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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
// Error: C reference not found
// NOLINTBEGIN
typedef enum mjtState_ { // state elements
mjSTATE_TIME = 1<<0, // time
mjSTATE_QPOS = 1<<1, // position
mjSTATE_QVEL = 1<<2, // velocity
mjSTATE_ACT = 1<<3, // actuator activation
mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
mjSTATE_CTRL = 1<<5, // control
mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
mjSTATE_USERDATA = 1<<11, // user data
mjSTATE_PLUGIN = 1<<12, // plugin state
mjNSTATE = 13, // number of state elements
// convenience values for commonly used state specifications
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
mjSTATE_USERDATA,
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;
typedef enum mjtConstraint_ { // type of constraint
mjCNSTR_EQUALITY = 0, // equality constraint
mjCNSTR_FRICTION_DOF, // dof friction
mjCNSTR_FRICTION_TENDON, // tendon friction
mjCNSTR_LIMIT_JOINT, // joint limit
mjCNSTR_LIMIT_TENDON, // tendon limit
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtWarning_ { // warning types
mjWARN_INERTIA = 0, // (near) singular inertia matrix
mjWARN_CONTACTFULL, // too many contacts in contact list
mjWARN_CNSTRFULL, // too many constraints
mjWARN_VGEOMFULL, // too many visual geoms
mjWARN_BADQPOS, // bad number in qpos
mjWARN_BADQVEL, // bad number in qvel
mjWARN_BADQACC, // bad number in qacc
mjWARN_BADCTRL, // bad number in ctrl
mjNWARNING // number of warnings
} mjtWarning;
typedef enum mjtTimer_ { // internal timers
// main api
mjTIMER_STEP = 0, // step
mjTIMER_FORWARD, // forward
mjTIMER_INVERSE, // inverse
// breakdown of step/forward
mjTIMER_POSITION, // fwdPosition
mjTIMER_VELOCITY, // fwdVelocity
mjTIMER_ACTUATION, // fwdActuation
mjTIMER_CONSTRAINT, // fwdConstraint
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
// breakdown of fwdPosition
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
mjTIMER_POS_INERTIA, // inertia computations
mjTIMER_POS_COLLISION, // collision detection
mjTIMER_POS_MAKE, // make constraints
mjTIMER_POS_PROJECT, // project constraints
// breakdown of mj_collision
mjTIMER_COL_BROAD, // broadphase
mjTIMER_COL_NARROW, // narrowphase
mjNTIMER // number of timers
} mjtTimer;
typedef enum mjtSleepState_ { // sleep state of an object
mjS_STATIC = -1, // object is static
mjS_ASLEEP = 0, // object is asleep
mjS_AWAKE = 1 // object is awake
} mjtSleepState;
struct mjContact_ { // result of collision detection functions
// contact parameters set by near-phase collision function
mjtNum dist; // distance between nearest points; neg: penetration
mjtNum pos[3]; // position of contact point: midpoint between geoms
mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
mjtNum solref[mjNREF]; // constraint solver reference, normal direction
mjtNum solreffriction[mjNREF]; // constraint solver reference, friction directions
mjtNum solimp[mjNIMP]; // constraint solver impedance
// internal storage used by solver
mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
mjtNum H[36]; // cone Hessian, set by mj_constraintUpdate
// contact descriptors set by mj_collideXXX
int dim; // contact space dimensionality: 1, 3, 4 or 6
int geom1; // id of geom 1; deprecated, use geom[0]
int geom2; // id of geom 2; deprecated, use geom[1]
int geom[2]; // geom ids; -1 for flex
int flex[2]; // flex ids; -1 for geom
int elem[2]; // element ids; -1 for geom or flex vertex
int vert[2]; // vertex ids; -1 for geom or flex element
// flag set by mj_setContact or mj_instantiateContact
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
// address computed by mj_instantiateContact
int efc_address; // address in efc; -1: not included
};
typedef struct mjContact_ mjContact;
struct mjWarningStat_ { // warning statistics
int lastinfo; // info from last warning
int number; // how many times was warning raised
};
typedef struct mjWarningStat_ mjWarningStat;
struct mjTimerStat_ { // timer statistics
mjtNum duration; // cumulative duration
int number; // how many times was timer called
};
typedef struct mjTimerStat_ mjTimerStat;
struct mjSolverStat_ { // per-iteration solver statistics
mjtNum improvement; // cost reduction, scaled by 1/trace(M(qpos0))
mjtNum gradient; // gradient norm (primal only, scaled)
mjtNum lineslope; // slope in linesearch
int nactive; // number of active constraints
int nchange; // number of constraint state changes
int neval; // number of cost evaluations in line search
int nupdate; // number of Cholesky updates in line search
};
typedef struct mjSolverStat_ mjSolverStat;
struct mjData_ {
// constant sizes
mjtSize narena; // size of the arena in bytes (inclusive of the stack)
mjtSize nbuffer; // size of main buffer in bytes
int nplugin; // number of plugin instances
// stack pointer
size_t pstack; // first available byte in stack (mutable)
size_t pbase; // value of pstack when mj_markStack was last called (mutable)
// arena pointer
size_t parena; // first available byte in arena
// memory utilization statistics
mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics (mutable)
mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes
int ncon; // number of detected contacts
int ne; // number of equality constraints
int nf; // number of friction constraints
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
int nidof; // number of dofs in all islands
int ntree_awake; // number of awake trees
int nbody_awake; // number of awake dynamic and static bodies
int nparent_awake; // number of bodies with awake parents
int nv_awake; // number of awake dofs
// flags marking lazily evaluated stages
mjtByte flg_energypos; // has mj_energyPos been called
mjtByte flg_energyvel; // has mj_energyVel been called
mjtByte flg_subtreevel; // has mj_subtreeVel been called
mjtByte flg_rnepost; // has mj_rnePostConstraint been called
// global properties
mjtNum time; // simulation time
mjtNum energy[2]; // potential, kinetic energy
//-------------------- end of info header
// buffers
void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
void* arena; // arena+stack buffer (narena bytes)
//-------------------- main inputs and outputs of the computation
// state
mjtNum* qpos; // position (nq x 1)
mjtNum* qvel; // velocity (nv x 1)
mjtNum* act; // actuator activation (na x 1)
mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
mjtNum* plugin_state; // plugin state (npluginstate x 1)
// control
mjtNum* ctrl; // control (nu x 1)
mjtNum* qfrc_applied; // applied generalized force (nv x 1)
mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
mjtByte* eq_active; // enable/disable constraints (neq x 1)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
// dynamics
mjtNum* qacc; // acceleration (nv x 1)
mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
// user data
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
// sensors
mjtNum* sensordata; // sensor data array (nsensordata x 1)
// sleep state
int* tree_asleep; // <0: awake; >=0: index cycle of sleeping trees (ntree x 1)
// plugins
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
//-------------------- POSITION dependent
// computed by mj_fwdPosition/mj_kinematics
mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
mjtNum* xipos; // Cartesian position of body com (nbody x 3)
mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
mjtNum* site_xpos; // Cartesian site position (nsite x 3)
mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
mjtNum* light_xpos; // Cartesian light position (nlight x 3)
mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
// computed by mj_fwdPosition/mj_comPos
mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
mjtNum* cdof; // com-based motion axis of each dof (rot:lin) (nv x 6)
mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
// computed by mj_fwdPosition/mj_flex
mjtNum* flexvert_xpos; // Cartesian flex vertex positions (nflexvert x 3)
mjtNum* flexelem_aabb; // flex element bounding boxes (center, size) (nflexelem x 6)
mjtNum* flexedge_J; // flex edge Jacobian (nJfe x 1)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* flexvert_J; // flex vertex Jacobian (nJfv x 2)
mjtNum* flexvert_length; // flex vertex lengths (nflexvert x 2)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nu x 1)
int* moment_rowadr; // row start address in colind array (nu x 1)
int* moment_colind; // column indices in sparse Jacobian (nJmom x 1)
mjtNum* actuator_moment; // actuator moments (nJmom x 1)
// computed by mj_fwdPosition/mj_makeM
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
mjtNum* qM; // inertia (sparse) (nM x 1)
mjtNum* M; // reduced inertia (compressed sparse row) (nC x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collision/mj_collideTree
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
// computed by mj_updateSleep
int* tree_awake; // is tree awake; 0: asleep; 1: awake (ntree x 1)
int* body_awake; // body sleep state (mjtSleepState) (nbody x 1)
int* body_awake_ind; // indices of awake and static bodies (nbody x 1)
int* parent_awake_ind; // indices of bodies with awake or static parents (nbody x 1)
int* dof_awake_ind; // indices of awake dofs (nv x 1)
//-------------------- POSITION, VELOCITY dependent
// computed by mj_fwdVelocity
mjtNum* flexedge_velocity; // flex edge velocities (nflexedge x 1)
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
mjtNum* actuator_velocity; // actuator velocities (nu x 1)
// computed by mj_fwdVelocity/mj_comVel
mjtNum* cvel; // com-based velocity (rot:lin) (nbody x 6)
mjtNum* cdof_dot; // time-derivative of cdof (rot:lin) (nv x 6)
// computed by mj_fwdVelocity/mj_rne (without acceleration)
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_spring; // passive spring force (nv x 1)
mjtNum* qfrc_damper; // passive damper force (nv x 1)
mjtNum* qfrc_gravcomp; // passive gravity compensation force (nv x 1)
mjtNum* qfrc_fluid; // passive fluid force (nv x 1)
mjtNum* qfrc_passive; // total passive force (nv x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_implicit/mj_derivative
mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
// computed by mj_implicit/mju_factorLUSparse
mjtNum* qLU; // sparse LU of (qM - dt*qDeriv) (nD x 1)
//-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdActuation
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
mjtNum* qfrc_actuator; // actuator force (nv x 1)
// computed by mj_fwdAcceleration
mjtNum* qfrc_smooth; // net unconstrained force (nv x 1)
mjtNum* qacc_smooth; // unconstrained acceleration (nv x 1)
// computed by mj_fwdConstraint/mj_inverse
mjtNum* qfrc_constraint; // constraint force (nv x 1)
// computed by mj_inverse
mjtNum* qfrc_inverse; // net external force; should equal:
// qfrc_applied + J'*xfrc_applied + qfrc_actuator (nv x 1)
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
mjtNum* cacc; // com-based acceleration (nbody x 6)
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
//-------------------- arena-allocated: POSITION dependent
// computed by mj_collision
mjContact* contact; // array of all detected contacts (ncon x 1)
// computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
int* efc_id; // id of object of specified type (nefc x 1)
int* efc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nJ x 1)
mjtNum* efc_J; // constraint Jacobian (nJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
int* tendon_efcadr; // first efc address involving tendon; -1: none (ntendon x 1)
// computed by mj_island (island tree structure)
int* tree_island; // island id of this tree; -1: none (ntree x 1)
int* island_ntree; // number of trees in this island (nisland x 1)
int* island_itreeadr; // island start address in itree vector (nisland x 1)
int* map_itree2tree; // map from itree to tree (ntree x 1)
// computed by mj_island (island dof structure)
int* dof_island; // island id of this dof; -1: none (nv x 1)
int* island_nv; // number of dofs in this island (nisland x 1)
int* island_idofadr; // island start address in idof vector (nisland x 1)
int* island_dofadr; // island start address in dof vector (nisland x 1)
int* map_dof2idof; // map from dof to idof (nv x 1)
int* map_idof2dof; // map from idof to dof; >= nidof: unconstrained (nv x 1)
// computed by mj_island (dofs sorted by island)
mjtNum* ifrc_smooth; // net unconstrained force (nidof x 1)
mjtNum* iacc_smooth; // unconstrained acceleration (nidof x 1)
int* iM_rownnz; // inertia: non-zeros in each row (nidof x 1)
int* iM_rowadr; // inertia: address of each row in iM_colind (nidof x 1)
int* iM_colind; // inertia: column indices of non-zeros (nC x 1)
mjtNum* iM; // total inertia (sparse) (nC x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* iLDiagInv; // 1/diag(D) (nidof x 1)
mjtNum* iacc; // acceleration (nidof x 1)
// computed by mj_island (island constraint structure)
int* efc_island; // island id of this constraint (nefc x 1)
int* island_ne; // number of equality constraints in island (nisland x 1)
int* island_nf; // number of friction constraints in island (nisland x 1)
int* island_nefc; // number of constraints in island (nisland x 1)
int* island_iefcadr; // start address in iefc vector (nisland x 1)
int* map_efc2iefc; // map from efc to iefc (nefc x 1)
int* map_iefc2efc; // map from iefc to efc (nefc x 1)
// computed by mj_island (constraints sorted by island)
int* iefc_type; // constraint type (mjtConstraint) (nefc x 1)
int* iefc_id; // id of object of specified type (nefc x 1)
int* iefc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* iefc_J_rowadr; // row start address in colind array (nefc x 1)
int* iefc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* iefc_J_colind; // column indices in constraint Jacobian (nJ x 1)
mjtNum* iefc_J; // constraint Jacobian (nJ x 1)
mjtNum* iefc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* iefc_D; // constraint mass (nefc x 1)
mjtNum* iefc_R; // inverse constraint mass (nefc x 1)
// computed by mj_projectConstraint (PGS solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nA x 1)
mjtNum* efc_AR; // J*inv(M)*J' + R (nA x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* iefc_aref; // reference pseudo-acceleration (nefc x 1)
int* iefc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* iefc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
mjtNum* ifrc_constraint; // constraint force (nidof x 1)
// thread pool pointer
uintptr_t threadpool;
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled the model
};
typedef struct mjData_ mjData;
typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
mjDSBL_EQUALITY = 1<<1, // equality constraints
mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
mjDSBL_CONTACT = 1<<4, // contact constraints
mjDSBL_SPRING = 1<<5, // passive spring forces
mjDSBL_DAMPER = 1<<6, // passive damping forces
mjDSBL_GRAVITY = 1<<7, // gravitational forces
mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
mjDSBL_ACTUATION = 1<<11, // apply actuation forces
mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
mjDSBL_SENSOR = 1<<13, // sensors
mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
mjDSBL_ISLAND = 1<<18, // constraint island discovery
mjNDISABLE = 19 // number of disable flags
} mjtDisableBit;
typedef enum mjtEnableBit_ { // enable optional feature bitflags
mjENBL_OVERRIDE = 1<<0, // override contact parameters
mjENBL_ENERGY = 1<<1, // energy computation
mjENBL_FWDINV = 1<<2, // record solver statistics
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
// experimental features:
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
mjENBL_SLEEP = 1<<5, // sleeping
mjNENABLE = 6 // number of enable flags
} mjtEnableBit;
typedef enum mjtJoint_ { // type of degree of freedom
mjJNT_FREE = 0, // global position and orientation (quat) (7)
mjJNT_BALL, // orientation (quat) relative to parent (4)
mjJNT_SLIDE, // sliding distance along body-fixed axis (1)
mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1)
} mjtJoint;
typedef enum mjtGeom_ { // type of geometric shape
// regular geom types
mjGEOM_PLANE = 0, // plane
mjGEOM_HFIELD, // height field
mjGEOM_SPHERE, // sphere
mjGEOM_CAPSULE, // capsule
mjGEOM_ELLIPSOID, // ellipsoid
mjGEOM_CYLINDER, // cylinder
mjGEOM_BOX, // box
mjGEOM_MESH, // mesh
mjGEOM_SDF, // signed distance field
mjNGEOMTYPES, // number of regular geom types
// rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
mjGEOM_ARROW = 100, // arrow
mjGEOM_ARROW1, // arrow without wedges
mjGEOM_ARROW2, // arrow in both directions
mjGEOM_LINE, // line
mjGEOM_LINEBOX, // box with line edges
mjGEOM_FLEX, // flex
mjGEOM_SKIN, // skin
mjGEOM_LABEL, // text label
mjGEOM_TRIANGLE, // triangle
mjGEOM_NONE = 1001 // missing geom type
} mjtGeom;
typedef enum mjtProjection_ { // type of camera projection
mjPROJ_PERSPECTIVE = 0, // perspective
mjPROJ_ORTHOGRAPHIC // orthographic
} mjtProjection;
typedef enum mjtCamLight_ { // tracking mode for camera and light
mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body
mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
} mjtCamLight;
typedef enum mjtLightType_ { // type of light
mjLIGHT_SPOT = 0, // spot
mjLIGHT_DIRECTIONAL, // directional
mjLIGHT_POINT, // point
mjLIGHT_IMAGE, // image-based
} mjtLightType;
typedef enum mjtTexture_ { // type of texture
mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
mjTEXTURE_SKYBOX // cube texture used as skybox
} mjtTexture;
typedef enum mjtTextureRole_ { // role of texture map in rendering
mjTEXROLE_USER = 0, // unspecified
mjTEXROLE_RGB, // base color (albedo)
mjTEXROLE_OCCLUSION, // ambient occlusion
mjTEXROLE_ROUGHNESS, // roughness
mjTEXROLE_METALLIC, // metallic
mjTEXROLE_NORMAL, // normal (bump) map
mjTEXROLE_OPACITY, // transperancy
mjTEXROLE_EMISSIVE, // light emission
mjTEXROLE_RGBA, // base color, opacity
mjTEXROLE_ORM, // occlusion, roughness, metallic
mjNTEXROLE
} mjtTextureRole;
typedef enum mjtColorSpace_ { // type of color space encoding
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
mjCOLORSPACE_LINEAR, // linear color space
mjCOLORSPACE_SRGB // standard RGB color space
} mjtColorSpace;
typedef enum mjtIntegrator_ { // integrator mode
mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4, // 4th-order Runge Kutta
mjINT_IMPLICIT, // implicit in velocity
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
} mjtIntegrator;
typedef enum mjtCone_ { // type of friction cone
mjCONE_PYRAMIDAL = 0, // pyramidal
mjCONE_ELLIPTIC // elliptic
} mjtCone;
typedef enum mjtJacobian_ { // type of constraint Jacobian
mjJAC_DENSE = 0, // dense
mjJAC_SPARSE, // sparse
mjJAC_AUTO // dense if nv<60, sparse otherwise
} mjtJacobian;
typedef enum mjtSolver_ { // constraint solver algorithm
mjSOL_PGS = 0, // PGS (dual)
mjSOL_CG, // CG (primal)
mjSOL_NEWTON // Newton (primal)
} mjtSolver;
typedef enum mjtEq_ { // type of equality constraint
mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint)
mjEQ_WELD, // fix relative position and orientation of two bodies
mjEQ_JOINT, // couple the values of two scalar joints with cubic
mjEQ_TENDON, // couple the lengths of two tendons with cubic
mjEQ_FLEX, // fix all edge lengths of a flex
mjEQ_FLEXVERT, // fix all vertex lengths of a flex
mjEQ_DISTANCE // unsupported, will cause an error if used
} mjtEq;
typedef enum mjtWrap_ { // type of tendon wrap object
mjWRAP_NONE = 0, // null object
mjWRAP_JOINT, // constant moment arm
mjWRAP_PULLEY, // pulley used to split tendon
mjWRAP_SITE, // pass through site
mjWRAP_SPHERE, // wrap around sphere
mjWRAP_CYLINDER // wrap around (infinite) cylinder
} mjtWrap;
typedef enum mjtTrn_ { // type of actuator transmission
mjTRN_JOINT = 0, // force on joint
mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame
mjTRN_SLIDERCRANK, // force via slider-crank linkage
mjTRN_TENDON, // force on tendon
mjTRN_SITE, // force on site
mjTRN_BODY, // adhesion force on a body's geoms
mjTRN_UNDEFINED = 1000 // undefined transmission type
} mjtTrn;
typedef enum mjtDyn_ { // type of actuator dynamics
mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force
mjDYN_INTEGRATOR, // integrator: da/dt = u
mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau
mjDYN_FILTEREXACT, // linear filter: da/dt = (u-a) / tau, with exact integration
mjDYN_MUSCLE, // piece-wise linear filter with two time constants
mjDYN_USER // user-defined dynamics type
} mjtDyn;
typedef enum mjtGain_ { // type of actuator gain
mjGAIN_FIXED = 0, // fixed gain
mjGAIN_AFFINE, // const + kp*length + kv*velocity
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
mjGAIN_USER // user-defined gain type
} mjtGain;
typedef enum mjtBias_ { // type of actuator bias
mjBIAS_NONE = 0, // no bias
mjBIAS_AFFINE, // const + kp*length + kv*velocity
mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias()
mjBIAS_USER // user-defined bias type
} mjtBias;
typedef enum mjtObj_ { // type of MujoCo object
mjOBJ_UNKNOWN = 0, // unknown object type
mjOBJ_BODY, // body
mjOBJ_XBODY, // body, used to access regular frame instead of i-frame
mjOBJ_JOINT, // joint
mjOBJ_DOF, // dof
mjOBJ_GEOM, // geom
mjOBJ_SITE, // site
mjOBJ_CAMERA, // camera
mjOBJ_LIGHT, // light
mjOBJ_FLEX, // flex
mjOBJ_MESH, // mesh
mjOBJ_SKIN, // skin
mjOBJ_HFIELD, // heightfield
mjOBJ_TEXTURE, // texture
mjOBJ_MATERIAL, // material for rendering
mjOBJ_PAIR, // geom pair to include
mjOBJ_EXCLUDE, // body pair to exclude
mjOBJ_EQUALITY, // equality constraint
mjOBJ_TENDON, // tendon
mjOBJ_ACTUATOR, // actuator
mjOBJ_SENSOR, // sensor
mjOBJ_NUMERIC, // numeric
mjOBJ_TEXT, // text
mjOBJ_TUPLE, // tuple
mjOBJ_KEY, // keyframe
mjOBJ_PLUGIN, // plugin instance
mjNOBJECT, // number of object types
// meta elements, do not appear in mjModel
mjOBJ_FRAME = 100, // frame
mjOBJ_DEFAULT, // default
mjOBJ_MODEL // entire model
} mjtObj;
typedef enum mjtSensor_ { // type of sensor
// common robotic sensors, attached to a site
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
mjSENS_ACCELEROMETER, // 3D linear acceleration, in local frame
mjSENS_VELOCIMETER, // 3D linear velocity, in local frame
mjSENS_GYRO, // 3D angular velocity, in local frame
mjSENS_FORCE, // 3D force between site's body and its parent body
mjSENS_TORQUE, // 3D torque between site's body and its parent body
mjSENS_MAGNETOMETER, // 3D magnetometer
mjSENS_RANGEFINDER, // scalar distance to nearest geom along z-axis
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
// sensors related to scalar joints, tendons, actuators
mjSENS_JOINTPOS, // scalar joint position (hinge and slide only)
mjSENS_JOINTVEL, // scalar joint velocity (hinge and slide only)
mjSENS_TENDONPOS, // scalar tendon position
mjSENS_TENDONVEL, // scalar tendon velocity
mjSENS_ACTUATORPOS, // scalar actuator position
mjSENS_ACTUATORVEL, // scalar actuator velocity
mjSENS_ACTUATORFRC, // scalar actuator force
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
// sensors related to ball joints
mjSENS_BALLQUAT, // 4D ball joint quaternion
mjSENS_BALLANGVEL, // 3D ball joint angular velocity
// joint and tendon limit sensors, in constraint space
mjSENS_JOINTLIMITPOS, // joint limit distance-margin
mjSENS_JOINTLIMITVEL, // joint limit velocity
mjSENS_JOINTLIMITFRC, // joint limit force
mjSENS_TENDONLIMITPOS, // tendon limit distance-margin
mjSENS_TENDONLIMITVEL, // tendon limit velocity
mjSENS_TENDONLIMITFRC, // tendon limit force
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
mjSENS_FRAMEPOS, // 3D position
mjSENS_FRAMEQUAT, // 4D unit quaternion orientation
mjSENS_FRAMEXAXIS, // 3D unit vector: x-axis of object's frame
mjSENS_FRAMEYAXIS, // 3D unit vector: y-axis of object's frame
mjSENS_FRAMEZAXIS, // 3D unit vector: z-axis of object's frame
mjSENS_FRAMELINVEL, // 3D linear velocity
mjSENS_FRAMEANGVEL, // 3D angular velocity
mjSENS_FRAMELINACC, // 3D linear acceleration
mjSENS_FRAMEANGACC, // 3D angular acceleration
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
mjSENS_SUBTREECOM, // 3D center of mass of subtree
mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree
mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree
// sensors of geometric relationships
mjSENS_INSIDESITE, // 1 if object is inside a site, 0 otherwise
mjSENS_GEOMDIST, // signed distance between two geoms
mjSENS_GEOMNORMAL, // normal direction between two geoms
mjSENS_GEOMFROMTO, // segment between two geoms
// sensors for reporting contacts which occurred during the simulation
mjSENS_CONTACT, // contacts which occurred during the simulation
// global sensors
mjSENS_E_POTENTIAL, // potential energy
mjSENS_E_KINETIC, // kinetic energy
mjSENS_CLOCK, // simulation time
// sensors related to SDFs
mjSENS_TACTILE, // tactile sensor
// plugin-controlled sensors
mjSENS_PLUGIN, // plugin-controlled
// user-defined sensor
mjSENS_USER // sensor data provided by mjcb_sensor callback
} mjtSensor;
typedef enum mjtStage_ { // computation stage
mjSTAGE_NONE = 0, // no computations
mjSTAGE_POS, // position-dependent computations
mjSTAGE_VEL, // velocity-dependent computations
mjSTAGE_ACC // acceleration/force-dependent computations
} mjtStage;
typedef enum mjtDataType_ { // data type for sensors
mjDATATYPE_REAL = 0, // real values, no constraints
mjDATATYPE_POSITIVE, // positive values; 0 or negative: inactive
mjDATATYPE_AXIS, // 3D unit vector
mjDATATYPE_QUATERNION // unit quaternion
} mjtDataType;
typedef enum mjtConDataField_ { // data fields returned by contact sensors
mjCONDATA_FOUND = 0, // whether a contact was found
mjCONDATA_FORCE, // contact force
mjCONDATA_TORQUE, // contact torque
mjCONDATA_DIST, // contact penetration distance
mjCONDATA_POS, // contact position
mjCONDATA_NORMAL, // contact frame normal
mjCONDATA_TANGENT, // contact frame first tangent
mjNCONDATA // number of contact sensor data fields
} mjtConDataField;
typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
mjRAYDATA_DIST = 0, // distance from ray origin to nearest surface
mjRAYDATA_DIR, // normalized ray direction
mjRAYDATA_ORIGIN, // ray origin
mjRAYDATA_POINT, // point at which ray intersects nearest surface
mjRAYDATA_NORMAL, // surface normal at intersection point
mjRAYDATA_DEPTH, // depth along z-axis
mjNRAYDATA // number of rangefinder sensor data fields
} mjtRayDataField;
typedef enum mjtCamOutBit_ { // camera output type bitflags
mjCAMOUT_RGB = 1<<0, // RGB image
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
mjCAMOUT_NORMAL = 1<<3, // normal image
mjCAMOUT_SEG = 1<<4, // segmentation image
mjNCAMOUT = 5 // number of camera output types
} mjtCamOutBit;
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
mjSAMEFRAME_NONE = 0, // no alignment
mjSAMEFRAME_BODY, // frame is same as body frame
mjSAMEFRAME_INERTIA, // frame is same as inertial frame
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
} mjtSameFrame;
typedef enum mjtSleepPolicy_ { // per-tree sleep policy
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
mjSLEEP_NEVER, // user sleep policy: never
mjSLEEP_ALLOWED, // user sleep policy: allowed
mjSLEEP_INIT, // user sleep policy: initialized asleep
} mjtSleepPolicy;
typedef enum mjtLRMode_ { // mode for actuator length range computation
mjLRMODE_NONE = 0, // do not process any actuators
mjLRMODE_MUSCLE, // process muscle actuators
mjLRMODE_MUSCLEUSER, // process muscle and user actuators
mjLRMODE_ALL // process all actuators
} mjtLRMode;
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
mjFLEXSELF_NONE = 0, // no self-collisions
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
mjFLEXSELF_SAP, // use SAP in midphase
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
} mjtFlexSelf;
typedef enum mjtSDFType_ { // signed distance function (SDF) type
mjSDFTYPE_SINGLE = 0, // single SDF
mjSDFTYPE_INTERSECTION, // max(A, B)
mjSDFTYPE_MIDSURFACE, // A - B
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
} mjtSDFType;
struct mjLROpt_ { // options for mj_setLengthRange()
// flags
int mode; // which actuators to process (mjtLRMode)
int useexisting; // use existing length range if available
int uselimit; // use joint and tendon limits if available
// algorithm parameters
mjtNum accel; // target acceleration used to compute force
mjtNum maxforce; // maximum force; 0: no limit
mjtNum timeconst; // time constant for velocity reduction; min 0.01
mjtNum timestep; // simulation timestep; 0: use mjOption.timestep
mjtNum inttotal; // total simulation time interval
mjtNum interval; // evaluation time interval (at the end)
mjtNum tolrange; // convergence tolerance (relative to range)
};
typedef struct mjLROpt_ mjLROpt;
struct mjCache_ { // asset cache used by the compiler
void* impl_; // internal pointer to cache
};
typedef struct mjCache_ mjCache;
struct mjVFS_ { // virtual file system for loading from memory
void* impl_; // internal pointer to VFS memory
};
typedef struct mjVFS_ mjVFS;
struct mjOption_ { // physics options
// timing parameters
mjtNum timestep; // timestep
// solver parameters
mjtNum impratio; // ratio of friction-to-normal contact impedance
mjtNum tolerance; // main solver tolerance
mjtNum ls_tolerance; // CG/Newton linesearch tolerance
mjtNum noslip_tolerance; // noslip solver tolerance
mjtNum ccd_tolerance; // convex collision solver tolerance
// sleep settings
mjtNum sleep_tolerance; // sleep velocity tolerance
// physical constants
mjtNum gravity[3]; // gravitational acceleration
mjtNum wind[3]; // wind (for lift, drag and viscosity)
mjtNum magnetic[3]; // global magnetic flux
mjtNum density; // density of medium
mjtNum viscosity; // viscosity of medium
// override contact solver parameters (if enabled)
mjtNum o_margin; // margin
mjtNum o_solref[mjNREF]; // solref
mjtNum o_solimp[mjNIMP]; // solimp
mjtNum o_friction[5]; // friction
// discrete settings
int integrator; // integration mode (mjtIntegrator)
int cone; // type of friction cone (mjtCone)
int jacobian; // type of Jacobian (mjtJacobian)
int solver; // solver algorithm (mjtSolver)
int iterations; // maximum number of main solver iterations
int ls_iterations; // maximum number of CG/Newton linesearch iterations
int noslip_iterations; // maximum number of noslip solver iterations
int ccd_iterations; // maximum number of convex collision solver iterations
int disableflags; // bit flags for disabling standard features
int enableflags; // bit flags for enabling optional features
int disableactuator; // bit flags for disabling actuators by group id
// sdf collision settings
int sdf_initpoints; // number of starting points for gradient descent
int sdf_iterations; // max number of iterations for gradient descent
};
typedef struct mjOption_ mjOption;
struct mjVisual_ { // visualization options
struct { // global parameters
int cameraid; // initial camera id (-1: free)
int orthographic; // is the free camera orthographic (0: no, 1: yes)
float fovy; // y field-of-view of free camera (orthographic ? length : degree)
float ipd; // inter-pupilary distance for free camera
float azimuth; // initial azimuth of free camera (degrees)
float elevation; // initial elevation of free camera (degrees)
float linewidth; // line width for wireframe and ray rendering
float glow; // glow coefficient for selected body
float realtime; // initial real-time factor (1: real time)
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
int bvactive; // visualize active bounding volumes (0: no, 1: yes)
} global;
struct { // rendering quality
int shadowsize; // size of shadowmap texture
int offsamples; // number of multisamples for offscreen rendering
int numslices; // number of slices for builtin geom drawing
int numstacks; // number of stacks for builtin geom drawing
int numquads; // number of quads for box rendering
} quality;
struct { // head light
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
int active; // is headlight active
} headlight;
struct { // mapping
float stiffness; // mouse perturbation stiffness (space->force)
float stiffnessrot; // mouse perturbation stiffness (space->torque)
float force; // from force units to space units
float torque; // from torque units to space units
float alpha; // scale geom alphas when transparency is enabled
float fogstart; // OpenGL fog starts at fogstart * mjModel.stat.extent
float fogend; // OpenGL fog ends at fogend * mjModel.stat.extent
float znear; // near clipping plane = znear * mjModel.stat.extent
float zfar; // far clipping plane = zfar * mjModel.stat.extent
float haze; // haze ratio
float shadowclip; // directional light: shadowclip * mjModel.stat.extent
float shadowscale; // spot light: shadowscale * light.cutoff
float actuatortendon; // scale tendon width
} map;
struct { // scale of decor elements relative to mean body size
float forcewidth; // width of force arrow
float contactwidth; // contact width
float contactheight; // contact height
float connect; // autoconnect capsule width
float com; // com radius
float camera; // camera object
float light; // light object
float selectpoint; // selection point
float jointlength; // joint length
float jointwidth; // joint width
float actuatorlength; // actuator length
float actuatorwidth; // actuator width
float framelength; // bodyframe axis length
float framewidth; // bodyframe axis width
float constraint; // constraint width
float slidercrank; // slidercrank width
float frustum; // frustum zfar plane
} scale;
struct { // color of decor elements
float fog[4]; // fog
float haze[4]; // haze
float force[4]; // external force
float inertia[4]; // inertia box
float joint[4]; // joint
float actuator[4]; // actuator, neutral
float actuatornegative[4]; // actuator, negative limit
float actuatorpositive[4]; // actuator, positive limit
float com[4]; // center of mass
float camera[4]; // camera object
float light[4]; // light object
float selectpoint[4]; // selection point
float connect[4]; // auto connect
float contactpoint[4]; // contact point
float contactforce[4]; // contact force
float contactfriction[4]; // contact friction force
float contacttorque[4]; // contact torque
float contactgap[4]; // contact point in gap
float rangefinder[4]; // rangefinder ray
float constraint[4]; // constraint
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
float frustum[4]; // camera frustum
float bv[4]; // bounding volume
float bvactive[4]; // active bounding volume
} rgba;
};
typedef struct mjVisual_ mjVisual;
struct mjStatistic_ { // model statistics (in qpos0)
mjtNum meaninertia; // mean diagonal inertia
mjtNum meanmass; // mean body mass
mjtNum meansize; // mean body size
mjtNum extent; // spatial extent
mjtNum center[3]; // center of model
};
typedef struct mjStatistic_ mjStatistic;
struct mjModel_ {
// ------------------------------- sizes
// sizes needed at mjModel construction
mjtSize nq; // number of generalized coordinates = dim(qpos)
mjtSize nv; // number of degrees of freedom = dim(qvel)
mjtSize nu; // number of actuators/controls = dim(ctrl)
mjtSize na; // number of activation states = dim(act)
mjtSize nbody; // number of bodies
mjtSize nbvh; // number of total bounding volumes in all bodies
mjtSize nbvhstatic; // number of static bounding volumes (aabb stored in mjModel)
mjtSize nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
mjtSize noct; // number of total octree cells in all meshes
mjtSize njnt; // number of joints
mjtSize ntree; // number of kinematic trees under world body
mjtSize nM; // number of non-zeros in sparse inertia matrix
mjtSize nB; // number of non-zeros in sparse body-dof matrix
mjtSize nC; // number of non-zeros in sparse reduced dof-dof matrix
mjtSize nD; // number of non-zeros in sparse dof-dof matrix
mjtSize ngeom; // number of geoms
mjtSize nsite; // number of sites
mjtSize ncam; // number of cameras
mjtSize nlight; // number of lights
mjtSize nflex; // number of flexes
mjtSize nflexnode; // number of dofs in all flexes
mjtSize nflexvert; // number of vertices in all flexes
mjtSize nflexedge; // number of edges in all flexes
mjtSize nflexelem; // number of elements in all flexes
mjtSize nflexelemdata; // number of element vertex ids in all flexes
mjtSize nflexelemedge; // number of element edge ids in all flexes
mjtSize nflexshelldata; // number of shell fragment vertex ids in all flexes
mjtSize nflexevpair; // number of element-vertex pairs in all flexes
mjtSize nflextexcoord; // number of vertices with texture coordinates
mjtSize nJfe; // number of non-zeros in sparse flexedge Jacobian matrix
mjtSize nJfv; // number of non-zeros in sparse flexvert Jacobian matrix
mjtSize nmesh; // number of meshes
mjtSize nmeshvert; // number of vertices in all meshes
mjtSize nmeshnormal; // number of normals in all meshes
mjtSize nmeshtexcoord; // number of texcoords in all meshes
mjtSize nmeshface; // number of triangular faces in all meshes
mjtSize nmeshgraph; // number of ints in mesh auxiliary data
mjtSize nmeshpoly; // number of polygons in all meshes
mjtSize nmeshpolyvert; // number of vertices in all polygons
mjtSize nmeshpolymap; // number of polygons in vertex map
mjtSize nskin; // number of skins
mjtSize nskinvert; // number of vertices in all skins
mjtSize nskintexvert; // number of vertices with texcoords in all skins
mjtSize nskinface; // number of triangular faces in all skins
mjtSize nskinbone; // number of bones in all skins
mjtSize nskinbonevert; // number of vertices in all skin bones
mjtSize nhfield; // number of heightfields
mjtSize nhfielddata; // number of data points in all heightfields
mjtSize ntex; // number of textures
mjtSize ntexdata; // number of bytes in texture rgb data
mjtSize nmat; // number of materials
mjtSize npair; // number of predefined geom pairs
mjtSize nexclude; // number of excluded geom pairs
mjtSize neq; // number of equality constraints
mjtSize ntendon; // number of tendons
mjtSize nwrap; // number of wrap objects in all tendon paths
mjtSize nsensor; // number of sensors
mjtSize nnumeric; // number of numeric custom fields
mjtSize nnumericdata; // number of mjtNums in all numeric fields
mjtSize ntext; // number of text custom fields
mjtSize ntextdata; // number of mjtBytes in all text fields
mjtSize ntuple; // number of tuple custom fields
mjtSize ntupledata; // number of objects in all tuple fields
mjtSize nkey; // number of keyframes
mjtSize nmocap; // number of mocap bodies
mjtSize nplugin; // number of plugin instances
mjtSize npluginattr; // number of chars in all plugin config attributes
mjtSize nuser_body; // number of mjtNums in body_user
mjtSize nuser_jnt; // number of mjtNums in jnt_user
mjtSize nuser_geom; // number of mjtNums in geom_user
mjtSize nuser_site; // number of mjtNums in site_user
mjtSize nuser_cam; // number of mjtNums in cam_user
mjtSize nuser_tendon; // number of mjtNums in tendon_user
mjtSize nuser_actuator; // number of mjtNums in actuator_user
mjtSize nuser_sensor; // number of mjtNums in sensor_user
mjtSize nnames; // number of chars in all names
mjtSize npaths; // number of chars in all paths
// sizes set after mjModel construction
mjtSize nnames_map; // number of slots in the names hash map
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize ngravcomp; // number of bodies with nonzero gravcomp
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
mjtSize nconmax; // number of potential contacts in contact list (legacy)
mjtSize nuserdata; // number of mjtNums reserved for the user
mjtSize nsensordata; // number of mjtNums in sensor data vector
mjtSize npluginstate; // number of mjtNums in plugin state vector
// buffer sizes
mjtSize narena; // number of bytes in the mjData arena (inclusive of stack)
mjtSize nbuffer; // number of bytes in buffer
// ------------------------------- options and statistics
mjOption opt; // physics options
mjVisual vis; // visualization options
mjStatistic stat; // model statistics
// ------------------------------- buffers
// main buffer
void* buffer; // main buffer; all pointers point in it (nbuffer)
// default generalized coordinates
mjtNum* qpos0; // qpos values at default pose (nq x 1)
mjtNum* qpos_spring; // reference pose for springs (nq x 1)
// bodies
int* body_parentid; // id of body's parent (nbody x 1)
int* body_rootid; // ancestor that is direct child of world (nbody x 1)
int* body_weldid; // top ancestor with no dofs to this body (nbody x 1)
int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
int* body_jntnum; // number of joints for this body (nbody x 1)
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
int* body_treeid; // id of body's kinematic tree; -1: static (nbody x 1)
int* body_geomnum; // number of geoms (nbody x 1)
int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
mjtByte* body_simple; // 1: diag M; 2: diag M, sliders only (nbody x 1)
mjtByte* body_sameframe; // same frame as inertia (mjtSameframe) (nbody x 1)
mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
mjtNum* body_ipos; // local position of center of mass (nbody x 3)
mjtNum* body_iquat; // local orientation of inertia ellipsoid (nbody x 4)
mjtNum* body_mass; // mass (nbody x 1)
mjtNum* body_subtreemass; // mass of subtree starting at this body (nbody x 1)
mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
mjtNum* body_margin; // MAX over all geom margins (nbody x 1)
mjtNum* body_user; // user data (nbody x nuser_body)
int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
int* body_contype; // OR over all geom contypes (nbody x 1)
int* body_conaffinity; // OR over all geom conaffinities (nbody x 1)
int* body_bvhadr; // address of bvh root (nbody x 1)
int* body_bvhnum; // number of bounding volumes (nbody x 1)
// bounding volume hierarchy
int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
int* bvh_child; // left and right children in tree (nbvh x 2)
int* bvh_nodeid; // geom or elem id of node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // local bounding box (center, size) (nbvhstatic x 6)
// octree spatial partitioning
int* oct_depth; // depth in the octree (noct x 1)
int* oct_child; // children of octree node (noct x 8)
mjtNum* oct_aabb; // octree node bounding box (center, size) (noct x 6)
mjtNum* oct_coeff; // octree interpolation coefficients (noct x 8)
// joints
int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_group; // group for visibility (njnt x 1)
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
mjtByte* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
mjtNum* jnt_pos; // local anchor position (njnt x 3)
mjtNum* jnt_axis; // local joint axis (njnt x 3)
mjtNum* jnt_stiffness; // stiffness coefficient (njnt x 1)
mjtNum* jnt_range; // joint limits (njnt x 2)
mjtNum* jnt_actfrcrange; // range of total actuator force (njnt x 2)
mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
mjtNum* jnt_user; // user data (njnt x nuser_jnt)
// dofs
int* dof_bodyid; // id of dof's body (nv x 1)
int* dof_jntid; // id of dof's joint (nv x 1)
int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
int* dof_treeid; // id of dof's kinematic tree (nv x 1)
int* dof_Madr; // dof address in M-diagonal (nv x 1)
int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
mjtNum* dof_damping; // damping coefficient (nv x 1)
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
mjtNum* dof_length; // linear: 1; angular: approx. length scale (nv x 1)
// trees
int* tree_bodyadr; // start addr of bodies (ntree x 1)
int* tree_bodynum; // number of bodies in tree (ntree x 1)
int* tree_dofadr; // start addr of dofs (ntree x 1)
int* tree_dofnum; // number of dofs in tree (ntree x 1)
int* tree_sleep_policy; // sleep policy (mjtSleepPolicy) (ntree x 1)
// geoms
int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
int* geom_contype; // geom contact type (ngeom x 1)
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
int* geom_bodyid; // id of geom's body (ngeom x 1)
int* geom_dataid; // id of geom's mesh/hfield; -1: none (ngeom x 1)
int* geom_matid; // material id for rendering; -1: none (ngeom x 1)
int* geom_group; // group for visibility (ngeom x 1)
int* geom_priority; // geom contact priority (ngeom x 1)
int* geom_plugin; // plugin instance id; -1: not in use (ngeom x 1)
mjtByte* geom_sameframe; // same frame as body (mjtSameframe) (ngeom x 1)
mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
mjtNum* geom_size; // geom-specific size parameters (ngeom x 3)
mjtNum* geom_aabb; // bounding box, (center, size) (ngeom x 6)
mjtNum* geom_rbound; // radius of bounding sphere (ngeom x 1)
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
// sites
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
int* site_bodyid; // id of site's body (nsite x 1)
int* site_matid; // material id for rendering; -1: none (nsite x 1)
int* site_group; // group for visibility (nsite x 1)
mjtByte* site_sameframe; // same frame as body (mjtSameframe) (nsite x 1)
mjtNum* site_size; // geom size for rendering (nsite x 3)
mjtNum* site_pos; // local position offset rel. to body (nsite x 3)
mjtNum* site_quat; // local orientation offset rel. to body (nsite x 4)
mjtNum* site_user; // user data (nsite x nuser_site)
float* site_rgba; // rgba when material is omitted (nsite x 4)
// cameras
int* cam_mode; // camera tracking mode (mjtCamLight) (ncam x 1)
int* cam_bodyid; // id of camera's body (ncam x 1)
int* cam_targetbodyid; // id of targeted body; -1: none (ncam x 1)
mjtNum* cam_pos; // position rel. to body frame (ncam x 3)
mjtNum* cam_quat; // orientation rel. to body frame (ncam x 4)
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
int* cam_projection; // projection type (mjtProjection) (ncam x 1)
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
int* cam_output; // output types (mjtCamOut bit flags) (ncam x 1)
float* cam_sensorsize; // sensor size: length [width, height] (ncam x 2)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
mjtNum* cam_user; // user data (ncam x nuser_cam)
// lights
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
int* light_bodyid; // id of light's body (nlight x 1)
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
int* light_type; // spot, directional, etc. (mjtLightType) (nlight x 1)
int* light_texid; // texture id for image lights (nlight x 1)
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
float* light_intensity; // intensity, in candela (nlight x 1)
float* light_range; // range of effectiveness (nlight x 1)
mjtByte* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
float* light_attenuation; // OpenGL attenuation (quadratic model) (nlight x 3)
float* light_cutoff; // OpenGL cutoff (nlight x 1)
float* light_exponent; // OpenGL exponent (nlight x 1)
float* light_ambient; // ambient rgb (alpha=1) (nlight x 3)
float* light_diffuse; // diffuse rgb (alpha=1) (nlight x 3)
float* light_specular; // specular rgb (alpha=1) (nlight x 3)
// flexes: contact properties
int* flex_contype; // flex contact type (nflex x 1)
int* flex_conaffinity; // flex contact affinity (nflex x 1)
int* flex_condim; // contact dimensionality (1, 3, 4, 6) (nflex x 1)
int* flex_priority; // flex contact priority (nflex x 1)
mjtNum* flex_solmix; // mix coef for solref/imp in contact pair (nflex x 1)
mjtNum* flex_solref; // constraint solver reference: contact (nflex x mjNREF)
mjtNum* flex_solimp; // constraint solver impedance: contact (nflex x mjNIMP)
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
mjtNum* flex_margin; // detect contact if dist<margin (nflex x 1)
mjtNum* flex_gap; // include in solver if dist<margin-gap (nflex x 1)
mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
int* flex_passive; // passive collisions enabled (nflex x 1)
// flexes: other properties
int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)
int* flex_matid; // material id for rendering (nflex x 1)
int* flex_group; // group for visibility (nflex x 1)
int* flex_interp; // interpolation (0: vertex, 1: nodes) (nflex x 1)
int* flex_nodeadr; // first node address (nflex x 1)
int* flex_nodenum; // number of nodes (nflex x 1)
int* flex_vertadr; // first vertex address (nflex x 1)
int* flex_vertnum; // number of vertices (nflex x 1)
int* flex_edgeadr; // first edge address (nflex x 1)
int* flex_edgenum; // number of edges (nflex x 1)
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
int* flex_evpairadr; // first evpair address (nflex x 1)
int* flex_evpairnum; // number of evpairs (nflex x 1)
int* flex_texcoordadr; // address in flex_texcoord; -1: none (nflex x 1)
int* flex_nodebodyid; // node body ids (nflexnode x 1)
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_vertedgeadr; // first edge address (nflexvert x 1)
int* flex_vertedgenum; // number of edges (nflexvert x 1)
int* flex_vertedge; // edge indices (nflexedge x 2)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_edgeflap; // adjacent vertex ids (dim=2 only) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
int* flex_elemtexcoord; // element texture coordinates (dim+1) (nflexelemdata x 1)
int* flex_elemedge; // element edge ids (nflexelemedge x 1)
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
mjtNum* flex_vert; // vertex positions in local body frames (nflexvert x 3)
mjtNum* flex_vert0; // vertex positions in qpos0 on [0, 1]^d (nflexvert x 3)
mjtNum* flex_vertmetric; // inverse of reference shape matrix (nflexvert x 4)
mjtNum* flex_node; // node positions in local body frames (nflexnode x 3)
mjtNum* flex_node0; // Cartesian node positions in qpos0 (nflexnode x 3)
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_size; // vertex bounding box half sizes in qpos0 (nflex x 3)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_bending; // bending stiffness (nflexedge x 17)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
int* flex_edgeequality; // 0: none, 1: edges, 2: vertices (nflex x 1)
mjtByte* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtByte* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtByte* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtByte* flex_flatskin; // render flex skin with flat shading (nflex x 1)
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nJfe x 1)
int* flexvert_J_rownnz; // number of non-zeros in Jacobian row (nflexvert x 2)
int* flexvert_J_rowadr; // row start address in colind array (nflexvert x 2)
int* flexvert_J_colind; // column indices in sparse Jacobian (nJfv x 2)
float* flex_rgba; // rgba when material is omitted (nflex x 4)
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)
// meshes
int* mesh_vertadr; // first vertex address (nmesh x 1)
int* mesh_vertnum; // number of vertices (nmesh x 1)
int* mesh_faceadr; // first face address (nmesh x 1)
int* mesh_facenum; // number of faces (nmesh x 1)
int* mesh_bvhadr; // address of bvh root (nmesh x 1)
int* mesh_bvhnum; // number of bvh (nmesh x 1)
int* mesh_octadr; // address of octree root (nmesh x 1)
int* mesh_octnum; // number of octree nodes (nmesh x 1)
int* mesh_normaladr; // first normal address (nmesh x 1)
int* mesh_normalnum; // number of normals (nmesh x 1)
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
int* mesh_face; // vertex face data (nmeshface x 3)
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
mjtNum* mesh_scale; // scaling applied to asset vertices (nmesh x 3)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
int* mesh_polynum; // number of polygons per mesh (nmesh x 1)
int* mesh_polyadr; // first polygon address per mesh (nmesh x 1)
mjtNum* mesh_polynormal; // all polygon normals (nmeshpoly x 3)
int* mesh_polyvertadr; // polygon vertex start address (nmeshpoly x 1)
int* mesh_polyvertnum; // number of vertices per polygon (nmeshpoly x 1)
int* mesh_polyvert; // all polygon vertices (nmeshpolyvert x 1)
int* mesh_polymapadr; // first polygon address per vertex (nmeshvert x 1)
int* mesh_polymapnum; // number of polygons per vertex (nmeshvert x 1)
int* mesh_polymap; // vertex to polygon map (nmeshpolymap x 1)
// skins
int* skin_matid; // skin material id; -1: none (nskin x 1)
int* skin_group; // group for visibility (nskin x 1)
float* skin_rgba; // skin rgba (nskin x 4)
float* skin_inflate; // inflate skin in normal direction (nskin x 1)
int* skin_vertadr; // first vertex address (nskin x 1)
int* skin_vertnum; // number of vertices (nskin x 1)
int* skin_texcoordadr; // texcoord data address; -1: no texcoord (nskin x 1)
int* skin_faceadr; // first face address (nskin x 1)
int* skin_facenum; // number of faces (nskin x 1)
int* skin_boneadr; // first bone in skin (nskin x 1)
int* skin_bonenum; // number of bones in skin (nskin x 1)
float* skin_vert; // vertex positions for all skin meshes (nskinvert x 3)
float* skin_texcoord; // vertex texcoords for all skin meshes (nskintexvert x 2)
int* skin_face; // triangle faces for all skin meshes (nskinface x 3)
int* skin_bonevertadr; // first vertex in each bone (nskinbone x 1)
int* skin_bonevertnum; // number of vertices in each bone (nskinbone x 1)
float* skin_bonebindpos; // bind pos of each bone (nskinbone x 3)
float* skin_bonebindquat; // bind quat of each bone (nskinbone x 4)
int* skin_bonebodyid; // body id of each bone (nskinbone x 1)
int* skin_bonevertid; // mesh ids of vertices in each bone (nskinbonevert x 1)
float* skin_bonevertweight; // weights of vertices in each bone (nskinbonevert x 1)
int* skin_pathadr; // address of asset path for skin; -1: none (nskin x 1)
// height fields
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
int* hfield_pathadr; // address of hfield asset path; -1: none (nhfield x 1)
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_nchannel; // number of channels in texture image (ntex x 1)
int* tex_adr; // start address in tex_data (ntex x 1)
mjtByte* tex_data; // pixel values (ntexdata x 1)
int* tex_pathadr; // address of texture asset path; -1: none (ntex x 1)
// materials
int* mat_texid; // indices of textures; -1: none (nmat x mjNTEXROLE)
mjtByte* mat_texuniform; // make texture cube uniform (nmat x 1)
float* mat_texrepeat; // texture repetition for 2d mapping (nmat x 2)
float* mat_emission; // emission (x rgb) (nmat x 1)
float* mat_specular; // specular (x white) (nmat x 1)
float* mat_shininess; // shininess coef (nmat x 1)
float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
float* mat_metallic; // metallic coef (nmat x 1)
float* mat_roughness; // roughness coef (nmat x 1)
float* mat_rgba; // rgba (nmat x 4)
// predefined geom pairs for collision detection; has precedence over exclude
int* pair_dim; // contact dimensionality (npair x 1)
int* pair_geom1; // id of geom1 (npair x 1)
int* pair_geom2; // id of geom2 (npair x 1)
int* pair_signature; // body1 << 16 + body2 (npair x 1)
mjtNum* pair_solref; // solver reference: contact normal (npair x mjNREF)
mjtNum* pair_solreffriction; // solver reference: contact friction (npair x mjNREF)
mjtNum* pair_solimp; // solver impedance: contact (npair x mjNIMP)
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
mjtNum* pair_gap; // include in solver if dist<margin-gap (npair x 1)
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
int* exclude_signature; // body1 << 16 + body2 (nexclude x 1)
// equality constraints
int* eq_type; // constraint type (mjtEq) (neq x 1)
int* eq_obj1id; // id of object 1 (neq x 1)
int* eq_obj2id; // id of object 2 (neq x 1)
int* eq_objtype; // type of both objects (mjtObj) (neq x 1)
mjtByte* eq_active0; // initial enable/disable constraint state (neq x 1)
mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
mjtNum* eq_data; // numeric data for constraint (neq x mjNEQDATA)
// tendons
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
mjtNum* tendon_range; // tendon length limits (ntendon x 2)
mjtNum* tendon_actfrcrange; // range of total actuator force (ntendon x 2)
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
mjtNum* tendon_armature; // inertia associated with tendon velocity (ntendon x 1)
mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
mjtNum* tendon_lengthspring; // spring resting length range (ntendon x 2)
mjtNum* tendon_length0; // tendon length in qpos0 (ntendon x 1)
mjtNum* tendon_invweight0; // inv. weight in qpos0 (ntendon x 1)
mjtNum* tendon_user; // user data (ntendon x nuser_tendon)
float* tendon_rgba; // rgba when material is omitted (ntendon x 4)
// list of all wrap objects in tendon paths
int* wrap_type; // wrap object type (mjtWrap) (nwrap x 1)
int* wrap_objid; // object id: geom, site, joint (nwrap x 1)
mjtNum* wrap_prm; // divisor, joint coef, or site id (nwrap x 1)
// actuators
int* actuator_trntype; // transmission type (mjtTrn) (nu x 1)
int* actuator_dyntype; // dynamics type (mjtDyn) (nu x 1)
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
mjtByte* actuator_ctrllimited; // is control limited (nu x 1)
mjtByte* actuator_forcelimited;// is force limited (nu x 1)
mjtByte* actuator_actlimited; // is activation limited (nu x 1)
mjtNum* actuator_dynprm; // dynamics parameters (nu x mjNDYN)
mjtNum* actuator_gainprm; // gain parameters (nu x mjNGAIN)
mjtNum* actuator_biasprm; // bias parameters (nu x mjNBIAS)
mjtByte* actuator_actearly; // step activation before force (nu x 1)
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
mjtNum* actuator_forcerange; // range of forces (nu x 2)
mjtNum* actuator_actrange; // range of activations (nu x 2)
mjtNum* actuator_gear; // scale length and transmitted force (nu x 6)
mjtNum* actuator_cranklength; // crank length for slider-crank (nu x 1)
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nu x 1)
mjtNum* actuator_length0; // actuator length in qpos0 (nu x 1)
mjtNum* actuator_lengthrange; // feasible actuator length range (nu x 2)
mjtNum* actuator_user; // user data (nu x nuser_actuator)
int* actuator_plugin; // plugin instance id; -1: not a plugin (nu x 1)
// sensors
int* sensor_type; // sensor type (mjtSensor) (nsensor x 1)
int* sensor_datatype; // numeric data type (mjtDataType) (nsensor x 1)
int* sensor_needstage; // required compute stage (mjtStage) (nsensor x 1)
int* sensor_objtype; // type of sensorized object (mjtObj) (nsensor x 1)
int* sensor_objid; // id of sensorized object (nsensor x 1)
int* sensor_reftype; // type of reference frame (mjtObj) (nsensor x 1)
int* sensor_refid; // id of reference frame; -1: global frame (nsensor x 1)
int* sensor_intprm; // sensor parameters (nsensor x mjNSENS)
int* sensor_dim; // number of scalar outputs (nsensor x 1)
int* sensor_adr; // address in sensor array (nsensor x 1)
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
mjtNum* sensor_noise; // noise standard deviation (nsensor x 1)
mjtNum* sensor_user; // user data (nsensor x nuser_sensor)
int* sensor_plugin; // plugin instance id; -1: not a plugin (nsensor x 1)
// plugin instances
int* plugin; // globally registered plugin slot number (nplugin x 1)
int* plugin_stateadr; // address in the plugin state array (nplugin x 1)
int* plugin_statenum; // number of states in the plugin instance (nplugin x 1)
char* plugin_attr; // config attributes of plugin instances (npluginattr x 1)
int* plugin_attradr; // address to each instance's config attrib (nplugin x 1)
// custom numeric fields
int* numeric_adr; // address of field in numeric_data (nnumeric x 1)
int* numeric_size; // size of numeric field (nnumeric x 1)
mjtNum* numeric_data; // array of all numeric fields (nnumericdata x 1)
// custom text fields
int* text_adr; // address of text in text_data (ntext x 1)
int* text_size; // size of text field (strlen+1) (ntext x 1)
char* text_data; // array of all text fields (0-terminated) (ntextdata x 1)
// custom tuple fields
int* tuple_adr; // address of text in text_data (ntuple x 1)
int* tuple_size; // number of objects in tuple (ntuple x 1)
int* tuple_objtype; // array of object types in all tuples (ntupledata x 1)
int* tuple_objid; // array of object ids in all tuples (ntupledata x 1)
mjtNum* tuple_objprm; // array of object params in all tuples (ntupledata x 1)
// keyframes
mjtNum* key_time; // key time (nkey x 1)
mjtNum* key_qpos; // key position (nkey x nq)
mjtNum* key_qvel; // key velocity (nkey x nv)
mjtNum* key_act; // key activation (nkey x na)
mjtNum* key_mpos; // key mocap position (nkey x nmocap*3)
mjtNum* key_mquat; // key mocap quaternion (nkey x nmocap*4)
mjtNum* key_ctrl; // key control (nkey x nu)
// names
int* name_bodyadr; // body name pointers (nbody x 1)
int* name_jntadr; // joint name pointers (njnt x 1)
int* name_geomadr; // geom name pointers (ngeom x 1)
int* name_siteadr; // site name pointers (nsite x 1)
int* name_camadr; // camera name pointers (ncam x 1)
int* name_lightadr; // light name pointers (nlight x 1)
int* name_flexadr; // flex name pointers (nflex x 1)
int* name_meshadr; // mesh name pointers (nmesh x 1)
int* name_skinadr; // skin name pointers (nskin x 1)
int* name_hfieldadr; // hfield name pointers (nhfield x 1)
int* name_texadr; // texture name pointers (ntex x 1)
int* name_matadr; // material name pointers (nmat x 1)
int* name_pairadr; // geom pair name pointers (npair x 1)
int* name_excludeadr; // exclude name pointers (nexclude x 1)
int* name_eqadr; // equality constraint name pointers (neq x 1)
int* name_tendonadr; // tendon name pointers (ntendon x 1)
int* name_actuatoradr; // actuator name pointers (nu x 1)
int* name_sensoradr; // sensor name pointers (nsensor x 1)
int* name_numericadr; // numeric name pointers (nnumeric x 1)
int* name_textadr; // text name pointers (ntext x 1)
int* name_tupleadr; // tuple name pointers (ntuple x 1)
int* name_keyadr; // keyframe name pointers (nkey x 1)
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
char* names; // names of all objects, 0-terminated (nnames x 1)
int* names_map; // internal hash map of names (nnames_map x 1)
// paths
char* paths; // paths to assets, 0-terminated (npaths x 1)
// sparse structures
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: row addresses (nbody x 1)
int* B_colind; // body-dof: column indices (nB x 1)
int* M_rownnz; // reduced inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // reduced inertia: row addresses (nv x 1)
int* M_colind; // reduced inertia: column indices (nC x 1)
int* mapM2M; // index mapping from qM to M (nC x 1)
int* D_rownnz; // full inertia: non-zeros in each row (nv x 1)
int* D_rowadr; // full inertia: row addresses (nv x 1)
int* D_diag; // full inertia: index of diagonal element (nv x 1)
int* D_colind; // full inertia: column indices (nD x 1)
int* mapM2D; // index mapping from M to D (nD x 1)
int* mapD2M; // index mapping from D to M (nC x 1)
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled this model
};
typedef struct mjModel_ mjModel;
struct mjResource_ {
char* name; // name of resource (filename, etc)
void* data; // opaque data pointer
mjVFS* vfs; // pointer to the VFS
char timestamp[512]; // timestamp of the resource
const struct mjpResourceProvider* provider; // pointer to the provider
};
typedef struct mjResource_ mjResource;
struct mjpResourceProvider {
const char* prefix; // prefix for match against a resource name
mjfOpenResource open; // opening callback
mjfReadResource read; // reading callback
mjfCloseResource close; // closing callback
mjfMountResource mount; // mounting callback (optional)
mjfUnmountResource unmount; // unmounting callback (optional)
mjfResourceModified modified; // resource modified callback (optional)
void* data; // opaque data pointer (resource invariant)
};
typedef struct mjpResourceProvider mjpResourceProvider;
struct mjpDecoder {
const char* content_type;
const char* extension;
// user-facing functions
mjfCanDecode can_decode; // quickly check if this decoder can handle the resource
mjfDecode decode; // main decoding function
// the caller takes ownership of the spec returned by decode and is responsible
// for cleaning it up
};
typedef struct mjpDecoder mjpDecoder;
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0, // actuator forces
mjPLUGIN_SENSOR = 1<<1, // sensor measurements
mjPLUGIN_PASSIVE = 1<<2, // passive forces
mjPLUGIN_SDF = 1<<3, // signed distance fields
} mjtPluginCapabilityBit;
struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes
int capabilityflags; // plugin capabilities: bitfield of mjtPluginCapabilityBit
int needstage; // sensor computation stage (mjtStage)
// number of mjtNums needed to store the state of a plugin instance (required)
int (*nstate)(const mjModel* m, int instance);
// dimension of the specified sensor's output (required only for sensor plugins)
int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
// called when a new mjData is being created (required), returns 0 on success or -1 on failure
int (*init)(const mjModel* m, mjData* d, int instance);
// called when an mjData is being freed (optional)
void (*destroy)(mjData* d, int instance);
// called when an mjData is being copied (optional)
void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
// called when an mjData is being reset (required)
void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
// called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
// called when time integration occurs (optional)
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
// methods specific to actuators (optional)
// updates the actuator plugin's entries in act_dot
// called after native act_dot is computed and before the compute callback
void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
// methods specific to signed distance fields (optional)
// signed distance from the surface
mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
// gradient of distance with respect to local coordinates
void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
// called during compilation for marching cubes
mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
// convert attributes and provide defaults if not present
void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
// bounding box of implicit surface
void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
};
typedef struct mjpPlugin_ mjpPlugin;
struct mjSDF_ {
const mjpPlugin** plugin;
int* id;
mjtSDFType type;
mjtNum* relpos;
mjtNum* relmat;
mjtGeom* geomtype;
};
typedef struct mjSDF_ mjSDF;
typedef enum mjtGridPos_ { // grid position for overlay
mjGRID_TOPLEFT = 0, // top left
mjGRID_TOPRIGHT, // top right
mjGRID_BOTTOMLEFT, // bottom left
mjGRID_BOTTOMRIGHT, // bottom right
mjGRID_TOP, // top center
mjGRID_BOTTOM, // bottom center
mjGRID_LEFT, // left center
mjGRID_RIGHT // right center
} mjtGridPos;
typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
mjFB_WINDOW = 0, // default/window buffer
mjFB_OFFSCREEN // offscreen buffer
} mjtFramebuffer;
typedef enum mjtDepthMap_ { // depth mapping for `mjr_readPixels`
mjDEPTH_ZERONEAR = 0, // standard depth map; 0: znear, 1: zfar
mjDEPTH_ZEROFAR = 1 // reversed depth map; 1: znear, 0: zfar
} mjtDepthMap;
typedef enum mjtFontScale_ { // font scale, used at context creation
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
mjFONTSCALE_150 = 150, // 150% scale
mjFONTSCALE_200 = 200, // 200% scale
mjFONTSCALE_250 = 250, // 250% scale
mjFONTSCALE_300 = 300 // 300% scale
} mjtFontScale;
typedef enum mjtFont_ { // font type, used at each text operation
mjFONT_NORMAL = 0, // normal font
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
mjFONT_BIG // big font (for user alerts)
} mjtFont;
struct mjrRect_ { // OpenGL rectangle
int left; // left (usually 0)
int bottom; // bottom (usually 0)
int width; // width (usually buffer width)
int height; // height (usually buffer height)
};
typedef struct mjrRect_ mjrRect;
struct mjrContext_ { // custom OpenGL context
// parameters copied from mjVisual
float lineWidth; // line width for wireframe rendering
float shadowClip; // clipping radius for directional lights
float shadowScale; // fraction of light cutoff for spot lights
float fogStart; // fog start = stat.extent * vis.map.fogstart
float fogEnd; // fog end = stat.extent * vis.map.fogend
float fogRGBA[4]; // fog rgba
int shadowSize; // size of shadow map texture
int offWidth; // width of offscreen buffer
int offHeight; // height of offscreen buffer
int offSamples; // number of offscreen buffer multisamples
// parameters specified at creation
int fontScale; // font scale
int auxWidth[mjNAUX]; // auxiliary buffer width
int auxHeight[mjNAUX]; // auxiliary buffer height
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
// offscreen rendering objects
unsigned int offFBO; // offscreen framebuffer object
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
unsigned int offColor; // offscreen color buffer
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
unsigned int offDepthStencil; // offscreen depth and stencil buffer
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for multisamples
// shadow rendering objects
unsigned int shadowFBO; // shadow map framebuffer object
unsigned int shadowTex; // shadow map texture
// auxiliary buffers
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
// materials with textures
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // uniform cube mapping
float mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
// texture objects and info
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions
unsigned int basePlane; // all planes from model
unsigned int baseMesh; // all meshes from model
unsigned int baseHField; // all height fields from model
unsigned int baseBuiltin; // all builtin geoms, with quality from model
unsigned int baseFontNormal; // normal font
unsigned int baseFontShadow; // shadow font
unsigned int baseFontBig; // big font
// displaylist ranges
int rangePlane; // all planes from model
int rangeMesh; // all meshes from model
int rangeHField; // all hfields from model
int rangeBuiltin; // all builtin geoms, with quality from model
int rangeFont; // all characters in font
// skin VBOs
int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info
int charWidth[127]; // character widths: normal and shadow
int charWidthBig[127]; // character widths: big
int charHeight; // character heights: normal and shadow
int charHeightBig; // character heights: big
// capabilities
int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer
int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels
// depth output format
int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
};
typedef struct mjrContext_ mjrContext;
typedef enum mjtGeomInertia_ { // type of inertia inference
mjINERTIA_VOLUME = 0, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia;
typedef enum mjtMeshInertia_ { // type of mesh inertia
mjMESH_INERTIA_CONVEX = 0, // convex mesh inertia
mjMESH_INERTIA_EXACT, // exact mesh inertia
mjMESH_INERTIA_LEGACY, // legacy mesh inertia
mjMESH_INERTIA_SHELL // shell mesh inertia
} mjtMeshInertia;
typedef enum mjtMeshBuiltin_ { // type of built-in procedural mesh
mjMESH_BUILTIN_NONE = 0, // no built-in mesh
mjMESH_BUILTIN_SPHERE, // sphere
mjMESH_BUILTIN_HEMISPHERE, // hemisphere
mjMESH_BUILTIN_CONE, // cone
mjMESH_BUILTIN_SUPERSPHERE, // supersphere
mjMESH_BUILTIN_SUPERTORUS, // supertorus
mjMESH_BUILTIN_WEDGE, // wedge
mjMESH_BUILTIN_PLATE, // plate
} mjtMeshBuiltin;
typedef enum mjtBuiltin_ { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
mjBUILTIN_FLAT // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
} mjtBuiltin;
typedef enum mjtMark_ { // mark type for procedural textures
mjMARK_NONE = 0, // no mark
mjMARK_EDGE, // edges
mjMARK_CROSS, // cross
mjMARK_RANDOM // random dots
} mjtMark;
typedef enum mjtLimited_ { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
} mjtLimited;
typedef enum mjtAlignFree_ { // whether to align free joints with the inertial frame
mjALIGNFREE_FALSE = 0, // don't align
mjALIGNFREE_TRUE, // align
mjALIGNFREE_AUTO, // respect the global compiler flag
} mjtAlignFree;
typedef enum mjtInertiaFromGeom_ { // whether to infer body inertias from child geoms
mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
} mjtInertiaFromGeom;
typedef enum mjtOrientation_ { // type of orientation specifier
mjORIENTATION_QUAT = 0, // quaternion
mjORIENTATION_AXISANGLE, // axis and angle
mjORIENTATION_XYAXES, // x and y axes
mjORIENTATION_ZAXIS, // z axis (minimal rotation)
mjORIENTATION_EULER, // Euler angles
} mjtOrientation;
typedef struct mjsElement_ { // element type, do not modify
mjtObj elemtype; // element type
uint64_t signature; // compilation signature
} mjsElement;
typedef struct mjsCompiler_ { // compiler options
mjtByte autolimits; // infer "limited" attribute based on range
double boundmass; // enforce minimum body mass
double boundinertia; // enforce minimum body diagonal inertia
double settotalmass; // rescale masses and inertias; <=0: ignore
mjtByte balanceinertia; // automatically impose A + B >= C rule
mjtByte fitaabb; // meshfit to aabb instead of inertia box
mjtByte degree; // angles in radians or degrees
char eulerseq[3]; // sequence for euler rotations
mjtByte discardvisual; // discard visual geoms in parser
mjtByte usethread; // use multiple threads to speed up compiler
mjtByte fusestatic; // fuse static bodies with parent
int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtByte saveinertial; // save explicit inertial clause for all bodies to XML
int alignfree; // align free joints with inertial frame
mjLROpt LRopt; // options for lengthrange computation
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
} mjsCompiler;
typedef struct mjSpec_ { // model specification
mjsElement* element; // element type
mjString* modelname; // model name
// compiler data
mjsCompiler compiler; // compiler options
mjtByte strippath; // automatically strip paths from mesh files
// engine data
mjOption option; // physics options
mjVisual visual; // visual options
mjStatistic stat; // statistics override (if defined)
// sizes
mjtSize memory; // number of bytes in arena+stack memory
int nemax; // max number of equality constraints
int nuserdata; // number of mjtNums in userdata
int nuser_body; // number of mjtNums in body_user
int nuser_jnt; // number of mjtNums in jnt_user
int nuser_geom; // number of mjtNums in geom_user
int nuser_site; // number of mjtNums in site_user
int nuser_cam; // number of mjtNums in cam_user
int nuser_tendon; // number of mjtNums in tendon_user
int nuser_actuator; // number of mjtNums in actuator_user
int nuser_sensor; // number of mjtNums in sensor_user
int nkey; // number of keyframes
int njmax; // (deprecated) max number of constraints
int nconmax; // (deprecated) max number of detected contacts
mjtSize nstack; // (deprecated) number of mjtNums in mjData stack
// global data
mjString* comment; // comment at top of XML
mjString* modelfiledir; // path to model file
// other
mjtByte hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
} mjSpec;
typedef struct mjsOrientation_ { // alternative orientation specifiers
mjtOrientation type; // active orientation specifier
double axisangle[4]; // axis and angle
double xyaxes[6]; // x and y axes
double zaxis[3]; // z axis (minimal rotation)
double euler[3]; // Euler angles
} mjsOrientation;
typedef struct mjsPlugin_ { // plugin specification
mjsElement* element; // element type
mjString* name; // instance name
mjString* plugin_name; // plugin name
mjtByte active; // is the plugin active
mjString* info; // message appended to compiler errors
} mjsPlugin;
typedef struct mjsBody_ { // body specification
mjsElement* element; // element type
mjString* childclass; // childclass name
// body frame
double pos[3]; // frame position
double quat[4]; // frame orientation
mjsOrientation alt; // frame alternative orientation
// inertial frame
double mass; // mass
double ipos[3]; // inertial frame position
double iquat[4]; // inertial frame orientation
double inertia[3]; // diagonal inertia (in i-frame)
mjsOrientation ialt; // inertial frame alternative orientation
double fullinertia[6]; // non-axis-aligned inertia matrix
// other
mjtByte mocap; // is this a mocap body
double gravcomp; // gravity compensation
mjtSleepPolicy sleep; // sleep policy
mjDoubleVec* userdata; // user data
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
mjsPlugin plugin; // passive force plugin
mjString* info; // message appended to compiler errors
} mjsBody;
typedef struct mjsFrame_ { // frame specification
mjsElement* element; // element type
mjString* childclass; // childclass name
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjString* info; // message appended to compiler errors
} mjsFrame;
typedef struct mjsJoint_ { // joint specification
mjsElement* element; // element type
mjtJoint type; // joint type
// kinematics
double pos[3]; // anchor position
double axis[3]; // joint axis
double ref; // value at reference configuration: qpos0
int align; // align free joint with body com (mjtAlignFree)
// stiffness
double stiffness; // stiffness coefficient
double springref; // spring reference value: qpos_spring
double springdamper[2]; // timeconst, dampratio
// limits
int limited; // does joint have limits (mjtLimited)
double range[2]; // joint limits
double margin; // margin value for joint limit detection
mjtNum solref_limit[mjNREF]; // solver reference: joint limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
int actfrclimited; // are actuator forces on joint limited (mjtLimited)
double actfrcrange[2]; // actuator force limits
// dof properties
double armature; // armature inertia (mass for slider)
double damping; // damping coefficient
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
// other
int group; // group
mjtByte actgravcomp; // is gravcomp force applied via actuators
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsJoint;
typedef struct mjsGeom_ { // geom specification
mjsElement* element; // element type
mjtGeom type; // geom type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // type-specific size
// contact related
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist < margin-gap
// inertia inference
double mass; // used to compute density
double density; // used to compute mass and inertia from volume or surface
mjtGeomInertia typeinertia; // selects between surface and volume inertia
// fluid forces
mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual
mjString* material; // name of material
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjString* hfieldname; // heightfield attached to geom
mjString* meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sdf plugin
mjString* info; // message appended to compiler errors
} mjsGeom;
typedef struct mjsSite_ { // site specification
mjsElement* element; // element type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // geom size
// visual
mjtGeom type; // geom type
mjString* material; // name of material
int group; // group
float rgba[4]; // rgba when material is omitted
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsSite;
typedef struct mjsCamera_ { // camera specification
mjsElement* element; // element type
// extrinsics
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode
mjString* targetbody; // target body for tracking/targeting
// intrinsics
mjtProjection proj; // camera projection type
int resolution[2]; // resolution (pixel)
int output; // bit flags for output type
double fovy; // y-field of view
double ipd; // inter-pupillary distance
float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length)
float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length)
float principal_pixel[2]; // principal point (pixel)
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsCamera;
typedef struct mjsLight_ { // light specification
mjsElement* element; // element type
// frame
double pos[3]; // position
double dir[3]; // direction
mjtCamLight mode; // tracking mode
mjString* targetbody; // target body for targeting
// intrinsics
mjtByte active; // is light active
mjtLightType type; // type of light
mjString* texture; // texture name for image lights
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient color
float diffuse[3]; // diffuse color
float specular[3]; // specular color
// other
mjString* info; // message appended to compiler errorsx
} mjsLight;
typedef struct mjsFlex_ { // flex specification
mjsElement* element; // element type
// contact properties
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
// other properties
int dim; // element dimensionality
double radius; // radius around primitive element
double size[3]; // vertex bounding box half sizes in qpos0
mjtByte internal; // enable internal collisions
mjtByte flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self collision
int vertcollide; // mode for vertex collision
int passive; // mode for passive collisions
int activelayers; // number of active element layers in 3D
int group; // group for visualizatioh
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
float rgba[4]; // rgba when material is omitted
mjString* material; // name of material used for rendering
double young; // Young's modulus
double poisson; // Poisson's ratio
double damping; // Rayleigh's damping
double thickness; // thickness (2D only)
int elastic2d; // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
// mesh properties
mjStringVec* nodebody; // node body names
mjStringVec* vertbody; // vertex body names
mjDoubleVec* node; // node positions
mjDoubleVec* vert; // vertex positions
mjIntVec* elem; // element vertex ids
mjFloatVec* texcoord; // vertex texture coordinates
mjIntVec* elemtexcoord; // element texture coordinates
// other
mjString* info; // message appended to compiler errors
} mjsFlex;
typedef struct mjsMesh_ { // mesh specification
mjsElement* element; // element type
mjString* content_type; // content type of file
mjString* file; // mesh file
double refpos[3]; // reference position
double refquat[4]; // reference orientation
double scale[3]; // rescale mesh
mjtMeshInertia inertia; // inertia type (convex, legacy, exact, shell)
mjtByte smoothnormal; // do not exclude large-angle faces from normals
mjtByte needsdf; // compute sdf from mesh
int maxhullvert; // maximum vertex count for the convex hull
mjFloatVec* uservert; // user vertex data
mjFloatVec* usernormal; // user normal data
mjFloatVec* usertexcoord; // user texcoord data
mjIntVec* userface; // user vertex indices
mjIntVec* userfacenormal; // user face normal indices
mjIntVec* userfacetexcoord; // user texcoord indices
mjsPlugin plugin; // sdf plugin
mjString* material; // name of material
mjString* info; // message appended to compiler errors
} mjsMesh;
typedef struct mjsHField_ { // height field specification
mjsElement* element; // element type
mjString* content_type; // content type of file
mjString* file; // file: (nrow, ncol, [elevation data])
double size[4]; // hfield size (ignore referencing geom size)
int nrow; // number of rows
int ncol; // number of columns
mjFloatVec* userdata; // user-provided elevation data
mjString* info; // message appended to compiler errors
} mjsHField;
typedef struct mjsSkin_ { // skin specification
mjsElement* element; // element type
mjString* file; // skin file
mjString* material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction
int group; // group for visualization
// mesh
mjFloatVec* vert; // vertex positions
mjFloatVec* texcoord; // texture coordinates
mjIntVec* face; // faces
// skin
mjStringVec* bodyname; // body names
mjFloatVec* bindpos; // bind pos
mjFloatVec* bindquat; // bind quat
mjIntVecVec* vertid; // vertex ids
mjFloatVecVec* vertweight; // vertex weights
// other
mjString* info; // message appended to compiler errors
} mjsSkin;
typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjtTexture type; // texture type
mjtColorSpace colorspace; // colorspace
// method 1: builtin
int builtin; // builtin type (mjtBuiltin)
int mark; // mark type (mjtMark)
double rgb1[3]; // first color for builtin
double rgb2[3]; // second color for builtin
double markrgb[3]; // mark color
double random; // probability of random dots
int height; // height in pixels (square for cube and skybox)
int width; // width in pixels
int nchannel; // number of channels
// method 2: single file
mjString* content_type; // content type of file
mjString* file; // png file to load; use for all sides of cube
int gridsize[2]; // size of grid for composite file; (1,1)-repeat
char gridlayout[12]; // row-major: L,R,F,B,U,D for faces; . for unused
// method 3: separate files
mjStringVec* cubefiles; // different file for each side of the cube
// method 4: from buffer read by user
mjByteVec* data; // texture data
// flip options
mjtByte hflip; // horizontal flip
mjtByte vflip; // vertical flip
// other
mjString* info; // message appended to compiler errors
} mjsTexture;
typedef struct mjsMaterial_ { // material specification
mjsElement* element; // element type
mjStringVec* textures; // names of textures (empty: none)
mjtByte texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
float emission; // emission
float specular; // specular
float shininess; // shininess
float reflectance; // reflectance
float metallic; // metallic
float roughness; // roughness
float rgba[4]; // rgba
mjString* info; // message appended to compiler errors
} mjsMaterial;
typedef struct mjsPair_ { // pair specification
mjsElement* element; // element type
mjString* geomname1; // name of geom 1
mjString* geomname2; // name of geom 2
// optional parameters: computed from geoms if not set by user
int condim; // contact dimensionality
mjtNum solref[mjNREF]; // solver reference, normal direction
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double friction[5]; // full contact friction
mjString* info; // message appended to errors
} mjsPair;
typedef struct mjsExclude_ { // exclude specification
mjsElement* element; // element type
mjString* bodyname1; // name of geom 1
mjString* bodyname2; // name of geom 2
mjString* info; // message appended to errors
} mjsExclude;
typedef struct mjsEquality_ { // equality specification
mjsElement* element; // element type
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
mjString* name1; // name of object 1
mjString* name2; // name of object 2
mjtObj objtype; // type of both objects
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString* info; // message appended to errors
} mjsEquality;
typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
// stiffness, damping, friction, armature
double stiffness; // stiffness coefficient
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
double damping; // damping coefficient
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double armature; // inertia associated with tendon velocity
// length range
int limited; // does tendon have limits (mjtLimited)
int actfrclimited; // does tendon have actuator force limits
double range[2]; // length limits
double actfrcrange[2]; // actuator force limits
double margin; // margin value for tendon limit detection
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
// visual
mjString* material; // name of material for rendering
double width; // width for rendering
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to errors
} mjsTendon;
typedef struct mjsWrap_ { // wrapping object specification
mjsElement* element; // element type
mjtWrap type; // wrap type
mjString* info; // message appended to errors
} mjsWrap;
typedef struct mjsActuator_ { // actuator specification
mjsElement* element; // element type
// gain, bias
mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type
double biasprm[mjNGAIN]; // bias parameters
// activation state
mjtDyn dyntype; // dynamics type
double dynprm[mjNDYN]; // dynamics parameters
int actdim; // number of activation variables
mjtByte actearly; // apply next activations to qfrc
// transmission
mjtTrn trntype; // transmission type
double gear[6]; // length and transmitted force scaling
mjString* target; // name of transmission target
mjString* refsite; // reference site, for site transmission
mjString* slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
// input/output clamping
int ctrllimited; // are control limits defined (mjtLimited)
double ctrlrange[2]; // control range
int forcelimited; // are force limits defined (mjtLimited)
double forcerange[2]; // force range
int actlimited; // are activation limits defined (mjtLimited)
double actrange[2]; // activation range
// other
int group; // group
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // actuator plugin
mjString* info; // message appended to compiler errors
} mjsActuator;
typedef struct mjsSensor_ { // sensor specification
mjsElement* element; // element type
// sensor definition
mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object
mjString* objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString* refname; // name of referenced object
int intprm[mjNSENS]; // integer parameters
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
mjtStage needstage; // compute stage needed to simulate sensor
int dim; // number of scalar outputs
// output post-processing
double cutoff; // cutoff for real and positive datatypes
double noise; // noise stdev
// other
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sensor plugin
mjString* info; // message appended to compiler errors
} mjsSensor;
typedef struct mjsNumeric_ { // custom numeric field specification
mjsElement* element; // element type
mjDoubleVec* data; // initialization data
int size; // array size, can be bigger than data size
mjString* info; // message appended to compiler errors
} mjsNumeric;
typedef struct mjsText_ { // custom text specification
mjsElement* element; // element type
mjString* data; // text string
mjString* info; // message appended to compiler errors
} mjsText;
typedef struct mjsTuple_ { // tuple specification
mjsElement* element; // element type
mjIntVec* objtype; // object types
mjStringVec* objname; // object names
mjDoubleVec* objprm; // object parameters
mjString* info; // message appended to compiler errors
} mjsTuple;
typedef struct mjsKey_ { // keyframe specification
mjsElement* element; // element type
double time; // time
mjDoubleVec* qpos; // qpos
mjDoubleVec* qvel; // qvel
mjDoubleVec* act; // act
mjDoubleVec* mpos; // mocap pos
mjDoubleVec* mquat; // mocap quat
mjDoubleVec* ctrl; // ctrl
mjString* info; // message appended to compiler errors
} mjsKey;
typedef struct mjsDefault_ { // default specification
mjsElement* element; // element type
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
mjsCamera* camera; // camera defaults
mjsLight* light; // light defaults
mjsFlex* flex; // flex defaults
mjsMesh* mesh; // mesh defaults
mjsMaterial* material; // material defaults
mjsPair* pair; // pair defaults
mjsEquality* equality; // equality defaults
mjsTendon* tendon; // tendon defaults
mjsActuator* actuator; // actuator defaults
} mjsDefault;
typedef enum mjtTaskStatus_ { // status values for mjTask
mjTASK_NEW = 0, // newly created
mjTASK_QUEUED, // enqueued in a thread pool
mjTASK_COMPLETED // completed execution
} mjtTaskStatus;
struct mjThreadPool_ {
int nworker; // number of workers in the pool
};
typedef struct mjThreadPool_ mjThreadPool;
struct mjTask_ { // a task that can be executed by a thread pool.
mjfTask func; // pointer to the function that implements the task
void* args; // arguments to func
volatile int status; // status of the task
};
typedef struct mjTask_ mjTask;
typedef enum mjtButton_ { // mouse button
mjBUTTON_NONE = 0, // no button
mjBUTTON_LEFT, // left button
mjBUTTON_RIGHT, // right button
mjBUTTON_MIDDLE // middle button
} mjtButton;
typedef enum mjtEvent_ { // mouse and keyboard event type
mjEVENT_NONE = 0, // no event
mjEVENT_MOVE, // mouse move
mjEVENT_PRESS, // mouse button press
mjEVENT_RELEASE, // mouse button release
mjEVENT_SCROLL, // scroll
mjEVENT_KEY, // key press
mjEVENT_RESIZE, // resize
mjEVENT_REDRAW, // redraw
mjEVENT_FILESDROP // files drop
} mjtEvent;
typedef enum mjtItem_ { // UI item type
mjITEM_END = -2, // end of definition list (not an item)
mjITEM_SECTION = -1, // section (not an item)
mjITEM_SEPARATOR = 0, // separator
mjITEM_STATIC, // static text
mjITEM_BUTTON, // button
// the rest have data pointer
mjITEM_CHECKINT, // check box, int value
mjITEM_CHECKBYTE, // check box, mjtByte value
mjITEM_RADIO, // radio group
mjITEM_RADIOLINE, // radio group, single line
mjITEM_SELECT, // selection box
mjITEM_SLIDERINT, // slider, int value
mjITEM_SLIDERNUM, // slider, mjtNum value
mjITEM_EDITINT, // editable array, int values
mjITEM_EDITNUM, // editable array, mjtNum values
mjITEM_EDITFLOAT, // editable array, float values
mjITEM_EDITTXT, // editable text
mjNITEM // number of item types
} mjtItem;
typedef enum mjtSection_ { // UI section state
mjSECT_CLOSED = 0, // closed state (regular section)
mjSECT_OPEN, // open state (regular section)
mjSECT_FIXED // fixed section: always open, no title
} mjtSection;
struct mjuiState_ { // mouse and keyboard state
// constants set by user
int nrect; // number of rectangles used
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
void* userdata; // pointer to user data (for callbacks)
// event type
int type; // (type mjtEvent)
// mouse buttons
int left; // is left button down
int right; // is right button down
int middle; // is middle button down
int doubleclick; // is last press a double click
int button; // which button was pressed (mjtButton)
double buttontime; // time of last button press
// mouse position
double x; // x position
double y; // y position
double dx; // x displacement
double dy; // y displacement
double sx; // x scroll
double sy; // y scroll
// keyboard
int control; // is control down
int shift; // is shift down
int alt; // is alt down
int key; // which key was pressed
double keytime; // time of last key press
// rectangle ownership and dragging
int mouserect; // which rectangle contains mouse
int dragrect; // which rectangle is dragged with mouse
int dragbutton; // which button started drag (mjtButton)
// files dropping (only valid when type == mjEVENT_FILESDROP)
int dropcount; // number of files dropped
const char** droppaths; // paths to files dropped
};
typedef struct mjuiState_ mjuiState;
struct mjuiThemeSpacing_ { // UI visualization theme spacing
int total; // total width
int scroll; // scrollbar width
int label; // label width
int section; // section gap
int cornersect; // corner radius for section
int cornersep; // corner radius for separator
int itemside; // item side gap
int itemmid; // item middle gap
int itemver; // item vertical gap
int texthor; // text horizontal gap
int textver; // text vertical gap
int linescroll; // number of pixels to scroll
int samples; // number of multisamples
};
typedef struct mjuiThemeSpacing_ mjuiThemeSpacing;
struct mjuiThemeColor_ { // UI visualization theme color
float master[3]; // master background
float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitleuncheck[3]; // section title with unchecked box
float secttitleuncheck2[3]; // section title with unchecked box: bottom color
float secttitlecheck[3]; // section title with checked box
float secttitlecheck2[3]; // section title with checked box: bottom color
float sectfont[3]; // section font
float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane
float separator[3]; // separator title
float separator2[3]; // separator title: bottom color
float shortcut[3]; // shortcut background
float fontactive[3]; // font active
float fontinactive[3]; // font inactive
float decorinactive[3]; // decor inactive
float decorinactive2[3]; // inactive slider color 2
float button[3]; // button
float check[3]; // check
float radio[3]; // radio
float select[3]; // select
float select2[3]; // select pane
float slider[3]; // slider
float slider2[3]; // slider color 2
float edit[3]; // edit
float edit2[3]; // edit invalid
float cursor[3]; // edit cursor
};
typedef struct mjuiThemeColor_ mjuiThemeColor;
struct mjuiItemSingle_ { // check and button-related
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
};
struct mjuiItemMulti_ { // static, radio and select-related
int nelem; // number of elements in group
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
};
struct mjuiItemSlider_ { // slider-related
double range[2]; // slider range
double divisions; // number of range divisions
};
struct mjuiItemEdit_ { // edit-related
int nelem; // number of elements in list
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
};
struct mjuiItem_ { // UI item
// common properties
int type; // type (mjtItem)
char name[mjMAXUINAME]; // name
int state; // 0: disable, 1: enable, 2+: use predicate
void *pdata; // data pointer (type-specific)
int sectionid; // id of section containing item
int itemid; // id of item within section
int userid; // user-supplied id (for event handling)
// type-specific properties
union {
struct mjuiItemSingle_ single; // check and button
struct mjuiItemMulti_ multi; // static, radio and select
struct mjuiItemSlider_ slider; // slider
struct mjuiItemEdit_ edit; // edit
};
// internal
mjrRect rect; // rectangle occupied by item
int skip; // item skipped due to closed separator
};
typedef struct mjuiItem_ mjuiItem;
struct mjuiSection_ { // UI section
// properties
char name[mjMAXUINAME]; // name
int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: unchecked, 2: checked
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
// internal
mjrRect rtitle; // rectangle occupied by title
mjrRect rcontent; // rectangle occupied by content
int lastclick; // last mouse click over this section
};
typedef struct mjuiSection_ mjuiSection;
struct mjUI_ { // entire UI
// constants set by user
mjuiThemeSpacing spacing; // UI theme spacing
mjuiThemeColor color; // UI theme color
mjfItemEnable predicate; // callback to set item state programmatically
void* userdata; // pointer to user data (passed to predicate)
int rectid; // index of this ui rectangle in mjuiState
int auxid; // aux buffer index of this ui
int radiocol; // number of radio columns (0 defaults to 2)
// UI sizes (framebuffer units)
int width; // width
int height; // current height
int maxheight; // height when all sections open
int scroll; // scroll from top of UI
// mouse focus and count
int mousesect; // 0: none, -1: scroll, otherwise 1+section
int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts
int mouseclicks; // number of mouse clicks over UI
int mousesectcheck; // 0: none, otherwise 1+section
// keyboard focus and edit
int editsect; // 0: none, otherwise 1+section
int edititem; // item within section
int editcursor; // cursor position
int editscroll; // horizontal scroll
char edittext[mjMAXUITEXT]; // current text
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
// sections
int nsect; // number of sections in use
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
};
typedef struct mjUI_ mjUI;
struct mjuiDef_ { // table passed to mjui_add()
int type; // type (mjtItem); -1: section
char name[mjMAXUINAME]; // name
int state; // state
void* pdata; // pointer to data
char other[mjMAXUITEXT]; // string with type-specific properties
int otherint; // int with type-specific properties
};
typedef struct mjuiDef_ mjuiDef;
typedef enum mjtCatBit_ { // bitflags for mjvGeom category
mjCAT_STATIC = 1, // model elements in body 0
mjCAT_DYNAMIC = 2, // model elements in all other bodies
mjCAT_DECOR = 4, // decorative geoms
mjCAT_ALL = 7 // select all categories
} mjtCatBit;
typedef enum mjtMouse_ { // mouse interaction mode
mjMOUSE_NONE = 0, // no action
mjMOUSE_ROTATE_V, // rotate, vertical plane
mjMOUSE_ROTATE_H, // rotate, horizontal plane
mjMOUSE_MOVE_V, // move, vertical plane
mjMOUSE_MOVE_H, // move, horizontal plane
mjMOUSE_ZOOM, // zoom
mjMOUSE_MOVE_V_REL, // move, vertical plane, relative to target
mjMOUSE_MOVE_H_REL, // move, horizontal plane, relative to target
} mjtMouse;
typedef enum mjtPertBit_ { // mouse perturbations
mjPERT_TRANSLATE = 1, // translation
mjPERT_ROTATE = 2 // rotation
} mjtPertBit;
typedef enum mjtCamera_ { // abstract camera type
mjCAMERA_FREE = 0, // free camera
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
mjCAMERA_USER // user is responsible for setting OpenGL camera
} mjtCamera;
typedef enum mjtLabel_ { // object labeling
mjLABEL_NONE = 0, // nothing
mjLABEL_BODY, // body labels
mjLABEL_JOINT, // joint labels
mjLABEL_GEOM, // geom labels
mjLABEL_SITE, // site labels
mjLABEL_CAMERA, // camera labels
mjLABEL_LIGHT, // light labels
mjLABEL_TENDON, // tendon labels
mjLABEL_ACTUATOR, // actuator labels
mjLABEL_CONSTRAINT, // constraint labels
mjLABEL_FLEX, // flex labels
mjLABEL_SKIN, // skin labels
mjLABEL_SELECTION, // selected object
mjLABEL_SELPNT, // coordinates of selection point
mjLABEL_CONTACTPOINT, // contact information
mjLABEL_CONTACTFORCE, // magnitude of contact force
mjLABEL_ISLAND, // id of island
mjNLABEL // number of label types
} mjtLabel;
typedef enum mjtFrame_ { // frame visualization
mjFRAME_NONE = 0, // no frames
mjFRAME_BODY, // body frames
mjFRAME_GEOM, // geom frames
mjFRAME_SITE, // site frames
mjFRAME_CAMERA, // camera frames
mjFRAME_LIGHT, // light frames
mjFRAME_CONTACT, // contact frames
mjFRAME_WORLD, // world frame
mjNFRAME // number of visualization frames
} mjtFrame;
typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_CONVEXHULL = 0, // mesh convex hull
mjVIS_TEXTURE, // textures
mjVIS_JOINT, // joints
mjVIS_CAMERA, // cameras
mjVIS_ACTUATOR, // actuators
mjVIS_ACTIVATION, // activations
mjVIS_LIGHT, // lights
mjVIS_TENDON, // tendons
mjVIS_RANGEFINDER, // rangefinder sensors
mjVIS_CONSTRAINT, // point constraints
mjVIS_INERTIA, // equivalent inertia boxes
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
mjVIS_PERTFORCE, // perturbation force
mjVIS_PERTOBJ, // perturbation object
mjVIS_CONTACTPOINT, // contact points
mjVIS_ISLAND, // constraint islands
mjVIS_CONTACTFORCE, // contact force
mjVIS_CONTACTSPLIT, // split contact force into normal and tangent
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
mjVIS_AUTOCONNECT, // auto connect joints and body coms
mjVIS_COM, // center of mass
mjVIS_SELECT, // selection point
mjVIS_STATIC, // static bodies
mjVIS_SKIN, // skin
mjVIS_FLEXVERT, // flex vertices
mjVIS_FLEXEDGE, // flex edges
mjVIS_FLEXFACE, // flex element faces
mjVIS_FLEXSKIN, // flex smooth skin (disables the rest)
mjVIS_BODYBVH, // body bounding volume hierarchy
mjVIS_MESHBVH, // mesh bounding volume hierarchy
mjVIS_SDFITER, // iterations of SDF gradient descent
mjNVISFLAG // number of visualization flags
} mjtVisFlag;
typedef enum mjtRndFlag_ { // flags enabling rendering effects
mjRND_SHADOW = 0, // shadows
mjRND_WIREFRAME, // wireframe
mjRND_REFLECTION, // reflections
mjRND_ADDITIVE, // additive transparency
mjRND_SKYBOX, // skybox
mjRND_FOG, // fog
mjRND_HAZE, // haze
mjRND_DEPTH, // depth
mjRND_SEGMENT, // segmentation with random color
mjRND_IDCOLOR, // segmentation with segid+1 color
mjRND_CULL_FACE, // cull backward faces
mjNRNDFLAG // number of rendering flags
} mjtRndFlag;
typedef enum mjtStereo_ { // type of stereo rendering
mjSTEREO_NONE = 0, // no stereo; use left eye only
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
mjSTEREO_SIDEBYSIDE // side-by-side
} mjtStereo;
struct mjvPerturb_ { // object selection and perturbation
int select; // selected body id; non-positive: none
int flexselect; // selected flex id; negative: none
int skinselect; // selected skin id; negative: none
int active; // perturbation bitmask (mjtPertBit)
int active2; // secondary perturbation bitmask (mjtPertBit)
mjtNum refpos[3]; // reference position for selected object
mjtNum refquat[4]; // reference orientation for selected object
mjtNum refselpos[3]; // reference position for selection point
mjtNum localpos[3]; // selection point in object coordinates
mjtNum localmass; // spatial inertia at selection point
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
};
typedef struct mjvPerturb_ mjvPerturb;
struct mjvCamera_ { // abstract camera
// type and ids
int type; // camera type (mjtCamera)
int fixedcamid; // fixed camera id
int trackbodyid; // body id to track
// abstract camera pose specification
mjtNum lookat[3]; // lookat point
mjtNum distance; // distance to lookat point or tracked body
mjtNum azimuth; // camera azimuth (deg)
mjtNum elevation; // camera elevation (deg)
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
};
typedef struct mjvCamera_ mjvCamera;
struct mjvGLCamera_ { // OpenGL camera
// camera frame
float pos[3]; // position
float forward[3]; // forward direction
float up[3]; // up direction
// camera projection
float frustum_center; // hor. center (left,right set to match aspect)
float frustum_width; // width (not used for rendering)
float frustum_bottom; // bottom
float frustum_top; // top
float frustum_near; // near
float frustum_far; // far
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
};
typedef struct mjvGLCamera_ mjvGLCamera;
struct mjvGeom_ { // abstract geom
// type info
int type; // geom type (mjtGeom)
int dataid; // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
int objid; // mujoco object id; -1 for decor
int category; // visual category
int matid; // material id; -1: no textured material
int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown
// spatial transform
float size[3]; // size parameters
float pos[3]; // Cartesian position
float mat[9]; // Cartesian orientation
// material properties
float rgba[4]; // color and transparency
float emission; // emission coef
float specular; // specular coef
float shininess; // shininess coef
float reflectance; // reflectance coef
char label[100]; // text label
// transparency rendering (set internally)
float camdist; // distance to camera (used by sorter)
float modelrbound; // geom rbound from model, 0 if not model geom
mjtByte transparent; // treat geom as transparent
};
typedef struct mjvGeom_ mjvGeom;
struct mjvLight_ { // OpenGL light
int id; // light id, -1 for headlight
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
int type; // type (mjtLightType)
int texid; // texture id for image lights
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
mjtByte headlight; // headlight
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
};
typedef struct mjvLight_ mjvLight;
struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flexgroup[mjNGROUP]; // flex visualization by group
mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
int bvh_depth; // depth of the bounding volume hierarchy to be visualized
int flex_layer; // element layer to be visualized for 3D flex
};
typedef struct mjvOption_ mjvOption;
struct mjvScene_ { // abstract scene passed to OpenGL renderer
// abstract geoms
int maxgeom; // size of allocated geom buffer
int ngeom; // number of geoms currently in buffer
mjvGeom* geoms; // buffer for geoms (ngeom)
int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
// flex data
int nflex; // number of flexes
int* flexedgeadr; // address of flex edges (nflex)
int* flexedgenum; // number of edges in flex (nflex)
int* flexvertadr; // address of flex vertices (nflex)
int* flexvertnum; // number of vertices in flex (nflex)
int* flexfaceadr; // address of flex faces (nflex)
int* flexfacenum; // number of flex faces allocated (nflex)
int* flexfaceused; // number of flex faces currently in use (nflex)
int* flexedge; // flex edge data (2*nflexedge)
float* flexvert; // flex vertices (3*nflexvert)
float* flexface; // flex faces vertices (9*sum(flexfacenum))
float* flexnormal; // flex face normals (9*sum(flexfacenum))
float* flextexcoord; // flex face texture coordinates (6*sum(flexfacenum))
mjtByte flexvertopt; // copy of mjVIS_FLEXVERT mjvOption flag
mjtByte flexedgeopt; // copy of mjVIS_FLEXEDGE mjvOption flag
mjtByte flexfaceopt; // copy of mjVIS_FLEXFACE mjvOption flag
mjtByte flexskinopt; // copy of mjVIS_FLEXSKIN mjvOption flag
// skin data
int nskin; // number of skins
int* skinfacenum; // number of faces in skin (nskin)
int* skinvertadr; // address of skin vertices (nskin)
int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data (3*nskinvert)
float* skinnormal; // skin normal data (3*nskinvert)
// OpenGL lights
int nlight; // number of lights currently in buffer
mjvLight lights[mjMAXLIGHT]; // buffer for lights (nlight)
// OpenGL cameras
mjvGLCamera camera[2]; // left and right camera
// OpenGL model transformation
mjtByte enabletransform; // enable model transformation
float translate[3]; // model translation
float rotate[4]; // model quaternion rotation
float scale; // model scaling
// OpenGL rendering effects
int stereo; // stereoscopic rendering (mjtStereo)
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
// framing
int framewidth; // frame pixel width; 0: disable framing
float framergb[3]; // frame color
int status; // status; 0: ok, 1: geoms exhausted
};
typedef struct mjvScene_ mjvScene;
struct mjvFigure_ { // abstract 2D figure passed to OpenGL renderer
// enable flags
int flg_legend; // show legend
int flg_ticklabel[2]; // show grid tick labels (x,y)
int flg_extend; // automatically extend axis ranges to fit data
int flg_barplot; // isolated line segments (i.e. GL_LINES)
int flg_selection; // vertical selection line
int flg_symmetric; // symmetric y-axis
// style settings
float linewidth; // line width
float gridwidth; // grid line width
int gridsize[2]; // number of grid points in (x,y)
float gridrgb[3]; // grid line rgb
float figurergba[4]; // figure color and alpha
float panergba[4]; // pane color and alpha
float legendrgba[4]; // legend color and alpha
float textrgb[3]; // text color
float linergb[mjMAXLINE][3]; // line colors
float range[2][2]; // axis ranges; (min>=max) automatic
char xformat[20]; // x-tick label format for sprintf
char yformat[20]; // y-tick label format for sprintf
char minwidth[20]; // string used to determine min y-tick width
// text labels
char title[1000]; // figure title; subplots separated with 2+ spaces
char xlabel[100]; // x-axis label
char linename[mjMAXLINE][100]; // line names for legend
// dynamic settings
int legendoffset; // number of lines to offset legend
int subplot; // selected subplot (for title rendering)
int highlight[2]; // if point is in legend rect, highlight line
int highlightid; // if id>=0 and no point, highlight id
float selection; // selection line x-value
// line data
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
// output from renderer
int xaxispixel[2]; // range of x-axis in pixels
int yaxispixel[2]; // range of y-axis in pixels
float xaxisdata[2]; // range of x-axis in data units
float yaxisdata[2]; // range of y-axis in data units
};
typedef struct mjvFigure_ mjvFigure;
//----------------------------- MJAPI FUNCTIONS --------------------------------
void mj_defaultVFS(mjVFS* vfs);
int mj_mountVFS(mjVFS* vfs, const char* filepath, const mjpResourceProvider* provider);
int mj_unmountVFS(mjVFS* vfs, const char* filename);
int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
void mj_deleteVFS(mjVFS* vfs);
size_t mj_getCacheSize(const mjCache* cache);
size_t mj_getCacheCapacity(const mjCache* cache);
size_t mj_setCacheCapacity(mjCache* cache, size_t size);
mjCache* mj_getCache(void);
void mj_clearCache(mjCache* cache);
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parse(const char* filename, const char* content_type,
const mjVFS* vfs, char* error, int error_sz);
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
int mj_copyBack(mjSpec* s, const mjModel* m);
int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
void mj_freeLastXML(void);
int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
void mj_step(const mjModel* m, mjData* d);
void mj_step1(const mjModel* m, mjData* d);
void mj_step2(const mjModel* m, mjData* d);
void mj_forward(const mjModel* m, mjData* d);
void mj_inverse(const mjModel* m, mjData* d);
void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
void mj_defaultLROpt(mjLROpt* opt);
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
void mj_defaultOption(mjOption* opt);
void mj_defaultVisual(mjVisual* vis);
mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz);
void mj_deleteModel(mjModel* m);
mjtSize mj_sizeModel(const mjModel* m);
mjData* mj_makeData(const mjModel* m);
mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
void mj_resetData(const mjModel* m, mjData* d);
void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
void mj_markStack(mjData* d);
void mj_freeStack(mjData* d);
void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
mjtNum* mj_stackAllocNum(mjData* d, size_t size);
int* mj_stackAllocInt(mjData* d, size_t size);
void mj_deleteData(mjData* d);
void mj_resetCallbacks(void);
void mj_setConst(mjModel* m, mjData* d);
int mj_setLengthRange(mjModel* m, mjData* d, int index,
const mjLROpt* opt, char* error, int error_sz);
mjSpec* mj_makeSpec(void);
mjSpec* mj_copySpec(const mjSpec* s);
void mj_deleteSpec(mjSpec* s);
int mjs_activatePlugin(mjSpec* s, const char* name);
int mjs_setDeepCopy(mjSpec* s, int deepcopy);
void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
void mj_printModel(const mjModel* m, const char* filename);
void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
const char* float_format);
void mj_printData(const mjModel* m, const mjData* d, const char* filename);
void mju_printMat(const mjtNum* mat, int nr, int nc);
void mju_printMatSparse(const mjtNum* mat, int nr,
const int* rownnz, const int* rowadr, const int* colind);
int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
int flg_html, int flg_pad);
void mj_printScene(const mjvScene* s, const char* filename);
void mj_printFormattedScene(const mjvScene* s, const char* filename,
const char* float_format);
void mj_fwdKinematics(const mjModel* m, mjData* d);
void mj_fwdPosition(const mjModel* m, mjData* d);
void mj_fwdVelocity(const mjModel* m, mjData* d);
void mj_fwdActuation(const mjModel* m, mjData* d);
void mj_fwdAcceleration(const mjModel* m, mjData* d);
void mj_fwdConstraint(const mjModel* m, mjData* d);
void mj_Euler(const mjModel* m, mjData* d);
void mj_RungeKutta(const mjModel* m, mjData* d, int N);
void mj_implicit(const mjModel* m, mjData* d);
void mj_invPosition(const mjModel* m, mjData* d);
void mj_invVelocity(const mjModel* m, mjData* d);
void mj_invConstraint(const mjModel* m, mjData* d);
void mj_compareFwdInv(const mjModel* m, mjData* d);
void mj_sensorPos(const mjModel* m, mjData* d);
void mj_sensorVel(const mjModel* m, mjData* d);
void mj_sensorAcc(const mjModel* m, mjData* d);
void mj_energyPos(const mjModel* m, mjData* d);
void mj_energyVel(const mjModel* m, mjData* d);
void mj_checkPos(const mjModel* m, mjData* d);
void mj_checkVel(const mjModel* m, mjData* d);
void mj_checkAcc(const mjModel* m, mjData* d);
void mj_kinematics(const mjModel* m, mjData* d);
void mj_comPos(const mjModel* m, mjData* d);
void mj_camlight(const mjModel* m, mjData* d);
void mj_flex(const mjModel* m, mjData* d);
void mj_tendon(const mjModel* m, mjData* d);
void mj_transmission(const mjModel* m, mjData* d);
void mj_crb(const mjModel* m, mjData* d);
void mj_makeM(const mjModel* m, mjData* d);
void mj_factorM(const mjModel* m, mjData* d);
void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n);
void mj_comVel(const mjModel* m, mjData* d);
void mj_passive(const mjModel* m, mjData* d);
void mj_subtreeVel(const mjModel* m, mjData* d);
void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
void mj_rnePostConstraint(const mjModel* m, mjData* d);
void mj_collision(const mjModel* m, mjData* d);
void mj_makeConstraint(const mjModel* m, mjData* d);
void mj_island(const mjModel* m, mjData* d);
void mj_projectConstraint(const mjModel* m, mjData* d);
void mj_referenceConstraint(const mjModel* m, mjData* d);
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian);
int mj_stateSize(const mjModel* m, int sig);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
mjtNum* dst, int dstsig);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
void mj_setKeyframe(mjModel* m, const mjData* d, int k);
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);
int mj_isSparse(const mjModel* m);
int mj_isDual(const mjModel* m);
void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
const mjtNum point[3], const mjtNum axis[3], int body);
void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
int mj_name2id(const mjModel* m, int type, const char* name);
const char* mj_id2name(const mjModel* m, int type, int id);
void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
const mjtNum point[3], int body, mjtNum* qfrc_target);
void mj_objectVelocity(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
void mj_objectAcceleration(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
mjtNum distmax, mjtNum fromto[6]);
void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
const mjtNum* qpos1, const mjtNum* qpos2);
void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
const mjtNum quat[4], int body, mjtByte sameframe);
mjtNum mj_getTotalmass(const mjModel* m);
void mj_setTotalmass(mjModel* m, mjtNum newmass);
const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
void mj_loadPluginLibrary(const char* path);
void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
int mj_version(void);
const char* mj_versionString(void);
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1], mjtNum normal[3]);
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face,
mjtByte flg_skin, int flexid, const mjtNum pnt[3],
const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
void mjv_defaultCamera(mjvCamera* cam);
void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
void mjv_defaultPerturb(mjvPerturb* pert);
void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
const mjtNum roomquat[4], const mjvScene* scn);
void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
const mjtNum modelquat[4], const mjvScene* scn);
void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
const mjvScene* scn);
void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
const mjvScene* scn);
mjtNum mjv_frustumHeight(const mjvScene* scn);
void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjtNum roomup[3], mjvScene* scn);
void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
int flg_paused);
void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
mjtNum aspectratio, mjtNum relx, mjtNum rely,
const mjvScene* scn, mjtNum selpnt[3],
int geomid[1], int flexid[1], int skinid[1]);
void mjv_defaultOption(mjvOption* opt);
void mjv_defaultFigure(mjvFigure* fig);
void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
void mjv_connector(mjvGeom* geom, int type, mjtNum width,
const mjtNum from[3], const mjtNum to[3]);
void mjv_defaultScene(mjvScene* scn);
void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
void mjv_freeScene(mjvScene* scn);
void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
void mjv_copyModel(mjModel* dest, const mjModel* src);
void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, int catmask, mjvScene* scn);
void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
const mjData* d, const mjvCamera* cam);
void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjModel* m,
const mjvCamera* cam);
void mjr_defaultContext(mjrContext* con);
void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
void mjr_changeFont(int fontscale, mjrContext* con);
void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
void mjr_freeContext(mjrContext* con);
void mjr_resizeOffscreen(int width, int height, mjrContext* con);
void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
void mjr_restoreBuffer(const mjrContext* con);
void mjr_setBuffer(int framebuffer, mjrContext* con);
void mjr_readPixels(unsigned char* rgb, float* depth,
mjrRect viewport, const mjrContext* con);
void mjr_drawPixels(const unsigned char* rgb, const float* depth,
mjrRect viewport, const mjrContext* con);
void mjr_blitBuffer(mjrRect src, mjrRect dst,
int flg_color, int flg_depth, const mjrContext* con);
void mjr_setAux(int index, const mjrContext* con);
void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
void mjr_text(int font, const char* txt, const mjrContext* con,
float x, float y, float r, float g, float b);
void mjr_overlay(int font, int gridpos, mjrRect viewport,
const char* overlay, const char* overlay2, const mjrContext* con);
mjrRect mjr_maxViewport(const mjrContext* con);
void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
void mjr_label(mjrRect viewport, int font, const char* txt,
float r, float g, float b, float a, float rt, float gt, float bt,
const mjrContext* con);
void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
void mjr_finish(void);
int mjr_getError(void);
int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
mjuiThemeSpacing mjui_themeSpacing(int ind);
mjuiThemeColor mjui_themeColor(int ind);
void mjui_add(mjUI* ui, const mjuiDef* def);
void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
void mjui_resize(mjUI* ui, const mjrContext* con);
void mjui_update(int section, int item, const mjUI* ui,
const mjuiState* state, const mjrContext* con);
mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_error_i(const char* msg, int i);
void mju_error_s(const char* msg, const char* text);
void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_warning_i(const char* msg, int i);
void mju_warning_s(const char* msg, const char* text);
void mju_clearHandlers(void);
void* mju_malloc(size_t size);
void mju_free(void* ptr);
void mj_warning(mjData* d, int warning, int info);
void mju_writeLog(const char* type, const char* msg);
const char* mjs_getError(mjSpec* s);
int mjs_isWarning(mjSpec* s);
void mju_zero3(mjtNum res[3]);
void mju_copy3(mjtNum res[3], const mjtNum data[3]);
void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
mjtNum mju_normalize3(mjtNum vec[3]);
mjtNum mju_norm3(const mjtNum vec[3]);
mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
void mju_zero4(mjtNum res[4]);
void mju_unit4(mjtNum res[4]);
void mju_copy4(mjtNum res[4], const mjtNum data[4]);
mjtNum mju_normalize4(mjtNum vec[4]);
void mju_zero(mjtNum* res, int n);
void mju_fill(mjtNum* res, mjtNum val, int n);
void mju_copy(mjtNum* res, const mjtNum* vec, int n);
mjtNum mju_sum(const mjtNum* vec, int n);
mjtNum mju_L1(const mjtNum* vec, int n);
void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
mjtNum mju_normalize(mjtNum* res, int n);
mjtNum mju_norm(const mjtNum* res, int n);
mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
void mju_eye(mjtNum* mat, int n);
void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);
void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int r2);
void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);
void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
const mjtNum newpos[3], const mjtNum oldpos[3],
const mjtNum rotnew2old[9]);
int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, int nnz);
void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos1[3], const mjtNum quat1[4],
const mjtNum pos2[3], const mjtNum quat2[4]);
void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos[3], const mjtNum quat[4]);
void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
const mjtNum vec[3]);
int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
mjtNum diagadd, mjtNum diagmul);
void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense);
void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtByte flg_sym);
void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense, int nvec, mjtByte flg_sym);
int mju_bandDiag(int i, int ntotal, int nband, int ndense);
int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
const mjtNum* lower, const mjtNum* upper);
void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
mjtNum** lower, mjtNum** upper);
mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
mjtNum acc0, const mjtNum prm[9]);
mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
mjtNum mju_min(mjtNum a, mjtNum b);
mjtNum mju_max(mjtNum a, mjtNum b);
mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
mjtNum mju_sign(mjtNum x);
int mju_round(mjtNum x);
const char* mju_type2Str(int type);
int mju_str2Type(const char* str);
const char* mju_writeNumBytes(size_t nbytes);
const char* mju_warningText(int warning, size_t info);
int mju_isBad(mjtNum x);
int mju_isZero(const mjtNum* vec, int n);
mjtNum mju_standardNormal(mjtNum* num2);
void mju_f2n(mjtNum* res, const float* vec, int n);
void mju_n2f(float* res, const mjtNum* vec, int n);
void mju_d2n(mjtNum* res, const double* vec, int n);
void mju_n2d(double* res, const mjtNum* vec, int n);
void mju_insertionSort(mjtNum* list, int n);
void mju_insertionSortInt(int* list, int n);
mjtNum mju_Halton(int index, int base);
char* mju_strncpy(char *dst, const char *src, int n);
mjtNum mju_sigmoid(mjtNum x);
const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
const mjtNum x[3]);
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq);
void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
void mjp_defaultPlugin(mjpPlugin* plugin);
int mjp_registerPlugin(const mjpPlugin* plugin);
int mjp_pluginCount(void);
const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
const mjpPlugin* mjp_getPluginAtSlot(int slot);
void mjp_defaultResourceProvider(mjpResourceProvider* provider);
int mjp_registerResourceProvider(const mjpResourceProvider* provider);
int mjp_resourceProviderCount(void);
const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
void mjp_registerDecoder(const mjpDecoder* decoder);
void mjp_defaultDecoder(mjpDecoder* decoder);
const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);
void mju_bindThreadPool(mjData* d, void* thread_pool);
void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
void mju_threadPoolDestroy(mjThreadPool* thread_pool);
void mju_defaultTask(mjTask* task);
void mju_taskJoin(mjTask* task);
mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
mjsJoint* mjs_addFreeJoint(mjsBody* body);
mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
int mjs_delete(mjSpec* spec, mjsElement* element);
mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
mjsSensor* mjs_addSensor(mjSpec* s);
mjsFlex* mjs_addFlex(mjSpec* s);
mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
mjsExclude* mjs_addExclude(mjSpec* s);
mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
mjsNumeric* mjs_addNumeric(mjSpec* s);
mjsText* mjs_addText(mjSpec* s);
mjsTuple* mjs_addTuple(mjSpec* s);
mjsKey* mjs_addKey(mjSpec* s);
mjsPlugin* mjs_addPlugin(mjSpec* s);
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
const char* mjs_setToMotor(mjsActuator* actuator);
const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange);
const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange);
const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
const char* mjs_setToDamper(mjsActuator* actuator, double kv);
const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
double bias, double area, double diameter);
const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
double range[2], double force, double scale, double lmin,
double lmax, double vmax, double fpmax, double fvmax);
const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
mjsHField* mjs_addHField(mjSpec* s);
mjsSkin* mjs_addSkin(mjSpec* s);
mjsTexture* mjs_addTexture(mjSpec* s);
mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
mjSpec* mjs_getSpec(mjsElement* element);
mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
mjsBody* mjs_findBody(mjSpec* s, const char* name);
mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
mjsBody* mjs_findChild(mjsBody* body, const char* name);
mjsBody* mjs_getParent(mjsElement* element);
mjsFrame* mjs_getFrame(mjsElement* element);
mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
mjsDefault* mjs_getDefault(mjsElement* element);
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
mjsDefault* mjs_getSpecDefault(mjSpec* s);
int mjs_getId(mjsElement* element);
mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse);
mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse);
mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
mjsElement* mjs_getWrapTarget(mjsWrap* wrap);
mjsSite* mjs_getWrapSideSite(mjsWrap* wrap);
double mjs_getWrapDivisor(mjsWrap* wrap);
double mjs_getWrapCoef(mjsWrap* wrap);
int mjs_setName(mjsElement* element, const char* name);
void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
void mjs_setString(mjString* dest, const char* text);
void mjs_setStringVec(mjStringVec* dest, const char* text);
mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
void mjs_appendString(mjStringVec* dest, const char* text);
void mjs_setInt(mjIntVec* dest, const int* array, int size);
void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
mjString* mjs_getName(mjsElement* element);
const char* mjs_getString(const mjString* source);
const double* mjs_getDouble(const mjDoubleVec* source, int* size);
int mjs_getWrapNum(const mjsTendon* tendonspec);
mjsWrap* mjs_getWrap(const mjsTendon* tendonspec, int i);
const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
void mjs_setDefault(mjsElement* element, const mjsDefault* def);
int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
const mjsOrientation* orientation);
mjsFrame* mjs_bodyToFrame(mjsBody** body);
void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
const void* data,
void (*cleanup)(const void*));
const void* mjs_getUserValue(mjsElement* element, const char* key);
void mjs_deleteUserValue(mjsElement* element, const char* key);
int mjs_sensorDim(const mjsSensor* sensor);
void mjs_defaultSpec(mjSpec* spec);
void mjs_defaultOrientation(mjsOrientation* orient);
void mjs_defaultBody(mjsBody* body);
void mjs_defaultFrame(mjsFrame* frame);
void mjs_defaultJoint(mjsJoint* joint);
void mjs_defaultGeom(mjsGeom* geom);
void mjs_defaultSite(mjsSite* site);
void mjs_defaultCamera(mjsCamera* camera);
void mjs_defaultLight(mjsLight* light);
void mjs_defaultFlex(mjsFlex* flex);
void mjs_defaultMesh(mjsMesh* mesh);
void mjs_defaultHField(mjsHField* hfield);
void mjs_defaultSkin(mjsSkin* skin);
void mjs_defaultTexture(mjsTexture* texture);
void mjs_defaultMaterial(mjsMaterial* material);
void mjs_defaultPair(mjsPair* pair);
void mjs_defaultEquality(mjsEquality* equality);
void mjs_defaultTendon(mjsTendon* tendon);
void mjs_defaultActuator(mjsActuator* actuator);
void mjs_defaultSensor(mjsSensor* sensor);
void mjs_defaultNumeric(mjsNumeric* numeric);
void mjs_defaultText(mjsText* text);
void mjs_defaultTuple(mjsTuple* tuple);
void mjs_defaultKey(mjsKey* key);
void mjs_defaultPlugin(mjsPlugin* plugin);
mjsBody* mjs_asBody(mjsElement* element);
mjsGeom* mjs_asGeom(mjsElement* element);
mjsJoint* mjs_asJoint(mjsElement* element);
mjsSite* mjs_asSite(mjsElement* element);
mjsCamera* mjs_asCamera(mjsElement* element);
mjsLight* mjs_asLight(mjsElement* element);
mjsFrame* mjs_asFrame(mjsElement* element);
mjsActuator* mjs_asActuator(mjsElement* element);
mjsSensor* mjs_asSensor(mjsElement* element);
mjsFlex* mjs_asFlex(mjsElement* element);
mjsPair* mjs_asPair(mjsElement* element);
mjsEquality* mjs_asEquality(mjsElement* element);
mjsExclude* mjs_asExclude(mjsElement* element);
mjsTendon* mjs_asTendon(mjsElement* element);
mjsNumeric* mjs_asNumeric(mjsElement* element);
mjsText* mjs_asText(mjsElement* element);
mjsTuple* mjs_asTuple(mjsElement* element);
mjsKey* mjs_asKey(mjsElement* element);
mjsMesh* mjs_asMesh(mjsElement* element);
mjsHField* mjs_asHField(mjsElement* element);
mjsSkin* mjs_asSkin(mjsElement* element);
mjsTexture* mjs_asTexture(mjsElement* element);
mjsMaterial* mjs_asMaterial(mjsElement* element);
mjsPlugin* mjs_asPlugin(mjsElement* element);
// NOLINTEND