LOTS的已经通过的最初版本，但是mu未更改

//-----------------------------------// // This file is part of MuJoCo. // // Copyright (C) 2016 Roboti LLC. // //-----------------------------------// #pragma once // cross-platform import #if defined(MJ_STATIC) #define MJAPI #else #if defined(_WIN32) #define MJAPI __declspec(dllimport) #else #define MJAPI #endif #endif // this is a C-API #if defined(__cplusplus) extern "C" { #endif // header version; should match the library version as returned by mj_version() #define mjVERSION_HEADER 131 // needed to define size_t, fabs and log10 #include "stdlib.h" #include "math.h" // type definitions #include "mjmodel.h" #include "mjdata.h" #include "mjvisualize.h" #include "mjrender.h" // macros #define mjMARKSTACK int _mark = d->pstack; #define mjFREESTACK d->pstack = _mark; #define mjDISABLED(x) (m->opt.disableflags & (x)) #define mjENABLED(x) (m->opt.enableflags & (x)) // user error and memory handlers MJAPI extern void (*mju_user_error)(const char*); MJAPI extern void (*mju_user_warning)(const char*); MJAPI extern void* (*mju_user_malloc)(size_t); MJAPI extern void (*mju_user_free)(void*); // callbacks extending computation pipeline MJAPI extern mjfGeneric mjcb_endstep; MJAPI extern mjfGeneric mjcb_passive; MJAPI extern mjfGeneric mjcb_control; MJAPI extern mjfTime mjcb_time; MJAPI extern mjfAct mjcb_act_dyn; MJAPI extern mjfAct mjcb_act_gain; MJAPI extern mjfAct mjcb_act_bias; MJAPI extern mjfMagnetic mjcb_magnetic; MJAPI extern mjfSolImp mjcb_sol_imp; MJAPI extern mjfSolRef mjcb_sol_ref; // collision function table MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES]; // string names MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3]; MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3]; MJAPI extern const char* mjDISABLESTRING[mjNDISABLE]; MJAPI extern const char* mjENABLESTRING[mjNENABLE]; MJAPI extern const char* mjTIMERSTRING[mjNTIMER]; //---------------------- License activation and certificate (mutex-protected) ----------- // activate license, call mju_error on failure; return 1 if ok, 0 if failure MJAPI int mj_activate(const char* filename); // deactivate license, free memory MJAPI void mj_deactivate(void); // server: generate certificate question MJAPI void mj_certQuestion(mjtNum question[16]); // client: generate certificate answer given question MJAPI void mj_certAnswer(const mjtNum question[16], mjtNum answer[16]); // server: check certificate question-answer pair; return 1 if match, 0 if mismatch MJAPI int mj_certCheck(const mjtNum question[16], const mjtNum answer[16]); //---------------------- XML parser and C++ compiler (mutex-protected) ------------------ // parse XML file or string in MJCF or URDF format, compile it, return low-level model // if xmlstring is not NULL, it has precedence over filename // error can be NULL; otherwise assumed to have size error_sz MJAPI mjModel* mj_loadXML(const char* filename, const char* xmlstring, char* error, int error_sz); // update XML data structures with info from low-level model, save as MJCF // error can be NULL; otherwise assumed to have size error_sz MJAPI int mj_saveXML(const char* filename, const mjModel* m, char* error, int error_sz); // print internal XML schema as plain text or HTML, with style-padding or   MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz, int flg_html, int flg_pad); //---------------------- Main entry points ---------------------------------------------- // advance simulation: use control callback, no external force, RK4 available MJAPI void mj_step(const mjModel* m, mjData* d); // advance simulation in two steps: before external force/control is set by user MJAPI void mj_step1(const mjModel* m, mjData* d); // advance simulation in two steps: after external force/control is set by user MJAPI void mj_step2(const mjModel* m, mjData* d); // forward dynamics MJAPI void mj_forward(const mjModel* m, mjData* d); // inverse dynamics MJAPI void mj_inverse(const mjModel* m, mjData* d); // forward dynamics with skip: 0- no skip, 1- skip pos, 2- skip pos,vel MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skip); // inverse dynamics with skip: 0- no skip, 1- skip pos, 2- skip pos,vel MJAPI void mj_inverseSkip(const mjModel* m, mjData* d, int skip); // sensor data MJAPI void mj_sensor(const mjModel* m, mjData* d); // energy MJAPI void mj_energy(const mjModel* m, mjData* d); //---------------------- Model and data initialization ---------------------------------- // set default solver paramters MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp); // set physics options to default values MJAPI void mj_defaultOption(mjOption* opt); // set visual options to default values MJAPI void mj_defaultVisual(mjVisual* vis); // copy mjModel; allocate new if dest is NULL MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src); // save model to binary file or memory buffer (buffer has precedence if szbuf>0) MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz); // load model from binary file or memory buffer (buffer has precedence if szbuf>0) MJAPI mjModel* mj_loadModel(const char* filename, void* buffer, int buffer_sz); // de-allocate model MJAPI void mj_deleteModel(mjModel* m); // size of buffer needed to hold model MJAPI int mj_sizeModel(const mjModel* m); // allocate mjData correponding to given model MJAPI mjData* mj_makeData(const mjModel* m); // copy mjData MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src); // set data to defaults MJAPI void mj_resetData(const mjModel* m, mjData* d); // set data to defaults, fill everything else with debug_value MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value); // mjData stack allocate MJAPI mjtNum* mj_stackAlloc(mjData* d, int size); // de-allocate data MJAPI void mj_deleteData(mjData* d); // reset callbacks to defaults MJAPI void mj_resetCallbacks(void); // set constant fields of mjModel MJAPI void mj_setConst(mjModel* m, mjData* d, int flg_actrange); //---------------------- Printing ------------------------------------------------------- // print model to text file MJAPI void mj_printModel(const mjModel* m, const char* filename); // print data to text file MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename); // print matrix to screen MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc); //---------------------- Components: forward dynamics ----------------------------------- // position-dependent computations MJAPI void mj_fwdPosition(const mjModel* m, mjData* d); // velocity-dependent computations MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d); // compute actuator force MJAPI void mj_fwdActuation(const mjModel* m, mjData* d); // add up all non-constraint forces, compute qacc_unc MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d); // constraint solver MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d); // Euler integrator, semi-implicit in velocity MJAPI void mj_Euler(const mjModel* m, mjData* d); // Runge-Kutta explicit order-N integrator MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N); //---------------------- Components: inverse dynamics ----------------------------------- // position-dependent computations MJAPI void mj_invPosition(const mjModel* m, mjData* d); // velocity-dependent computations MJAPI void mj_invVelocity(const mjModel* m, mjData* d); // constraint solver MJAPI void mj_invConstraint(const mjModel* m, mjData* d); // compare forward and inverse dynamics, without changing results of forward dynamics MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d); //---------------------- Sub-components of the computation pipeline --------------------- // check positions; reset if bad MJAPI void mj