Type Alias mjData
Source pub type mjData = _mjData;
#[repr(C)]
pub struct mjData {Show 113 fields
pub nstack: i32,
pub nbuffer: i32,
pub pstack: i32,
pub maxuse_stack: i32,
pub maxuse_con: i32,
pub maxuse_efc: i32,
pub warning: [_mjWarningStat; 8],
pub timer: [_mjTimerStat; 13],
pub solver: [_mjSolverStat; 1000],
pub solver_iter: i32,
pub solver_nnz: i32,
pub solver_fwdinv: [f64; 2],
pub ne: i32,
pub nf: i32,
pub nefc: i32,
pub ncon: i32,
pub time: f64,
pub energy: [f64; 2],
pub buffer: *mut c_void,
pub stack: *mut f64,
pub qpos: *mut f64,
pub qvel: *mut f64,
pub act: *mut f64,
pub qacc_warmstart: *mut f64,
pub ctrl: *mut f64,
pub qfrc_applied: *mut f64,
pub xfrc_applied: *mut f64,
pub qacc: *mut f64,
pub act_dot: *mut f64,
pub mocap_pos: *mut f64,
pub mocap_quat: *mut f64,
pub userdata: *mut f64,
pub sensordata: *mut f64,
pub xpos: *mut f64,
pub xquat: *mut f64,
pub xmat: *mut f64,
pub xipos: *mut f64,
pub ximat: *mut f64,
pub xanchor: *mut f64,
pub xaxis: *mut f64,
pub geom_xpos: *mut f64,
pub geom_xmat: *mut f64,
pub site_xpos: *mut f64,
pub site_xmat: *mut f64,
pub cam_xpos: *mut f64,
pub cam_xmat: *mut f64,
pub light_xpos: *mut f64,
pub light_xdir: *mut f64,
pub subtree_com: *mut f64,
pub cdof: *mut f64,
pub cinert: *mut f64,
pub ten_wrapadr: *mut i32,
pub ten_wrapnum: *mut i32,
pub ten_J_rownnz: *mut i32,
pub ten_J_rowadr: *mut i32,
pub ten_J_colind: *mut i32,
pub ten_length: *mut f64,
pub ten_J: *mut f64,
pub wrap_obj: *mut i32,
pub wrap_xpos: *mut f64,
pub actuator_length: *mut f64,
pub actuator_moment: *mut f64,
pub crb: *mut f64,
pub qM: *mut f64,
pub qLD: *mut f64,
pub qLDiagInv: *mut f64,
pub qLDiagSqrtInv: *mut f64,
pub contact: *mut _mjContact,
pub efc_type: *mut i32,
pub efc_id: *mut i32,
pub efc_J_rownnz: *mut i32,
pub efc_J_rowadr: *mut i32,
pub efc_J_rowsuper: *mut i32,
pub efc_J_colind: *mut i32,
pub efc_JT_rownnz: *mut i32,
pub efc_JT_rowadr: *mut i32,
pub efc_JT_rowsuper: *mut i32,
pub efc_JT_colind: *mut i32,
pub efc_J: *mut f64,
pub efc_JT: *mut f64,
pub efc_pos: *mut f64,
pub efc_margin: *mut f64,
pub efc_frictionloss: *mut f64,
pub efc_diagApprox: *mut f64,
pub efc_KBIP: *mut f64,
pub efc_D: *mut f64,
pub efc_R: *mut f64,
pub efc_AR_rownnz: *mut i32,
pub efc_AR_rowadr: *mut i32,
pub efc_AR_colind: *mut i32,
pub efc_AR: *mut f64,
pub ten_velocity: *mut f64,
pub actuator_velocity: *mut f64,
pub cvel: *mut f64,
pub cdof_dot: *mut f64,
pub qfrc_bias: *mut f64,
pub qfrc_passive: *mut f64,
pub efc_vel: *mut f64,
pub efc_aref: *mut f64,
pub subtree_linvel: *mut f64,
pub subtree_angmom: *mut f64,
pub actuator_force: *mut f64,
pub qfrc_actuator: *mut f64,
pub qfrc_unc: *mut f64,
pub qacc_unc: *mut f64,
pub efc_b: *mut f64,
pub efc_force: *mut f64,
pub efc_state: *mut i32,
pub qfrc_constraint: *mut f64,
pub qfrc_inverse: *mut f64,
pub cacc: *mut f64,
pub cfrc_int: *mut f64,
pub cfrc_ext: *mut f64,