//--------------------------------// // This file is part MuJoCo // // Copyright © 2018, Roboti LLC // //--------------------------------// #pragma once //-------------------------------- mjOption --------------------------------------------- // scalar fields of mjOption #define MJOPTION_SCALARS \ X( mjtNum, timestep ) \ X( mjtNum, apirate ) \ X( mjtNum, impratio ) \ X( mjtNum, tolerance ) \ X( mjtNum, noslip_tolerance ) \ X( mjtNum, mpr_tolerance ) \ X( mjtNum, density ) \ X( mjtNum, viscosity ) \ X( mjtNum, o_margin ) \ X( int, integrator ) \ X( int, collision ) \ X( int, cone ) \ X( int, jacobian ) \ X( int, solver ) \ X( int, iterations ) \ X( int, noslip_iterations ) \ X( int, mpr_iterations ) \ X( int, disableflags ) \ X( int, enableflags ) // vector fields of mjOption #define MJOPTION_VECTORS \ X( gravity, 3 ) \ X( wind, 3 ) \ X( magnetic, 3 ) \ X( o_solref, mjNREF ) \ X( o_solimp, mjNIMP ) //-------------------------------- mjModel ---------------------------------------------- // int fields of mjModel #define MJMODEL_INTS \ X( nq ) \ X( nv ) \ X( nu ) \ X( na ) \ X( nbody ) \ X( njnt ) \ X( ngeom ) \ X( nsite ) \ X( ncam ) \ X( nlight ) \ X( nmesh ) \ X( nmeshvert ) \ X( nmeshtexvert ) \ X( nmeshface ) \ X( nmeshgraph ) \ 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( nwrap ) \ X( nsensor ) \ X( nnumeric ) \ X( nnumericdata ) \ X( ntext ) \ X( ntextdata ) \ X( ntuple ) \ X( ntupledata ) \ X( nkey ) \ 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( nM ) \ X( nemax ) \ X( njmax ) \ X( nconmax ) \ X( nstack ) \ X( nuserdata ) \ X( nmocap ) \ X( nsensordata ) \ X( nbuffer ) // pointer fields of mjModel #define MJMODEL_POINTERS \ X( mjtNum, qpos0, nq, 1 ) \ X( mjtNum, qpos_spring, nq, 1 ) \ 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_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_user, nbody, nuser_body ) \ 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_group, njnt, 1 ) \ X( mjtByte, jnt_limited, 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_range, njnt, 2 ) \ X( mjtNum, jnt_margin, njnt, 1 ) \ X( mjtNum, jnt_user, njnt, nuser_jnt ) \ X( int, dof_bodyid, nv, 1 ) \ X( int, dof_jntid, nv, 1 ) \ X( int, dof_parentid, 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_invweight0, nv, 1 ) \ X( mjtNum, dof_M0, nv, 1 ) \ 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( 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_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 ) \ X( mjtNum, geom_user, ngeom, nuser_geom ) \ X( float, geom_rgba, ngeom, 4 ) \ 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, nuser_site ) \ X( float, site_rgba, nsite, 4 ) \ 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( mjtNum, cam_fovy, ncam, 1 ) \ X( mjtNum, cam_ipd, ncam, 1 ) \ X( mjtNum, cam_user, ncam, nuser_cam ) \ X( int, light_mode, nlight, 1 ) \ X( int, light_bodyid, nlight, 1 ) \ X( int, light_targetbodyid, nlight, 1 ) \ X( mjtByte, light_directional, nlight, 1 ) \ X( mjtByte, light_castshadow, nlight, 1 ) \ X( mjtByte, 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 ) \ X( int, mesh_vertadr, nmesh, 1 ) \ X( int, mesh_vertnum, nmesh, 1 ) \ X( int, mesh_texcoordadr, nmesh, 1 ) \ X( int, mesh_faceadr, nmesh, 1 ) \ X( int, mesh_facenum, nmesh, 1 ) \ X( int, mesh_graphadr, nmesh, 1 ) \ X( float, mesh_vert, nmeshvert, 3 ) \ X( float, mesh_normal, nmeshvert, 3 ) \ X( float, mesh_texcoord, nmeshtexvert, 2 ) \ X( int, mesh_face, nmeshface, 3 ) \ X( int, mesh_graph, nmeshgraph,1 ) \ X( int, skin_matid, 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( mjtNum, hfield_size, nhfield, 4 ) \ X( int, hfield_nrow, nhfield, 1 ) \ X( int, hfield_ncol, nhfield, 1 ) \ X( int, hfield_adr, nhfield, 1 ) \ X( float, hfield_data, nhfielddata, 1 ) \ X( int, tex_type, ntex, 1 ) \ X( int, tex_height, ntex, 1 ) \ X( int, tex_width, ntex, 1 ) \ X( int, tex_adr, ntex, 1 ) \ X( mjtByte, tex_rgb, ntexdata, 1 ) \ X( int, mat_texid, nmat, 1 ) \ X( mjtByte, 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_rgba, nmat, 4 ) \ 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_solimp, npair, mjNIMP ) \ X( mjtNum, pair_margin, npair, 1 ) \ X( mjtNum, pair_gap, npair, 1 ) \ X( mjtNum, pair_friction, npair, 5 ) \ X( int, exclude_signature, nexclude, 1 ) \ X( int, eq_type, neq, 1 ) \ X( int, eq_obj1id, neq, 1 ) \ X( int, eq_obj2id, neq, 1 ) \ X( mjtByte, eq_active, neq, 1 ) \ X( mjtNum, eq_solref, neq, mjNREF ) \ X( mjtNum, eq_solimp, neq, mjNIMP ) \ X( mjtNum, eq_data, neq, mjNEQDATA ) \ X( int, tendon_adr, ntendon, 1 ) \ X( int, tendon_num, ntendon, 1 ) \ X( int, tendon_matid, ntendon, 1 ) \ X( int, tendon_group, ntendon, 1 ) \ X( mjtByte, tendon_limited, 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_margin, ntendon, 1 ) \ X( mjtNum, tendon_stiffness, ntendon, 1 ) \ X( mjtNum, tendon_damping, ntendon, 1 ) \ X( mjtNum, tendon_frictionloss, ntendon, 1 ) \ X( mjtNum, tendon_lengthspring, ntendon, 1 ) \ X( mjtNum, tendon_length0, ntendon, 1 ) \ X( mjtNum, tendon_invweight0, ntendon, 1 ) \ X( mjtNum, tendon_user, ntendon, nuser_tendon) \ X( float, tendon_rgba, ntendon, 4 ) \ X( int, wrap_type, nwrap, 1 ) \ X( int, wrap_objid, nwrap, 1 ) \ X( mjtNum, wrap_prm, nwrap, 1 ) \ X( int, actuator_trntype, nu, 1 ) \ X( int, actuator_dyntype, nu, 1 ) \ X( int, actuator_gaintype, nu, 1 ) \ X( int, actuator_biastype, nu, 1 ) \ X( int, actuator_trnid, nu, 2 ) \ X( int, actuator_group, nu, 1 ) \ X( mjtByte, actuator_ctrllimited, nu, 1 ) \ X( mjtByte, actuator_forcelimited, nu, 1 ) \ X( mjtNum, actuator_dynprm, nu, mjNDYN ) \ X( mjtNum, actuator_gainprm, nu, mjNGAIN ) \ X( mjtNum, actuator_biasprm, nu, mjNBIAS ) \ X( mjtNum, actuator_ctrlrange, nu, 2 ) \ X( mjtNum, actuator_forcerange, nu, 2 ) \ X( mjtNum, actuator_gear, nu, 6 ) \ X( mjtNum, actuator_cranklength, nu, 1 ) \ X( mjtNum, actuator_acc0, nu, 1 ) \ X( mjtNum, actuator_length0, nu, 1 ) \ X( mjtNum, actuator_lengthrange, nu, 2 ) \ X( mjtNum, actuator_user, nu, nuser_actuator) \ 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_dim, nsensor, 1 ) \ X( int, sensor_adr, nsensor, 1 ) \ X( mjtNum, sensor_cutoff, nsensor, 1 ) \ X( mjtNum, sensor_noise, nsensor, 1 ) \ X( mjtNum, sensor_user, nsensor, nuser_sensor) \ 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, nq ) \ X( mjtNum, key_qvel, nkey, nv ) \ X( mjtNum, key_act, nkey, na ) \ 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_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, nu, 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( char, names, nnames, 1 ) //-------------------------------- mjData ----------------------------------------------- // pointer fields of mjData #define MJDATA_POINTERS \ X( mjtNum, qpos, nq, 1 ) \ X( mjtNum, qvel, nv, 1 ) \ X( mjtNum, act, na, 1 ) \ X( mjtNum, qacc_warmstart, nv, 1 ) \ X( mjtNum, ctrl, nu, 1 ) \ X( mjtNum, qfrc_applied, nv, 1 ) \ X( mjtNum, xfrc_applied, nbody, 6 ) \ X( mjtNum, qacc, nv, 1 ) \ X( mjtNum, act_dot, na, 1 ) \ X( mjtNum, mocap_pos, nmocap, 3 ) \ X( mjtNum, mocap_quat, nmocap, 4 ) \ X( mjtNum, userdata, nuserdata, 1 ) \ X( mjtNum, sensordata, nsensordata,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( int, ten_wrapadr, ntendon, 1 ) \ X( int, ten_wrapnum, ntendon, 1 ) \ X( int, ten_J_rownnz, ntendon, 1 ) \ X( int, ten_J_rowadr, ntendon, 1 ) \ X( int, ten_J_colind, ntendon, nv ) \ X( mjtNum, ten_length, ntendon, 1 ) \ X( mjtNum, ten_J, ntendon, nv ) \ X( int, wrap_obj, nwrap, 2 ) \ X( mjtNum, wrap_xpos, nwrap, 6 ) \ X( mjtNum, actuator_length, nu, 1 ) \ X( mjtNum, actuator_moment, nu, nv ) \ X( mjtNum, crb, nbody, 10 ) \ X( mjtNum, qM, nM, 1 ) \ X( mjtNum, qLD, nM, 1 ) \ X( mjtNum, qLDiagInv, nv, 1 ) \ X( mjtNum, qLDiagSqrtInv, nv, 1 ) \ X( mjContact, contact, nconmax, 1 ) \ X( int, efc_type, njmax, 1 ) \ X( int, efc_id, njmax, 1 ) \ X( int, efc_J_rownnz, njmax, 1 ) \ X( int, efc_J_rowadr, njmax, 1 ) \ X( int, efc_J_rowsuper, njmax, 1 ) \ X( int, efc_J_colind, njmax, nv ) \ X( int, efc_JT_rownnz, nv, 1 ) \ X( int, efc_JT_rowadr, nv, 1 ) \ X( int, efc_JT_rowsuper, nv, 1 ) \ X( int, efc_JT_colind, nv, njmax ) \ X( mjtNum, efc_J, njmax, nv ) \ X( mjtNum, efc_JT, nv, njmax ) \ X( mjtNum, efc_pos, njmax, 1 ) \ X( mjtNum, efc_margin, njmax, 1 ) \ X( mjtNum, efc_frictionloss, njmax, 1 ) \ X( mjtNum, efc_diagApprox, njmax, 1 ) \ X( mjtNum, efc_KBIP, njmax, 4 ) \ X( mjtNum, efc_D, njmax, 1 ) \ X( mjtNum, efc_R, njmax, 1 ) \ X( int, efc_AR_rownnz, njmax, 1 ) \ X( int, efc_AR_rowadr, njmax, 1 ) \ X( int, efc_AR_colind, njmax, njmax ) \ X( mjtNum, efc_AR, njmax, njmax ) \ X( mjtNum, ten_velocity, ntendon, 1 ) \ X( mjtNum, actuator_velocity, nu, 1 ) \ X( mjtNum, cvel, nbody, 6 ) \ X( mjtNum, cdof_dot, nv, 6 ) \ X( mjtNum, qfrc_bias, nv, 1 ) \ X( mjtNum, qfrc_passive, nv, 1 ) \ X( mjtNum, efc_vel, njmax, 1 ) \ X( mjtNum, efc_aref, njmax, 1 ) \ X( mjtNum, subtree_linvel, nbody, 3 ) \ X( mjtNum, subtree_angmom, nbody, 3 ) \ X( mjtNum, actuator_force, nu, 1 ) \ X( mjtNum, qfrc_actuator, nv, 1 ) \ X( mjtNum, qfrc_unc, nv, 1 ) \ X( mjtNum, qacc_unc, nv, 1 ) \ X( mjtNum, efc_b, njmax, 1 ) \ X( mjtNum, efc_force, njmax, 1 ) \ X( int, efc_state, njmax, 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 ) // scalar fields of mjData #define MJDATA_SCALAR \ X( int, nstack ) \ X( int, nbuffer ) \ X( int, pstack ) \ X( int, maxuse_stack ) \ X( int, maxuse_con ) \ X( int, maxuse_efc ) \ X( int, solver_iter ) \ X( int, solver_nnz ) \ X( int, ne ) \ X( int, nf ) \ X( int, nefc ) \ X( int, ncon ) \ X( mjtNum, time ) // vector fields of mjData #define MJDATA_VECTOR \ X( mjWarningStat, warning, mjNWARNING, 1 ) \ X( mjTimerStat, timer, mjNTIMER, 1 ) \ X( mjSolverStat, solver, mjNSOLVER, 1 ) \ X( mjtNum, solver_fwdinv, 2, 1 ) \ X( mjtNum, energy, 2, 1 )