTACT \
|
|
MJDATA_ARENA_POINTERS_SOLVER \
|
|
MJDATA_ARENA_POINTERS_DUAL \
|
|
MJDATA_ARENA_POINTERS_ISLAND \
|
|
MJDATA_ARENA_POINTERS_EFM
|
|
|
|
|
|
// scalar fields of mjData
|
|
#define MJDATA_SCALAR \
|
|
X( size_t, narena ) \
|
|
X( size_t, nbuffer ) \
|
|
X( int, nplugin ) \
|
|
X( size_t, pstack ) \
|
|
X( size_t, pbase ) \
|
|
X( size_t, parena ) \
|
|
X( uintptr_t, threadpool ) \
|
|
X( size_t, maxuse_stack ) \
|
|
X( size_t, maxuse_arena ) \
|
|
X( int, maxuse_con ) \
|
|
X( int, maxuse_efc ) \
|
|
X( int, ncon ) \
|
|
X( int, ne ) \
|
|
X( int, nf ) \
|
|
X( int, nl ) \
|
|
X( int, nefc ) \
|
|
X( int, nJ ) \
|
|
X( int, efm_active ) \
|
|
X( int, nefmK ) \
|
|
X( int, nefmdof ) \
|
|
X( int, nefmL ) \
|
|
X( int, nY ) \
|
|
X( int, nA ) \
|
|
X( int, nisland ) \
|
|
X( int, nidof ) \
|
|
X( int, ntree_awake ) \
|
|
X( int, nbody_awake ) \
|
|
X( int, nparent_awake ) \
|
|
X( int, nv_awake ) \
|
|
X( mjtBool, flg_energypos ) \
|
|
X( mjtBool, flg_energyvel ) \
|
|
X( mjtBool, flg_subtreevel ) \
|
|
X( mjtBool, flg_rnepost ) \
|
|
X( mjtNum, time )
|
|
|
|
|
|
// vector fields of mjData
|
|
#define MJDATA_VECTOR \
|
|
X( mjSolverStat, solver, mjNISLAND, mjNSOLVER ) \
|
|
X( int, solver_niter, mjNISLAND, 1 ) \
|
|
X( int, solver_nnz, mjNISLAND, 1 ) \
|
|
X( mjtNum, solver_fwdinv, 2, 1 ) \
|
|
X( mjWarningStat, warning, mjNWARNING, 1 ) \
|
|
X( mjTimerStat, timer, mjNTIMER, 1 ) \
|
|
X( mjtNum, energy, 2, 1 )
|
|
|
|
// alias XNV to be the same as X
|
|
// to obtain only X macros for fields that are relevant for mjvScene creation,
|
|
// redefine XNV to expand to nothing
|
|
#define XNV X
|
|
|
|
#endif // MUJOCO_MJXMACRO_H_
|