Type Alias mjModel
Source pub type mjModel = _mjModel;
#[repr(C)]
pub struct mjModel {Show 325 fields
pub nq: i32,
pub nv: i32,
pub nu: i32,
pub na: i32,
pub nbody: i32,
pub njnt: i32,
pub ngeom: i32,
pub nsite: i32,
pub ncam: i32,
pub nlight: i32,
pub nmesh: i32,
pub nmeshvert: i32,
pub nmeshtexvert: i32,
pub nmeshface: i32,
pub nmeshgraph: i32,
pub nskin: i32,
pub nskinvert: i32,
pub nskintexvert: i32,
pub nskinface: i32,
pub nskinbone: i32,
pub nskinbonevert: i32,
pub nhfield: i32,
pub nhfielddata: i32,
pub ntex: i32,
pub ntexdata: i32,
pub nmat: i32,
pub npair: i32,
pub nexclude: i32,
pub neq: i32,
pub ntendon: i32,
pub nwrap: i32,
pub nsensor: i32,
pub nnumeric: i32,
pub nnumericdata: i32,
pub ntext: i32,
pub ntextdata: i32,
pub ntuple: i32,
pub ntupledata: i32,
pub nkey: i32,
pub nuser_body: i32,
pub nuser_jnt: i32,
pub nuser_geom: i32,
pub nuser_site: i32,
pub nuser_cam: i32,
pub nuser_tendon: i32,
pub nuser_actuator: i32,
pub nuser_sensor: i32,
pub nnames: i32,
pub nM: i32,
pub nemax: i32,
pub njmax: i32,
pub nconmax: i32,
pub nstack: i32,
pub nuserdata: i32,
pub nmocap: i32,
pub nsensordata: i32,
pub nbuffer: i32,
pub opt: _mjOption,
pub vis: _mjVisual,
pub stat: _mjStatistic,
pub buffer: *mut c_void,
pub qpos0: *mut f64,
pub qpos_spring: *mut f64,
pub body_parentid: *mut i32,
pub body_rootid: *mut i32,
pub body_weldid: *mut i32,
pub body_mocapid: *mut i32,
pub body_jntnum: *mut i32,
pub body_jntadr: *mut i32,
pub body_dofnum: *mut i32,
pub body_dofadr: *mut i32,
pub body_geomnum: *mut i32,
pub body_geomadr: *mut i32,
pub body_simple: *mut u8,
pub body_sameframe: *mut u8,
pub body_pos: *mut f64,
pub body_quat: *mut f64,
pub body_ipos: *mut f64,
pub body_iquat: *mut f64,
pub body_mass: *mut f64,
pub body_subtreemass: *mut f64,
pub body_inertia: *mut f64,
pub body_invweight0: *mut f64,
pub body_user: *mut f64,
pub jnt_type: *mut i32,
pub jnt_qposadr: *mut i32,
pub jnt_dofadr: *mut i32,
pub jnt_bodyid: *mut i32,
pub jnt_group: *mut i32,
pub jnt_limited: *mut u8,
pub jnt_solref: *mut f64,
pub jnt_solimp: *mut f64,
pub jnt_pos: *mut f64,
pub jnt_axis: *mut f64,
pub jnt_stiffness: *mut f64,
pub jnt_range: *mut f64,
pub jnt_margin: *mut f64,
pub jnt_user: *mut f64,
pub dof_bodyid: *mut i32,
pub dof_jntid: *mut i32,
pub dof_parentid: *mut i32,
pub dof_Madr: *mut i32,
pub dof_simplenum: *mut i32,
pub dof_solref: *mut f64,
pub dof_solimp: *mut f64,
pub dof_frictionloss: *mut f64,
pub dof_armature: *mut f64,
pub dof_damping: *mut f64,
pub dof_invweight0: *mut f64,
pub dof_M0: *mut f64,
pub geom_type: *mut i32,
pub geom_contype: *mut i32,
pub geom_conaffinity: *mut i32,
pub geom_condim: *mut i32,
pub geom_bodyid: *mut i32,
pub geom_dataid: *mut i32,
pub geom_matid: *mut i32,
pub geom_group: *mut i32,
pub geom_priority: *mut i32,
pub geom_sameframe: *mut u8,
pub geom_solmix: *mut f64,
pub geom_solref: *mut f64,
pub geom_solimp: *mut f64,
pub geom_size: *mut f64,
pub geom_rbound: *mut f64,
pub geom_pos: *mut f64,
pub geom_quat: *mut f64,
pub geom_friction: *mut f64,
pub geom_margin: *mut f64,
pub geom_gap: *mut f64,
pub geom_user: *mut f64,
pub geom_rgba: *mut f32,
pub site_type: *mut i32,
pub site_bodyid: *mut i32,
pub site_matid: *mut i32,
pub site_group: *mut i32,
pub site_sameframe: *mut u8,
pub site_size: *mut f64,
pub site_pos: *mut f64,
pub site_quat: *mut f64,
pub site_user: *mut f64,
pub site_rgba: *mut f32,
pub cam_mode: *mut i32,
pub cam_bodyid: *mut i32,
pub cam_targetbodyid: *mut i32,
pub cam_pos: *mut f64,
pub cam_quat: *mut f64,
pub cam_poscom0: *mut f64,
pub cam_pos0: *mut f64,
pub cam_mat0: *mut f64,
pub cam_fovy: *mut f64,
pub cam_ipd: *mut f64,
pub cam_user: *mut f64,
pub light_mode: *mut i32,
pub light_bodyid: *mut i32,
pub light_targetbodyid: *mut i32,
pub light_directional: *mut u8,
pub light_castshadow: *mut u8,
pub light_active: *mut u8,
pub light_pos: *mut f64,
pub light_dir: *mut f64,
pub light_poscom0: *mut f64,
pub light_pos0: *mut f64,
pub light_dir0: *mut f64,
pub light_attenuation: *mut f32,
pub light_cutoff: *mut f32,
pub light_exponent: *mut f32,
pub light_ambient: *mut f32,
pub light_diffuse: *mut f32,
pub light_specular: *mut f32,
pub mesh_vertadr: *mut i32,
pub mesh_vertnum: *mut i32,
pub mesh_texcoordadr: *mut i32,
pub mesh_faceadr: *mut i32,
pub mesh_facenum: *mut i32,
pub mesh_graphadr: *mut i32,
pub mesh_vert: *mut f32,
pub mesh_normal: *mut f32,
pub mesh_texcoord: *mut f32,
pub mesh_face: *mut i32,
pub mesh_graph: *mut i32,
pub skin_matid: *mut i32,
pub skin_rgba: *mut f32,
pub skin_inflate: *mut f32,
pub skin_vertadr: *mut i32,
pub skin_vertnum: *mut i32,
pub skin_texcoordadr: *mut i32,
pub skin_faceadr: *mut i32,
pub skin_facenum: *mut i32,
pub skin_boneadr: *mut i32,
pub skin_bonenum: *mut i32,
pub skin_vert: *mut f32,
pub skin_texcoord: *mut f32,
pub skin_face: *mut i32,
pub skin_bonevertadr: *mut i32,
pub skin_bonevertnum: *mut i32,
pub skin_bonebindpos: *mut f32,
pub skin_bonebindquat: *mut f32,
pub skin_bonebodyid: *mut i32,
pub skin_bonevertid: *mut i32,
pub skin_bonevertweight: *mut f32,
pub hfield_size: *mut f64,
pub hfield_nrow: *mut i32,
pub hfield_ncol: *mut i32,
pub hfield_adr: *mut i32,
pub hfield_data: *mut f32,
pub tex_type: *mut i32,
pub tex_height: *mut i32,
pub tex_width: *mut i32,
pub tex_adr: *mut i32,
pub tex_rgb: *mut u8,
pub mat_texid: *mut i32,
pub mat_texuniform: *mut u8,
pub mat_texrepeat: *mut f32,
pub mat_emission: *mut f32,
pub mat_specular: *mut f32,
pub mat_shininess: *mut f32,
pub mat_reflectance: *mut f32,
pub mat_rgba: *mut f32,
pub pair_dim: *mut i32,
pub pair_geom1: *mut i32,
pub pair_geom2: *mut i32,
pub pair_signature: *mut i32,
pub pair_solref: *mut f64,
pub pair_solimp: *mut f64,
pub pair_margin: *mut f64,
pub pair_gap: *mut f64,
pub pair_friction: *mut f64,
pub exclude_signature: *mut i32,
pub eq_type: *mut i32,
pub eq_obj1id: *mut i32,
pub eq_obj2id: *mut i32,
pub eq_active: *mut u8,
pub eq_solref: *mut f64,
pub eq_solimp: *mut f64,
pub eq_data: *mut f64,
pub tendon_adr: *mut i32,
pub tendon_num: *mut i32,
pub tendon_matid: *mut i32,
pub tendon_group: *mut i32,
pub tendon_limited: *mut u8,
pub tendon_width: *mut f64,
pub tendon_solref_lim: *mut f64,
pub tendon_solimp_lim: *mut f64,
pub tendon_solref_fri: *mut f64,
pub tendon_solimp_fri: *mut f64,
pub tendon_range: *mut f64,
pub tendon_margin: *mut f64,
pub tendon_stiffness: *mut f64,
pub tendon_damping: *mut f64,
pub tendon_frictionloss: *mut f64,
pub tendon_lengthspring: *mut f64,
pub tendon_length0: *mut f64,
pub tendon_invweight0: *mut f64,
pub tendon_user: *mut f64,
pub tendon_rgba: *mut f32,
pub wrap_type: *mut i32,
pub wrap_objid: *mut i32,
pub wrap_prm: *mut f64,
pub actuator_trntype: *mut i32,
pub actuator_dyntype: *mut i32,
pub actuator_gaintype: *mut i32,
pub actuator_biastype: *mut i32,
pub actuator_trnid: *mut i32,
pub actuator_group: *mut i32,
pub actuator_ctrllimited: *mut u8,
pub actuator_forcelimited: *mut u8,
pub actuator_dynprm: *mut f64,
pub actuator_gainprm: *mut f64,
pub actuator_biasprm: *mut f64,
pub actuator_ctrlrange: *mut f64,
pub actuator_forcerange: *mut f64,
pub actuator_gear: *mut f64,
pub actuator_cranklength: *mut f64,
pub actuator_acc0: *mut f64,
pub actuator_length0: *mut f64,
pub actuator_lengthrange: *mut f64,
pub actuator_user: *mut f64,
pub sensor_type: *mut i32,
pub sensor_datatype: *mut i32,
pub sensor_needstage: *mut i32,
pub sensor_objtype: *mut i32,
pub sensor_objid: *mut i32,
pub sensor_dim: *mut i32,
pub sensor_adr: *mut i32,
pub sensor_cutoff: *mut f64,
pub sensor_noise: *mut f64,
pub sensor_user: *mut f64,
pub numeric_adr: *mut i32,
pub numeric_size: *mut i32,
pub numeric_data: *mut f64,
pub text_adr: *mut i32,
pub text_size: *mut i32,
pub text_data: *mut i8,
pub tuple_adr: *mut i32,
pub tuple_size: *mut i32,
pub tuple_objtype: *mut i32,
pub tuple_objid: *mut i32,
pub tuple_objprm: *mut f64,
pub key_time: *mut f64,
pub key_qpos: *mut f64,
pub key_qvel: *mut f64,
pub key_act: *mut f64,
pub name_bodyadr: *mut i32,
pub name_jntadr: *mut i32,
pub name_geomadr: *mut i32,
pub name_siteadr: *mut i32,
pub name_camadr: *mut i32,
pub name_lightadr: *mut i32,
pub name_meshadr: *mut i32,
pub name_skinadr: *mut i32,
pub name_hfieldadr: *mut i32,
pub name_texadr: *mut i32,
pub name_matadr: *mut i32,
pub name_pairadr: *mut i32,
pub name_excludeadr: *mut i32,
pub name_eqadr: *mut i32,
pub name_tendonadr: *mut i32,
pub name_actuatoradr: *mut i32,
pub name_sensoradr: *mut i32,
pub name_numericadr: *mut i32,
pub name_textadr: *mut i32,
pub name_tupleadr: *mut i32,
pub name_keyadr: *mut i32,
pub names: *mut i8,
§nbody: i32§nuser_body: i32§body_parentid: *mut i32§body_rootid: *mut i32§body_weldid: *mut i32§body_mocapid: *mut i32§body_jntnum: *mut i32§body_jntadr: *mut i32§body_dofnum: *mut i32§body_dofadr: *mut i32§body_geomnum: *mut i32§body_geomadr: *mut i32§body_simple: *mut u8§body_sameframe: *mut u8§body_pos: *mut f64§body_quat: *mut f64§body_ipos: *mut f64§body_iquat: *mut f64§body_mass: *mut f64§body_subtreemass: *mut f64§body_inertia: *mut f64§body_invweight0: *mut f64§body_user: *mut f64§jnt_bodyid: *mut i32§dof_bodyid: *mut i32§geom_bodyid: *mut i32§site_bodyid: *mut i32§cam_bodyid: *mut i32§cam_targetbodyid: *mut i32§light_bodyid: *mut i32§light_targetbodyid: *mut i32§light_castshadow: *mut u8§skin_bonebodyid: *mut i32§name_bodyadr: *mut i32