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Adding the m1 binary for 3.1.3
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Kevin Harrington authored and Kevin Harrington committed Mar 6, 2024
1 parent 925963a commit ac5f12c
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Showing 5 changed files with 65 additions and 21 deletions.
Binary file modified src/main/java/libmujoco.dylib
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5 changes: 5 additions & 0 deletions src/main/java/org/mujoco/MuJoCoConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,11 @@ public void map(InfoMap infoMap) {
infoMap.put(new Info("mjfTime").skip());
infoMap.put(new Info("mjfAct").skip());
infoMap.put(new Info("mjfCollision").skip());
//mj__freeStack
infoMap.put(new Info("mj__freeStack").skip());
//mj__markStack
infoMap.put(new Info("mj__markStack").skip());

// infoMap.put(new Info("").skip());
// infoMap.put(new Info("").skip());

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81 changes: 60 additions & 21 deletions src/main/java/org/mujoco/MuJoCoLib.java
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Original file line number Diff line number Diff line change
Expand Up @@ -117,11 +117,11 @@ public class MuJoCoLib extends org.mujoco.MuJoCoConfig {


// this is a C-API
// #if defined(__cplusplus)
// #ifdef __cplusplus
// #endif

// header version; should match the library version as returned by mj_version()
public static final int mjVERSION_HEADER = 311;
public static final int mjVERSION_HEADER = 313;

// needed to define size_t, fabs and log10
// #include <stdlib.h>
Expand Down Expand Up @@ -211,9 +211,9 @@ public static class Mju_user_free_Pointer extends FunctionPointer {
public static native int mj_addFileVFS(mjVFS vfs, @Cast("const char*") BytePointer directory, @Cast("const char*") BytePointer filename);
public static native int mj_addFileVFS(mjVFS vfs, String directory, String filename);

// Make empty file in VFS, return 0: success, 1: full, 2: repeated name.
public static native int mj_makeEmptyFileVFS(mjVFS vfs, @Cast("const char*") BytePointer filename, int filesize);
public static native int mj_makeEmptyFileVFS(mjVFS vfs, String filename, int filesize);
// Add file to VFS from buffer, return 0: success, 1: full, 2: repeated name, -1: failed to load.
public static native int mj_addBufferVFS(mjVFS vfs, @Cast("const char*") BytePointer name, @Const Pointer buffer, int nbuffer);
public static native int mj_addBufferVFS(mjVFS vfs, String name, @Const Pointer buffer, int nbuffer);

// Return file index in VFS, or -1 if not found in VFS.
public static native int mj_findFileVFS(@Const mjVFS vfs, @Cast("const char*") BytePointer filename);
Expand All @@ -226,6 +226,9 @@ public static class Mju_user_free_Pointer extends FunctionPointer {
// Delete all files from VFS.
public static native void mj_deleteVFS(mjVFS vfs);

// deprecated: use mj_copyBufferVFS.
public static native int mj_makeEmptyFileVFS(mjVFS vfs, @Cast("const char*") BytePointer filename, int filesize);
public static native int mj_makeEmptyFileVFS(mjVFS vfs, String filename, int filesize);

//---------------------------------- Parse and compile ---------------------------------------------

Expand Down Expand Up @@ -336,16 +339,20 @@ public static native int mj_printSchema(String filename, @Cast("char*") byte[] b
// Reset data to defaults, fill everything else with debug_value.
public static native void mj_resetDataDebug(@Const mjModel m, mjData d, @Cast("unsigned char") byte debug_value);

// Reset data, set fields from specified keyframe.
// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
public static native void mj_resetDataKeyframe(@Const mjModel m, mjData d, int key);

// #ifndef ADDRESS_SANITIZER

// Mark a new frame on the mjData stack.
public static native void mj_markStack(mjData d);

// Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call
// to mj_markStack must no longer be used afterwards.
public static native void mj_freeStack(mjData d);

// #endif // ADDRESS_SANITIZER

// Allocate a number of bytes on mjData stack at a specific alignment.
// Call mju_error on stack overflow.
public static native Pointer mj_stackAllocByte(mjData d, @Cast("size_t") long bytes, @Cast("size_t") long alignment);
Expand Down Expand Up @@ -591,6 +598,9 @@ public static native void mj_jac(@Const mjModel m, @Const mjData d, @Cast("mjtNu
public static native void mj_jacPointAxis(@Const mjModel m, mjData d, @Cast("mjtNum*") DoublePointer jacPoint, @Cast("mjtNum*") DoublePointer jacAxis,
@Cast("const mjtNum*") DoublePointer point, @Cast("const mjtNum*") DoublePointer axis, int body);

// Compute subtree angular momentum matrix.
public static native void mj_angmomMat(@Const mjModel m, mjData d, @Cast("mjtNum*") DoublePointer mat, int body);

// Get id of object with the specified mjtObj type and name, returns -1 if id not found.
public static native int mj_name2id(@Const mjModel m, int type, @Cast("const char*") BytePointer name);
public static native int mj_name2id(@Const mjModel m, int type, String name);
Expand Down Expand Up @@ -1345,7 +1355,7 @@ public static native void mju_bandMulMatVec(@Cast("mjtNum*") DoublePointer res,
// Address of diagonal element i in band-dense matrix representation.
public static native int mju_bandDiag(int i, int ntotal, int nband, int ndense);

// Eigenvalue decomposition of symmetric 3x3 matrix.
// Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
public static native int mju_eig3(@Cast("mjtNum*") DoublePointer eigval, @Cast("mjtNum*") DoublePointer eigvec, @Cast("mjtNum*") DoublePointer quat, @Cast("const mjtNum*") DoublePointer mat);

// minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed
Expand Down Expand Up @@ -1597,8 +1607,26 @@ public static native void mjd_quatIntegrate(@Cast("const mjtNum*") DoublePointer
// Wait for a task to complete.
public static native void mju_taskJoin(mjTask task);

//---------------------- Sanitizer instrumentation helpers -----------------------------------------
//
// Most MuJoCo users can ignore these functions, the following comments are aimed primarily at
// MuJoCo developers.
//
// When built and run under address sanitizer (asan), mj_markStack and mj_freeStack are instrumented
// to detect leakage of mjData stack frames. When the compiler inlines several callees that call
// into mark/free into the same function, this instrumentation requires that the compiler retains
// separate mark/free calls for each original callee. The memory-clobbered asm blocks act as a
// barrier to prevent mark/free calls from being combined under optimization.

// #if defined(__cplusplus)
// #ifdef ADDRESS_SANITIZER





// #endif // ADDRESS_SANITIZER

// #ifdef __cplusplus
// #endif

// #endif // MUJOCO_MUJOCO_H_
Expand Down Expand Up @@ -1676,7 +1704,7 @@ public static native void mjd_quatIntegrate(@Cast("const mjtNum*") DoublePointer
// #ifndef MUJOCO_INCLUDE_MJTHREAD_H_
// #define MUJOCO_INCLUDE_MJTHREAD_H_

public static final int mjMAXTHREADS = 128; // maximum number of threads in a thread pool
public static final int mjMAXTHREAD = 128; // maximum number of threads in a thread pool

/** enum mjtTaskStatus */
public static final int // status values for mjTask
Expand Down Expand Up @@ -1844,10 +1872,9 @@ public static class mjTask_ extends Pointer {

// breakdown of mj_collision
mjTIMER_COL_BROAD = 13, // broadphase
mjTIMER_COL_MID = 14, // midphase
mjTIMER_COL_NARROW = 15, // narrowphase
mjTIMER_COL_NARROW = 14, // narrowphase

mjNTIMER = 16; // number of timers
mjNTIMER = 15; // number of timers


//---------------------------------- mjContact -----------------------------------------------------
Expand Down Expand Up @@ -2044,7 +2071,7 @@ public static class mjData_ extends Pointer {
// memory utilization stats
public native @Cast("size_t") long maxuse_stack(); public native mjData_ maxuse_stack(long setter); // maximum stack allocation in bytes
public native @Cast("size_t") long maxuse_threadstack(int i); public native mjData_ maxuse_threadstack(int i, long setter);
@MemberGetter public native @Cast("size_t*") SizeTPointer maxuse_threadstack(); // maximum stack allocation per thread in bytes
@MemberGetter public native @Cast("size_t*") SizeTPointer maxuse_threadstack(); // maximum stack allocation per thread in bytes
public native @Cast("size_t") long maxuse_arena(); public native mjData_ maxuse_arena(long setter); // maximum arena allocation in bytes
public native int maxuse_con(); public native mjData_ maxuse_con(int setter); // maximum number of contacts
public native int maxuse_efc(); public native mjData_ maxuse_efc(int setter); // maximum number of scalar constraints
Expand Down Expand Up @@ -2350,6 +2377,7 @@ public static class mjData_ extends Pointer {
// #define MUJOCO_MJMODEL_H_

// #include <stddef.h>
// #include <stdint.h>


// #include <mujoco/mjtnum.h>
Expand Down Expand Up @@ -2761,14 +2789,16 @@ public static class mjVFS_ extends Pointer {
@Override public mjVFS_ getPointer(long i) {
return new mjVFS_((Pointer)this).offsetAddress(i);
}
// virtual file system for loading from memory
// virtual file system for loading from memory
public native int nfile(); public native mjVFS_ nfile(int setter); // number of files present
public native @Cast("char") byte filename(int i, int j); public native mjVFS_ filename(int i, int j, byte setter);
@MemberGetter public native @Cast("char*") BytePointer filename(); // file name without path
public native @Cast("size_t") long filesize(int i); public native mjVFS_ filesize(int i, long setter);
@MemberGetter public native @Cast("size_t*") SizeTPointer filesize(); // file size in bytes
public native Pointer filedata(int i); public native mjVFS_ filedata(int i, Pointer setter);
@MemberGetter public native @Cast("void**") PointerPointer filedata(); // buffer with file data
public native @Cast("uint64_t") long filestamp(int i); public native mjVFS_ filestamp(int i, long setter);
@MemberGetter public native @Cast("uint64_t*") LongPointer filestamp(); // checksum of the file data
}
@Opaque public static class mjVFS extends Pointer {
/** Empty constructor. Calls {@code super((Pointer)null)}. */
Expand Down Expand Up @@ -2880,6 +2910,7 @@ public static class mjVisual_ extends Pointer {
@Name("global.offwidth") public native int global_offwidth(); public native mjVisual_ global_offwidth(int setter); // width of offscreen buffer
@Name("global.offheight") public native int global_offheight(); public native mjVisual_ global_offheight(int setter); // height of offscreen buffer
@Name("global.ellipsoidinertia") public native int global_ellipsoidinertia(); public native mjVisual_ global_ellipsoidinertia(int setter); // geom for inertia visualization (0: box, 1: ellipsoid)
@Name("global.bvactive") public native int global_bvactive(); public native mjVisual_ global_bvactive(int setter); // visualize active bounding volumes (0: no, 1: yes)
// rendering quality
@Name("quality.shadowsize") public native int quality_shadowsize(); public native mjVisual_ quality_shadowsize(int setter); // size of shadowmap texture
@Name("quality.offsamples") public native int quality_offsamples(); public native mjVisual_ quality_offsamples(int setter); // number of multisamples for offscreen rendering
Expand Down Expand Up @@ -2973,6 +3004,10 @@ public static class mjVisual_ extends Pointer {
@Name("rgba.crankbroken") @MemberGetter public native FloatPointer rgba_crankbroken(); // used when crank must be stretched/broken
@Name("rgba.frustum") public native float rgba_frustum(int i); public native mjVisual_ rgba_frustum(int i, float setter);
@Name("rgba.frustum") @MemberGetter public native FloatPointer rgba_frustum(); // camera frustum
@Name("rgba.bv") public native float rgba_bv(int i); public native mjVisual_ rgba_bv(int i, float setter);
@Name("rgba.bv") @MemberGetter public native FloatPointer rgba_bv(); // bounding volume
@Name("rgba.bvactive") public native float rgba_bvactive(int i); public native mjVisual_ rgba_bvactive(int i, float setter);
@Name("rgba.bvactive") @MemberGetter public native FloatPointer rgba_bvactive(); // active bounding volume
}
@Opaque public static class mjVisual extends Pointer {
/** Empty constructor. Calls {@code super((Pointer)null)}. */
Expand Down Expand Up @@ -3344,15 +3379,15 @@ public static class mjModel_ extends Pointer {
public native IntPointer mesh_texcoordadr(); public native mjModel_ mesh_texcoordadr(IntPointer setter); // texcoord data address; -1: no texcoord (nmesh x 1)
public native IntPointer mesh_texcoordnum(); public native mjModel_ mesh_texcoordnum(IntPointer setter); // number of texcoord (nmesh x 1)
public native IntPointer mesh_graphadr(); public native mjModel_ mesh_graphadr(IntPointer setter); // graph data address; -1: no graph (nmesh x 1)
public native @Cast("mjtNum*") DoublePointer mesh_pos(); public native mjModel_ mesh_pos(DoublePointer setter); // translation applied to asset vertices (nmesh x 3)
public native @Cast("mjtNum*") DoublePointer mesh_quat(); public native mjModel_ mesh_quat(DoublePointer setter); // rotation applied to asset vertices (nmesh x 4)
public native FloatPointer mesh_vert(); public native mjModel_ mesh_vert(FloatPointer setter); // vertex positions for all meshes (nmeshvert x 3)
public native FloatPointer mesh_normal(); public native mjModel_ mesh_normal(FloatPointer setter); // normals for all meshes (nmeshnormal x 3)
public native FloatPointer mesh_texcoord(); public native mjModel_ mesh_texcoord(FloatPointer setter); // vertex texcoords for all meshes (nmeshtexcoord x 2)
public native IntPointer mesh_face(); public native mjModel_ mesh_face(IntPointer setter); // vertex face data (nmeshface x 3)
public native IntPointer mesh_facenormal(); public native mjModel_ mesh_facenormal(IntPointer setter); // normal face data (nmeshface x 3)
public native IntPointer mesh_facetexcoord(); public native mjModel_ mesh_facetexcoord(IntPointer setter); // texture face data (nmeshface x 3)
public native IntPointer mesh_graph(); public native mjModel_ mesh_graph(IntPointer setter); // convex graph data (nmeshgraph x 1)
public native @Cast("mjtNum*") DoublePointer mesh_pos(); public native mjModel_ mesh_pos(DoublePointer setter); // translation applied to asset vertices (nmesh x 3)
public native @Cast("mjtNum*") DoublePointer mesh_quat(); public native mjModel_ mesh_quat(DoublePointer setter); // rotation applied to asset vertices (nmesh x 4)
public native IntPointer mesh_pathadr(); public native mjModel_ mesh_pathadr(IntPointer setter); // address of asset path for mesh; -1: none (nmesh x 1)

// skins
Expand Down Expand Up @@ -5334,6 +5369,8 @@ public static class mjResource_ extends Pointer {

public native @Cast("char*") BytePointer name(); public native mjResource_ name(BytePointer setter); // name of resource (filename, etc)
public native Pointer data(); public native mjResource_ data(Pointer setter); // opaque data pointer
public native @Cast("char") byte timestamp(int i); public native mjResource_ timestamp(int i, byte setter);
@MemberGetter public native @Cast("char*") BytePointer timestamp(); // timestamp of the resource
public native @Const mjpResourceProvider provider(); public native mjResource_ provider(mjpResourceProvider setter); // pointer to the provider
}
@Opaque public static class mjResource extends Pointer {
Expand All @@ -5343,7 +5380,7 @@ public static class mjResource_ extends Pointer {
public mjResource(Pointer p) { super(p); }
}

// callback for opeing a resource, returns zero on failure
// callback for opening a resource, returns zero on failure
public static class mjfOpenResource extends FunctionPointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
Expand Down Expand Up @@ -5385,16 +5422,18 @@ public static class mjfGetResourceDir extends FunctionPointer {
public native void call(mjResource resource, @Cast("const char**") PointerPointer dir, IntPointer ndir);
}

// callback for checking if a resource was modified since last read
// returns > 0 if resource was modified since last open, 0 if resource was not
// modified, and < 0 if inconclusive
// callback for checking if the current resource was modified from the time
// specified by the timestamp
// returns 0 if the resource's timestamp matches the provided timestamp
// returns > 0 if the the resource is younger than the given timestamp
// returns < 0 if the resource is older than the given timestamp
public static class mjfResourceModified extends FunctionPointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public mjfResourceModified(Pointer p) { super(p); }
protected mjfResourceModified() { allocate(); }
private native void allocate();
public native int call(@Const mjResource resource);
public native int call(@Const mjResource resource, @Cast("const char*") BytePointer timestamp);
}

// struct describing a single resource provider
Expand Down
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