MuJoCoLib (mujoco-java 2.2.2 API)

java.lang.Object
- org.mujoco.MuJoCoConfig
- - org.mujoco.MuJoCoLib

All Implemented Interfaces:

org.bytedeco.javacpp.tools.InfoMapper
```
public class MuJoCoLib
extends MuJoCoConfig
```

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`MuJoCoLib.mjContact`
`static class`	`MuJoCoLib.mjContact_`
`static class`	`MuJoCoLib.mjData`
`static class`	`MuJoCoLib.mjData_`
`static class`	`MuJoCoLib.mjfAct`
`static class`	`MuJoCoLib.mjfCollision`
`static class`	`MuJoCoLib.mjfConFilt`
`static class`	`MuJoCoLib.mjfGeneric`
`static class`	`MuJoCoLib.mjfItemEnable`
`static class`	`MuJoCoLib.mjfSensor`
`static class`	`MuJoCoLib.mjfTime`
`static class`	`MuJoCoLib.mjLROpt`
`static class`	`MuJoCoLib.mjLROpt_`
`static class`	`MuJoCoLib.mjModel`
`static class`	`MuJoCoLib.mjModel_`
`static class`	`MuJoCoLib.mjOption`
`static class`	`MuJoCoLib.mjOption_`
`static class`	`MuJoCoLib.mjrContext`
`static class`	`MuJoCoLib.mjrContext_`
`static class`	`MuJoCoLib.mjrRect`
`static class`	`MuJoCoLib.mjrRect_`
`static class`	`MuJoCoLib.mjSolverStat`
`static class`	`MuJoCoLib.mjSolverStat_`
`static class`	`MuJoCoLib.mjStatistic`
`static class`	`MuJoCoLib.mjStatistic_`
`static class`	`MuJoCoLib.mjTimerStat`
`static class`	`MuJoCoLib.mjTimerStat_`
`static class`	`MuJoCoLib.Mju_user_error_BytePointer`
`static class`	`MuJoCoLib.Mju_user_free_Pointer`
`static class`	`MuJoCoLib.Mju_user_malloc_long`
`static class`	`MuJoCoLib.Mju_user_warning_BytePointer`
`static class`	`MuJoCoLib.mjUI`
`static class`	`MuJoCoLib.mjUI_`
`static class`	`MuJoCoLib.mjuiDef`
`static class`	`MuJoCoLib.mjuiDef_`
`static class`	`MuJoCoLib.mjuiItem`
`static class`	`MuJoCoLib.mjuiItem_`
`static class`	`MuJoCoLib.mjuiItemEdit_`
`static class`	`MuJoCoLib.mjuiItemMulti_`
`static class`	`MuJoCoLib.mjuiItemSingle_`
`static class`	`MuJoCoLib.mjuiItemSlider_`
`static class`	`MuJoCoLib.mjuiSection`
`static class`	`MuJoCoLib.mjuiSection_`
`static class`	`MuJoCoLib.mjuiState`
`static class`	`MuJoCoLib.mjuiState_`
`static class`	`MuJoCoLib.mjuiThemeColor`
`static class`	`MuJoCoLib.mjuiThemeColor_`
`static class`	`MuJoCoLib.mjuiThemeSpacing`
`static class`	`MuJoCoLib.mjuiThemeSpacing_`
`static class`	`MuJoCoLib.mjvCamera`
`static class`	`MuJoCoLib.mjvCamera_`
`static class`	`MuJoCoLib.mjvFigure`
`static class`	`MuJoCoLib.mjvFigure_`
`static class`	`MuJoCoLib.mjVFS`
`static class`	`MuJoCoLib.mjVFS_`
`static class`	`MuJoCoLib.mjvGeom`
`static class`	`MuJoCoLib.mjvGeom_`
`static class`	`MuJoCoLib.mjvGLCamera`
`static class`	`MuJoCoLib.mjvGLCamera_`
`static class`	`MuJoCoLib.mjVisual`
`static class`	`MuJoCoLib.mjVisual_`
`static class`	`MuJoCoLib.mjvLight`
`static class`	`MuJoCoLib.mjvLight_`
`static class`	`MuJoCoLib.mjvOption`
`static class`	`MuJoCoLib.mjvOption_`
`static class`	`MuJoCoLib.mjvPerturb`
`static class`	`MuJoCoLib.mjvPerturb_`
`static class`	`MuJoCoLib.mjvScene`
`static class`	`MuJoCoLib.mjvScene_`
`static class`	`MuJoCoLib.mjWarningStat`
`static class`	`MuJoCoLib.mjWarningStat_`

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`mjBIAS_AFFINE` enum mjtBias
`static int`	`mjBIAS_MUSCLE` enum mjtBias
`static int`	`mjBIAS_NONE` enum mjtBias
`static int`	`mjBIAS_USER` enum mjtBias
`static int`	`mjBUTTON_LEFT` enum mjtButton
`static int`	`mjBUTTON_MIDDLE` enum mjtButton
`static int`	`mjBUTTON_NONE` enum mjtButton
`static int`	`mjBUTTON_RIGHT` enum mjtButton
`static int`	`mjCAMERA_FIXED` enum mjtCamera
`static int`	`mjCAMERA_FREE` enum mjtCamera
`static int`	`mjCAMERA_TRACKING` enum mjtCamera
`static int`	`mjCAMERA_USER` enum mjtCamera
`static int`	`mjCAMLIGHT_FIXED` enum mjtCamLight
`static int`	`mjCAMLIGHT_TARGETBODY` enum mjtCamLight
`static int`	`mjCAMLIGHT_TARGETBODYCOM` enum mjtCamLight
`static int`	`mjCAMLIGHT_TRACK` enum mjtCamLight
`static int`	`mjCAMLIGHT_TRACKCOM` enum mjtCamLight
`static int`	`mjCAT_ALL` enum mjtCatBit
`static int`	`mjCAT_DECOR` enum mjtCatBit
`static int`	`mjCAT_DYNAMIC` enum mjtCatBit
`static int`	`mjCAT_STATIC` enum mjtCatBit
`static int`	`mjCNSTR_CONTACT_ELLIPTIC` enum mjtConstraint
`static int`	`mjCNSTR_CONTACT_FRICTIONLESS` enum mjtConstraint
`static int`	`mjCNSTR_CONTACT_PYRAMIDAL` enum mjtConstraint
`static int`	`mjCNSTR_EQUALITY` enum mjtConstraint
`static int`	`mjCNSTR_FRICTION_DOF` enum mjtConstraint
`static int`	`mjCNSTR_FRICTION_TENDON` enum mjtConstraint
`static int`	`mjCNSTR_LIMIT_JOINT` enum mjtConstraint
`static int`	`mjCNSTR_LIMIT_TENDON` enum mjtConstraint
`static int`	`mjCNSTRSTATE_CONE` enum mjtConstraintState
`static int`	`mjCNSTRSTATE_LINEARNEG` enum mjtConstraintState
`static int`	`mjCNSTRSTATE_LINEARPOS` enum mjtConstraintState
`static int`	`mjCNSTRSTATE_QUADRATIC` enum mjtConstraintState
`static int`	`mjCNSTRSTATE_SATISFIED` enum mjtConstraintState
`static int`	`mjCOL_ALL` enum mjtCollision
`static int`	`mjCOL_DYNAMIC` enum mjtCollision
`static int`	`mjCOL_PAIR` enum mjtCollision
`static int`	`mjCONE_ELLIPTIC` enum mjtCone
`static int`	`mjCONE_PYRAMIDAL` enum mjtCone
`static int`	`mjDATATYPE_AXIS` enum mjtDataType
`static int`	`mjDATATYPE_POSITIVE` enum mjtDataType
`static int`	`mjDATATYPE_QUATERNION` enum mjtDataType
`static int`	`mjDATATYPE_REAL` enum mjtDataType
`static int`	`mjDSBL_ACTUATION` enum mjtDisableBit
`static int`	`mjDSBL_CLAMPCTRL` enum mjtDisableBit
`static int`	`mjDSBL_CONSTRAINT` enum mjtDisableBit
`static int`	`mjDSBL_CONTACT` enum mjtDisableBit
`static int`	`mjDSBL_EQUALITY` enum mjtDisableBit
`static int`	`mjDSBL_FILTERPARENT` enum mjtDisableBit
`static int`	`mjDSBL_FRICTIONLOSS` enum mjtDisableBit
`static int`	`mjDSBL_GRAVITY` enum mjtDisableBit
`static int`	`mjDSBL_LIMIT` enum mjtDisableBit
`static int`	`mjDSBL_PASSIVE` enum mjtDisableBit
`static int`	`mjDSBL_REFSAFE` enum mjtDisableBit
`static int`	`mjDSBL_WARMSTART` enum mjtDisableBit
`static int`	`mjDYN_FILTER` enum mjtDyn
`static int`	`mjDYN_INTEGRATOR` enum mjtDyn
`static int`	`mjDYN_MUSCLE` enum mjtDyn
`static int`	`mjDYN_NONE` enum mjtDyn
`static int`	`mjDYN_USER` enum mjtDyn
`static int`	`mjENBL_ENERGY` enum mjtEnableBit
`static int`	`mjENBL_FWDINV` enum mjtEnableBit
`static int`	`mjENBL_MULTICCD` enum mjtEnableBit
`static int`	`mjENBL_OVERRIDE` enum mjtEnableBit
`static int`	`mjENBL_SENSORNOISE` enum mjtEnableBit
`static int`	`mjEQ_CONNECT` enum mjtEq
`static int`	`mjEQ_DISTANCE` enum mjtEq
`static int`	`mjEQ_JOINT` enum mjtEq
`static int`	`mjEQ_TENDON` enum mjtEq
`static int`	`mjEQ_WELD` enum mjtEq
`static int`	`mjEVENT_KEY` enum mjtEvent
`static int`	`mjEVENT_MOVE` enum mjtEvent
`static int`	`mjEVENT_NONE` enum mjtEvent
`static int`	`mjEVENT_PRESS` enum mjtEvent
`static int`	`mjEVENT_RELEASE` enum mjtEvent
`static int`	`mjEVENT_RESIZE` enum mjtEvent
`static int`	`mjEVENT_SCROLL` enum mjtEvent
`static int`	`mjFB_OFFSCREEN` enum mjtFramebuffer
`static int`	`mjFB_WINDOW` enum mjtFramebuffer
`static int`	`mjFONT_BIG` enum mjtFont
`static int`	`mjFONT_NORMAL` enum mjtFont
`static int`	`mjFONT_SHADOW` enum mjtFont
`static int`	`mjFONTSCALE_100` enum mjtFontScale
`static int`	`mjFONTSCALE_150` enum mjtFontScale
`static int`	`mjFONTSCALE_200` enum mjtFontScale
`static int`	`mjFONTSCALE_250` enum mjtFontScale
`static int`	`mjFONTSCALE_300` enum mjtFontScale
`static int`	`mjFONTSCALE_50` enum mjtFontScale
`static int`	`mjFRAME_BODY` enum mjtFrame
`static int`	`mjFRAME_CAMERA` enum mjtFrame
`static int`	`mjFRAME_CONTACT` enum mjtFrame
`static int`	`mjFRAME_GEOM` enum mjtFrame
`static int`	`mjFRAME_LIGHT` enum mjtFrame
`static int`	`mjFRAME_NONE` enum mjtFrame
`static int`	`mjFRAME_SITE` enum mjtFrame
`static int`	`mjFRAME_WORLD` enum mjtFrame
`static int`	`mjGAIN_FIXED` enum mjtGain
`static int`	`mjGAIN_MUSCLE` enum mjtGain
`static int`	`mjGAIN_USER` enum mjtGain
`static int`	`mjGEOM_ARROW` enum mjtGeom
`static int`	`mjGEOM_ARROW1` enum mjtGeom
`static int`	`mjGEOM_ARROW2` enum mjtGeom
`static int`	`mjGEOM_BOX` enum mjtGeom
`static int`	`mjGEOM_CAPSULE` enum mjtGeom
`static int`	`mjGEOM_CYLINDER` enum mjtGeom
`static int`	`mjGEOM_ELLIPSOID` enum mjtGeom
`static int`	`mjGEOM_HFIELD` enum mjtGeom
`static int`	`mjGEOM_LABEL` enum mjtGeom
`static int`	`mjGEOM_LINE` enum mjtGeom
`static int`	`mjGEOM_MESH` enum mjtGeom
`static int`	`mjGEOM_NONE` enum mjtGeom
`static int`	`mjGEOM_PLANE` enum mjtGeom
`static int`	`mjGEOM_SKIN` enum mjtGeom
`static int`	`mjGEOM_SPHERE` enum mjtGeom
`static int`	`mjGRID_BOTTOMLEFT` enum mjtGridPos
`static int`	`mjGRID_BOTTOMRIGHT` enum mjtGridPos
`static int`	`mjGRID_TOPLEFT` enum mjtGridPos
`static int`	`mjGRID_TOPRIGHT` enum mjtGridPos
`static int`	`mjINT_EULER` enum mjtIntegrator
`static int`	`mjINT_IMPLICIT` enum mjtIntegrator
`static int`	`mjINT_RK4` enum mjtIntegrator
`static int`	`mjITEM_BUTTON` enum mjtItem
`static int`	`mjITEM_CHECKBYTE` enum mjtItem
`static int`	`mjITEM_CHECKINT` enum mjtItem
`static int`	`mjITEM_EDITINT` enum mjtItem
`static int`	`mjITEM_EDITNUM` enum mjtItem
`static int`	`mjITEM_EDITTXT` enum mjtItem
`static int`	`mjITEM_END` enum mjtItem
`static int`	`mjITEM_RADIO` enum mjtItem
`static int`	`mjITEM_RADIOLINE` enum mjtItem
`static int`	`mjITEM_SECTION` enum mjtItem
`static int`	`mjITEM_SELECT` enum mjtItem
`static int`	`mjITEM_SEPARATOR` enum mjtItem
`static int`	`mjITEM_SLIDERINT` enum mjtItem
`static int`	`mjITEM_SLIDERNUM` enum mjtItem
`static int`	`mjITEM_STATIC` enum mjtItem
`static int`	`mjJAC_AUTO` enum mjtJacobian
`static int`	`mjJAC_DENSE` enum mjtJacobian
`static int`	`mjJAC_SPARSE` enum mjtJacobian
`static int`	`mjJNT_BALL` enum mjtJoint
`static int`	`mjJNT_FREE` enum mjtJoint
`static int`	`mjJNT_HINGE` enum mjtJoint
`static int`	`mjJNT_SLIDE` enum mjtJoint
`static int`	`mjKEY_BACKSPACE`
`static int`	`mjKEY_DELETE`
`static int`	`mjKEY_DOWN`
`static int`	`mjKEY_END`
`static int`	`mjKEY_ENTER`
`static int`	`mjKEY_ESCAPE`
`static int`	`mjKEY_F1`
`static int`	`mjKEY_F10`
`static int`	`mjKEY_F11`
`static int`	`mjKEY_F12`
`static int`	`mjKEY_F2`
`static int`	`mjKEY_F3`
`static int`	`mjKEY_F4`
`static int`	`mjKEY_F5`
`static int`	`mjKEY_F6`
`static int`	`mjKEY_F7`
`static int`	`mjKEY_F8`
`static int`	`mjKEY_F9`
`static int`	`mjKEY_HOME`
`static int`	`mjKEY_INSERT`
`static int`	`mjKEY_LEFT`
`static int`	`mjKEY_PAGE_DOWN`
`static int`	`mjKEY_PAGE_UP`
`static int`	`mjKEY_RIGHT`
`static int`	`mjKEY_TAB`
`static int`	`mjKEY_UP`
`static int`	`mjLABEL_ACTUATOR` enum mjtLabel
`static int`	`mjLABEL_BODY` enum mjtLabel
`static int`	`mjLABEL_CAMERA` enum mjtLabel
`static int`	`mjLABEL_CONSTRAINT` enum mjtLabel
`static int`	`mjLABEL_CONTACTFORCE` enum mjtLabel
`static int`	`mjLABEL_GEOM` enum mjtLabel
`static int`	`mjLABEL_JOINT` enum mjtLabel
`static int`	`mjLABEL_LIGHT` enum mjtLabel
`static int`	`mjLABEL_NONE` enum mjtLabel
`static int`	`mjLABEL_SELECTION` enum mjtLabel
`static int`	`mjLABEL_SELPNT` enum mjtLabel
`static int`	`mjLABEL_SITE` enum mjtLabel
`static int`	`mjLABEL_SKIN` enum mjtLabel
`static int`	`mjLABEL_TENDON` enum mjtLabel
`static int`	`mjLRMODE_ALL` enum mjtLRMode
`static int`	`mjLRMODE_MUSCLE` enum mjtLRMode
`static int`	`mjLRMODE_MUSCLEUSER` enum mjtLRMode
`static int`	`mjLRMODE_NONE` enum mjtLRMode
`static int`	`mjMAXCONPAIR`
`static double`	`mjMAXIMP`
`static int`	`mjMAXLIGHT`
`static int`	`mjMAXLINE`
`static int`	`mjMAXLINEPNT`
`static int`	`mjMAXOVERLAY`
`static int`	`mjMAXPLANEGRID`
`static int`	`mjMAXTEXTURE`
`static int`	`mjMAXUIEDIT`
`static int`	`mjMAXUIITEM`
`static int`	`mjMAXUIMULTI`
`static int`	`mjMAXUINAME`
`static int`	`mjMAXUIRECT`
`static int`	`mjMAXUISECT`
`static int`	`mjMAXUITEXT`
`static double`	`mjMAXVAL`
`static int`	`mjMAXVFS`
`static int`	`mjMAXVFSNAME`
`static double`	`mjMINIMP`
`static double`	`mjMINMU`
`static double`	`mjMINVAL`
`static int`	`mjMOUSE_MOVE_H` enum mjtMouse
`static int`	`mjMOUSE_MOVE_V` enum mjtMouse
`static int`	`mjMOUSE_NONE` enum mjtMouse
`static int`	`mjMOUSE_ROTATE_H` enum mjtMouse
`static int`	`mjMOUSE_ROTATE_V` enum mjtMouse
`static int`	`mjMOUSE_SELECT` enum mjtMouse
`static int`	`mjMOUSE_ZOOM` enum mjtMouse
`static int`	`mjNAUX`
`static int`	`mjNBIAS`
`static int`	`mjNDISABLE` enum mjtDisableBit
`static int`	`mjNDYN`
`static int`	`mjNENABLE` enum mjtEnableBit
`static int`	`mjNEQDATA`
`static int`	`mjNFLUID`
`static int`	`mjNFRAME` enum mjtFrame
`static int`	`mjNGAIN`
`static int`	`mjNGEOMTYPES` enum mjtGeom
`static int`	`mjNGROUP`
`static int`	`mjNIMP`
`static int`	`mjNITEM` enum mjtItem
`static int`	`mjNLABEL` enum mjtLabel
`static int`	`mjNREF`
`static int`	`mjNRNDFLAG` enum mjtRndFlag
`static int`	`mjNSOLVER`
`static int`	`mjNTIMER` enum mjtTimer
`static int`	`mjNVISFLAG` enum mjtVisFlag
`static int`	`mjNWARNING` enum mjtWarning
`static int`	`mjOBJ_ACTUATOR` enum mjtObj
`static int`	`mjOBJ_BODY` enum mjtObj
`static int`	`mjOBJ_CAMERA` enum mjtObj
`static int`	`mjOBJ_DOF` enum mjtObj
`static int`	`mjOBJ_EQUALITY` enum mjtObj
`static int`	`mjOBJ_EXCLUDE` enum mjtObj
`static int`	`mjOBJ_GEOM` enum mjtObj
`static int`	`mjOBJ_HFIELD` enum mjtObj
`static int`	`mjOBJ_JOINT` enum mjtObj
`static int`	`mjOBJ_KEY` enum mjtObj
`static int`	`mjOBJ_LIGHT` enum mjtObj
`static int`	`mjOBJ_MATERIAL` enum mjtObj
`static int`	`mjOBJ_MESH` enum mjtObj
`static int`	`mjOBJ_NUMERIC` enum mjtObj
`static int`	`mjOBJ_PAIR` enum mjtObj
`static int`	`mjOBJ_SENSOR` enum mjtObj
`static int`	`mjOBJ_SITE` enum mjtObj
`static int`	`mjOBJ_SKIN` enum mjtObj
`static int`	`mjOBJ_TENDON` enum mjtObj
`static int`	`mjOBJ_TEXT` enum mjtObj
`static int`	`mjOBJ_TEXTURE` enum mjtObj
`static int`	`mjOBJ_TUPLE` enum mjtObj
`static int`	`mjOBJ_UNKNOWN` enum mjtObj
`static int`	`mjOBJ_XBODY` enum mjtObj
`static int`	`mjPERT_ROTATE` enum mjtPertBit
`static int`	`mjPERT_TRANSLATE` enum mjtPertBit
`static double`	`mjPI`
`static int`	`mjRND_ADDITIVE` enum mjtRndFlag
`static int`	`mjRND_FOG` enum mjtRndFlag
`static int`	`mjRND_HAZE` enum mjtRndFlag
`static int`	`mjRND_IDCOLOR` enum mjtRndFlag
`static int`	`mjRND_REFLECTION` enum mjtRndFlag
`static int`	`mjRND_SEGMENT` enum mjtRndFlag
`static int`	`mjRND_SHADOW` enum mjtRndFlag
`static int`	`mjRND_SKYBOX` enum mjtRndFlag
`static int`	`mjRND_WIREFRAME` enum mjtRndFlag
`static int`	`mjSENS_ACCELEROMETER` enum mjtSensor
`static int`	`mjSENS_ACTUATORFRC` enum mjtSensor
`static int`	`mjSENS_ACTUATORPOS` enum mjtSensor
`static int`	`mjSENS_ACTUATORVEL` enum mjtSensor
`static int`	`mjSENS_BALLANGVEL` enum mjtSensor
`static int`	`mjSENS_BALLQUAT` enum mjtSensor
`static int`	`mjSENS_FORCE` enum mjtSensor
`static int`	`mjSENS_FRAMEANGACC` enum mjtSensor
`static int`	`mjSENS_FRAMEANGVEL` enum mjtSensor
`static int`	`mjSENS_FRAMELINACC` enum mjtSensor
`static int`	`mjSENS_FRAMELINVEL` enum mjtSensor
`static int`	`mjSENS_FRAMEPOS` enum mjtSensor
`static int`	`mjSENS_FRAMEQUAT` enum mjtSensor
`static int`	`mjSENS_FRAMEXAXIS` enum mjtSensor
`static int`	`mjSENS_FRAMEYAXIS` enum mjtSensor
`static int`	`mjSENS_FRAMEZAXIS` enum mjtSensor
`static int`	`mjSENS_GYRO` enum mjtSensor
`static int`	`mjSENS_JOINTLIMITFRC` enum mjtSensor
`static int`	`mjSENS_JOINTLIMITPOS` enum mjtSensor
`static int`	`mjSENS_JOINTLIMITVEL` enum mjtSensor
`static int`	`mjSENS_JOINTPOS` enum mjtSensor
`static int`	`mjSENS_JOINTVEL` enum mjtSensor
`static int`	`mjSENS_MAGNETOMETER` enum mjtSensor
`static int`	`mjSENS_RANGEFINDER` enum mjtSensor
`static int`	`mjSENS_SUBTREEANGMOM` enum mjtSensor
`static int`	`mjSENS_SUBTREECOM` enum mjtSensor
`static int`	`mjSENS_SUBTREELINVEL` enum mjtSensor
`static int`	`mjSENS_TENDONLIMITFRC` enum mjtSensor
`static int`	`mjSENS_TENDONLIMITPOS` enum mjtSensor
`static int`	`mjSENS_TENDONLIMITVEL` enum mjtSensor
`static int`	`mjSENS_TENDONPOS` enum mjtSensor
`static int`	`mjSENS_TENDONVEL` enum mjtSensor
`static int`	`mjSENS_TORQUE` enum mjtSensor
`static int`	`mjSENS_TOUCH` enum mjtSensor
`static int`	`mjSENS_USER` enum mjtSensor
`static int`	`mjSENS_VELOCIMETER` enum mjtSensor
`static int`	`mjSEPCLOSED`
`static int`	`mjSOL_CG` enum mjtSolver
`static int`	`mjSOL_NEWTON` enum mjtSolver
`static int`	`mjSOL_PGS` enum mjtSolver
`static int`	`mjSTAGE_ACC` enum mjtStage
`static int`	`mjSTAGE_NONE` enum mjtStage
`static int`	`mjSTAGE_POS` enum mjtStage
`static int`	`mjSTAGE_VEL` enum mjtStage
`static int`	`mjSTEREO_NONE` enum mjtStereo
`static int`	`mjSTEREO_QUADBUFFERED` enum mjtStereo
`static int`	`mjSTEREO_SIDEBYSIDE` enum mjtStereo
`static int`	`mjTEXTURE_2D` enum mjtTexture
`static int`	`mjTEXTURE_CUBE` enum mjtTexture
`static int`	`mjTEXTURE_SKYBOX` enum mjtTexture
`static int`	`mjTIMER_ACCELERATION` enum mjtTimer
`static int`	`mjTIMER_ACTUATION` enum mjtTimer
`static int`	`mjTIMER_CONSTRAINT` enum mjtTimer
`static int`	`mjTIMER_FORWARD` enum mjtTimer
`static int`	`mjTIMER_INVERSE` enum mjtTimer
`static int`	`mjTIMER_POS_COLLISION` enum mjtTimer
`static int`	`mjTIMER_POS_INERTIA` enum mjtTimer
`static int`	`mjTIMER_POS_KINEMATICS` enum mjtTimer
`static int`	`mjTIMER_POS_MAKE` enum mjtTimer
`static int`	`mjTIMER_POS_PROJECT` enum mjtTimer
`static int`	`mjTIMER_POSITION` enum mjtTimer
`static int`	`mjTIMER_STEP` enum mjtTimer
`static int`	`mjTIMER_VELOCITY` enum mjtTimer
`static int`	`mjTRN_JOINT` enum mjtTrn
`static int`	`mjTRN_JOINTINPARENT` enum mjtTrn
`static int`	`mjTRN_SITE` enum mjtTrn
`static int`	`mjTRN_SLIDERCRANK` enum mjtTrn
`static int`	`mjTRN_TENDON` enum mjtTrn
`static int`	`mjTRN_UNDEFINED` enum mjtTrn
`static int`	`mjVERSION_HEADER`
`static int`	`mjVIS_ACTUATOR` enum mjtVisFlag
`static int`	`mjVIS_AUTOCONNECT` enum mjtVisFlag
`static int`	`mjVIS_CAMERA` enum mjtVisFlag
`static int`	`mjVIS_COM` enum mjtVisFlag
`static int`	`mjVIS_CONSTRAINT` enum mjtVisFlag
`static int`	`mjVIS_CONTACTFORCE` enum mjtVisFlag
`static int`	`mjVIS_CONTACTPOINT` enum mjtVisFlag
`static int`	`mjVIS_CONTACTSPLIT` enum mjtVisFlag
`static int`	`mjVIS_CONVEXHULL` enum mjtVisFlag
`static int`	`mjVIS_INERTIA` enum mjtVisFlag
`static int`	`mjVIS_JOINT` enum mjtVisFlag
`static int`	`mjVIS_LIGHT` enum mjtVisFlag
`static int`	`mjVIS_PERTFORCE` enum mjtVisFlag
`static int`	`mjVIS_PERTOBJ` enum mjtVisFlag
`static int`	`mjVIS_RANGEFINDER` enum mjtVisFlag
`static int`	`mjVIS_SCLINERTIA` enum mjtVisFlag
`static int`	`mjVIS_SELECT` enum mjtVisFlag
`static int`	`mjVIS_SKIN` enum mjtVisFlag
`static int`	`mjVIS_STATIC` enum mjtVisFlag
`static int`	`mjVIS_TENDON` enum mjtVisFlag
`static int`	`mjVIS_TEXTURE` enum mjtVisFlag
`static int`	`mjVIS_TRANSPARENT` enum mjtVisFlag
`static int`	`mjWARN_BADCTRL` enum mjtWarning
`static int`	`mjWARN_BADQACC` enum mjtWarning
`static int`	`mjWARN_BADQPOS` enum mjtWarning
`static int`	`mjWARN_BADQVEL` enum mjtWarning
`static int`	`mjWARN_CNSTRFULL` enum mjtWarning
`static int`	`mjWARN_CONTACTFULL` enum mjtWarning
`static int`	`mjWARN_INERTIA` enum mjtWarning
`static int`	`mjWARN_VGEOMFULL` enum mjtWarning
`static int`	`mjWRAP_CYLINDER` enum mjtWrap
`static int`	`mjWRAP_JOINT` enum mjtWrap
`static int`	`mjWRAP_NONE` enum mjtWrap
`static int`	`mjWRAP_PULLEY` enum mjtWrap
`static int`	`mjWRAP_SITE` enum mjtWrap
`static int`	`mjWRAP_SPHERE` enum mjtWrap

Constructor Summary

Constructors
Constructor and Description

MuJoCoLib()

Constructors
Constructor and Description
`MuJoCoLib()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static int`	`mj_activate(org.bytedeco.javacpp.BytePointer filename)`
`static int`	`mj_activate(java.lang.String filename)`
`static int`	`mj_addContact(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjContact con)`
`static int`	`mj_addFileVFS(MuJoCoLib.mjVFS vfs, org.bytedeco.javacpp.BytePointer directory, org.bytedeco.javacpp.BytePointer filename)`
`static int`	`mj_addFileVFS(MuJoCoLib.mjVFS vfs, java.lang.String directory, java.lang.String filename)`
`static void`	`mj_addM(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer dst, int[] rownnz, int[] rowadr, int[] colind)`
`static void`	`mj_addM(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer dst, java.nio.IntBuffer rownnz, java.nio.IntBuffer rowadr, java.nio.IntBuffer colind)`
`static void`	`mj_addM(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer dst, org.bytedeco.javacpp.IntPointer rownnz, org.bytedeco.javacpp.IntPointer rowadr, org.bytedeco.javacpp.IntPointer colind)`
`static void`	`mj_applyFT(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer force, org.bytedeco.javacpp.DoublePointer torque, org.bytedeco.javacpp.DoublePointer point, int body, org.bytedeco.javacpp.DoublePointer qfrc_target)`
`static void`	`mj_camlight(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_checkAcc(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_checkPos(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_checkVel(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_collision(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_compareFwdInv(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_comPos(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_comVel(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_constraintUpdate(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jar, org.bytedeco.javacpp.DoublePointer cost, int flg_coneHessian)`
`static void`	`mj_contactForce(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int id, org.bytedeco.javacpp.DoublePointer result)`
`static MuJoCoLib.mjData`	`mj_copyData(MuJoCoLib.mjData dest, MuJoCoLib.mjModel m, MuJoCoLib.mjData src)`
`static MuJoCoLib.mjModel`	`mj_copyModel(MuJoCoLib.mjModel dest, MuJoCoLib.mjModel src)`
`static void`	`mj_crb(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_deactivate()`
`static void`	`mj_defaultLROpt(MuJoCoLib.mjLROpt opt)`
`static void`	`mj_defaultOption(MuJoCoLib.mjOption opt)`
`static void`	`mj_defaultSolRefImp(org.bytedeco.javacpp.DoublePointer solref, org.bytedeco.javacpp.DoublePointer solimp)`
`static void`	`mj_defaultVFS(MuJoCoLib.mjVFS vfs)`
`static void`	`mj_defaultVisual(MuJoCoLib.mjVisual vis)`
`static void`	`mj_deleteData(MuJoCoLib.mjData d)`
`static int`	`mj_deleteFileVFS(MuJoCoLib.mjVFS vfs, org.bytedeco.javacpp.BytePointer filename)`
`static int`	`mj_deleteFileVFS(MuJoCoLib.mjVFS vfs, java.lang.String filename)`
`static void`	`mj_deleteModel(MuJoCoLib.mjModel m)`
`static void`	`mj_deleteVFS(MuJoCoLib.mjVFS vfs)`
`static void`	`mj_differentiatePos(MuJoCoLib.mjModel m, org.bytedeco.javacpp.DoublePointer qvel, double dt, org.bytedeco.javacpp.DoublePointer qpos1, org.bytedeco.javacpp.DoublePointer qpos2)`
`static void`	`mj_energyPos(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_energyVel(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_Euler(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_factorM(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static int`	`mj_findFileVFS(MuJoCoLib.mjVFS vfs, org.bytedeco.javacpp.BytePointer filename)`
`static int`	`mj_findFileVFS(MuJoCoLib.mjVFS vfs, java.lang.String filename)`
`static void`	`mj_forward(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_forwardSkip(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int skipstage, int skipsensor)`
`static void`	`mj_freeLastXML()`
`static void`	`mj_fullM(MuJoCoLib.mjModel m, org.bytedeco.javacpp.DoublePointer dst, org.bytedeco.javacpp.DoublePointer M)`
`static void`	`mj_fwdAcceleration(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_fwdActuation(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_fwdConstraint(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_fwdPosition(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_fwdVelocity(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static double`	`mj_getTotalmass(MuJoCoLib.mjModel m)`
`static org.bytedeco.javacpp.BytePointer`	`mj_id2name(MuJoCoLib.mjModel m, int type, int id)`
`static void`	`mj_integratePos(MuJoCoLib.mjModel m, org.bytedeco.javacpp.DoublePointer qpos, org.bytedeco.javacpp.DoublePointer qvel, double dt)`
`static void`	`mj_invConstraint(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_inverse(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_inverseSkip(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int skipstage, int skipsensor)`
`static void`	`mj_invPosition(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_invVelocity(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static int`	`mj_isDual(MuJoCoLib.mjModel m)`
`static int`	`mj_isPyramidal(MuJoCoLib.mjModel m)`
`static int`	`mj_isSparse(MuJoCoLib.mjModel m)`
`static void`	`mj_jac(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jacp, org.bytedeco.javacpp.DoublePointer jacr, org.bytedeco.javacpp.DoublePointer point, int body)`
`static void`	`mj_jacBody(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jacp, org.bytedeco.javacpp.DoublePointer jacr, int body)`
`static void`	`mj_jacBodyCom(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jacp, org.bytedeco.javacpp.DoublePointer jacr, int body)`
`static void`	`mj_jacGeom(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jacp, org.bytedeco.javacpp.DoublePointer jacr, int geom)`
`static void`	`mj_jacPointAxis(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jacPoint, org.bytedeco.javacpp.DoublePointer jacAxis, org.bytedeco.javacpp.DoublePointer point, org.bytedeco.javacpp.DoublePointer axis, int body)`
`static void`	`mj_jacSite(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer jacp, org.bytedeco.javacpp.DoublePointer jacr, int site)`
`static void`	`mj_kinematics(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static MuJoCoLib.mjModel`	`mj_loadModel(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjVFS vfs)`
`static MuJoCoLib.mjModel`	`mj_loadModel(java.lang.String filename, MuJoCoLib.mjVFS vfs)`
`static MuJoCoLib.mjModel`	`mj_loadXML(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjVFS vfs, byte[] error, int error_sz)`
`static MuJoCoLib.mjModel`	`mj_loadXML(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjVFS vfs, java.nio.ByteBuffer error, int error_sz)`
`static MuJoCoLib.mjModel`	`mj_loadXML(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjVFS vfs, org.bytedeco.javacpp.BytePointer error, int error_sz)`
`static MuJoCoLib.mjModel`	`mj_loadXML(java.lang.String filename, MuJoCoLib.mjVFS vfs, byte[] error, int error_sz)`
`static MuJoCoLib.mjModel`	`mj_loadXML(java.lang.String filename, MuJoCoLib.mjVFS vfs, java.nio.ByteBuffer error, int error_sz)`
`static MuJoCoLib.mjModel`	`mj_loadXML(java.lang.String filename, MuJoCoLib.mjVFS vfs, org.bytedeco.javacpp.BytePointer error, int error_sz)`
`static void`	`mj_local2Global(MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer xpos, org.bytedeco.javacpp.DoublePointer xmat, org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer quat, int body, byte sameframe)`
`static void`	`mj_makeConstraint(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static MuJoCoLib.mjData`	`mj_makeData(MuJoCoLib.mjModel m)`
`static int`	`mj_makeEmptyFileVFS(MuJoCoLib.mjVFS vfs, org.bytedeco.javacpp.BytePointer filename, int filesize)`
`static int`	`mj_makeEmptyFileVFS(MuJoCoLib.mjVFS vfs, java.lang.String filename, int filesize)`
`static void`	`mj_mulJacTVec(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec)`
`static void`	`mj_mulJacVec(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec)`
`static void`	`mj_mulM(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec)`
`static void`	`mj_mulM2(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec)`
`static int`	`mj_name2id(MuJoCoLib.mjModel m, int type, org.bytedeco.javacpp.BytePointer name)`
`static int`	`mj_name2id(MuJoCoLib.mjModel m, int type, java.lang.String name)`
`static void`	`mj_normalizeQuat(MuJoCoLib.mjModel m, org.bytedeco.javacpp.DoublePointer qpos)`
`static void`	`mj_objectAcceleration(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int objtype, int objid, org.bytedeco.javacpp.DoublePointer res, int flg_local)`
`static void`	`mj_objectVelocity(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int objtype, int objid, org.bytedeco.javacpp.DoublePointer res, int flg_local)`
`static void`	`mj_passive(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_printData(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.BytePointer filename)`
`static void`	`mj_printData(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, java.lang.String filename)`
`static void`	`mj_printFormattedData(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.BytePointer filename, org.bytedeco.javacpp.BytePointer float_format)`
`static void`	`mj_printFormattedData(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, java.lang.String filename, java.lang.String float_format)`
`static void`	`mj_printFormattedModel(MuJoCoLib.mjModel m, org.bytedeco.javacpp.BytePointer filename, org.bytedeco.javacpp.BytePointer float_format)`
`static void`	`mj_printFormattedModel(MuJoCoLib.mjModel m, java.lang.String filename, java.lang.String float_format)`
`static void`	`mj_printModel(MuJoCoLib.mjModel m, org.bytedeco.javacpp.BytePointer filename)`
`static void`	`mj_printModel(MuJoCoLib.mjModel m, java.lang.String filename)`
`static int`	`mj_printSchema(org.bytedeco.javacpp.BytePointer filename, byte[] buffer, int buffer_sz, int flg_html, int flg_pad)`
`static int`	`mj_printSchema(org.bytedeco.javacpp.BytePointer filename, java.nio.ByteBuffer buffer, int buffer_sz, int flg_html, int flg_pad)`
`static int`	`mj_printSchema(org.bytedeco.javacpp.BytePointer filename, org.bytedeco.javacpp.BytePointer buffer, int buffer_sz, int flg_html, int flg_pad)`
`static int`	`mj_printSchema(java.lang.String filename, byte[] buffer, int buffer_sz, int flg_html, int flg_pad)`
`static int`	`mj_printSchema(java.lang.String filename, java.nio.ByteBuffer buffer, int buffer_sz, int flg_html, int flg_pad)`
`static int`	`mj_printSchema(java.lang.String filename, org.bytedeco.javacpp.BytePointer buffer, int buffer_sz, int flg_html, int flg_pad)`
`static void`	`mj_projectConstraint(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static double`	`mj_ray(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, byte[] geomgroup, byte flg_static, int bodyexclude, int[] geomid)`
`static double`	`mj_ray(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, java.nio.ByteBuffer geomgroup, byte flg_static, int bodyexclude, java.nio.IntBuffer geomid)`
`static double`	`mj_ray(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, org.bytedeco.javacpp.BytePointer geomgroup, byte flg_static, int bodyexclude, org.bytedeco.javacpp.IntPointer geomid)`
`static double`	`mj_rayHfield(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int geomid, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec)`
`static double`	`mj_rayMesh(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int geomid, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec)`
`static void`	`mj_referenceConstraint(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_resetCallbacks()`
`static void`	`mj_resetData(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_resetDataDebug(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, byte debug_value)`
`static void`	`mj_resetDataKeyframe(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int key)`
`static void`	`mj_rne(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int flg_acc, org.bytedeco.javacpp.DoublePointer result)`
`static void`	`mj_rnePostConstraint(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_RungeKutta(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int N)`
`static int`	`mj_saveLastXML(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjModel m, byte[] error, int error_sz)`
`static int`	`mj_saveLastXML(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjModel m, java.nio.ByteBuffer error, int error_sz)`
`static int`	`mj_saveLastXML(org.bytedeco.javacpp.BytePointer filename, MuJoCoLib.mjModel m, org.bytedeco.javacpp.BytePointer error, int error_sz)`
`static int`	`mj_saveLastXML(java.lang.String filename, MuJoCoLib.mjModel m, byte[] error, int error_sz)`
`static int`	`mj_saveLastXML(java.lang.String filename, MuJoCoLib.mjModel m, java.nio.ByteBuffer error, int error_sz)`
`static int`	`mj_saveLastXML(java.lang.String filename, MuJoCoLib.mjModel m, org.bytedeco.javacpp.BytePointer error, int error_sz)`
`static void`	`mj_saveModel(MuJoCoLib.mjModel m, org.bytedeco.javacpp.BytePointer filename, org.bytedeco.javacpp.Pointer buffer, int buffer_sz)`
`static void`	`mj_saveModel(MuJoCoLib.mjModel m, java.lang.String filename, org.bytedeco.javacpp.Pointer buffer, int buffer_sz)`
`static void`	`mj_sensorAcc(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_sensorPos(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_sensorVel(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_setConst(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static int`	`mj_setLengthRange(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int index, MuJoCoLib.mjLROpt opt, byte[] error, int error_sz)`
`static int`	`mj_setLengthRange(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int index, MuJoCoLib.mjLROpt opt, java.nio.ByteBuffer error, int error_sz)`
`static int`	`mj_setLengthRange(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int index, MuJoCoLib.mjLROpt opt, org.bytedeco.javacpp.BytePointer error, int error_sz)`
`static void`	`mj_setTotalmass(MuJoCoLib.mjModel m, double newmass)`
`static int`	`mj_sizeModel(MuJoCoLib.mjModel m)`
`static void`	`mj_solveM(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer x, org.bytedeco.javacpp.DoublePointer y, int n)`
`static void`	`mj_solveM2(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, org.bytedeco.javacpp.DoublePointer x, org.bytedeco.javacpp.DoublePointer y, int n)`
`static org.bytedeco.javacpp.DoublePointer`	`mj_stackAlloc(MuJoCoLib.mjData d, int size)`
`static void`	`mj_step(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_step1(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_step2(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_subtreeVel(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_tendon(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static void`	`mj_transmission(MuJoCoLib.mjModel m, MuJoCoLib.mjData d)`
`static int`	`mj_version()`
`static org.bytedeco.javacpp.BytePointer`	`mj_versionString()`
`static void`	`mj_warning(MuJoCoLib.mjData d, int warning, int info)`
`static MuJoCoLib.mjfAct`	`mjcb_act_bias()`
`static void`	`mjcb_act_bias(MuJoCoLib.mjfAct setter)`
`static MuJoCoLib.mjfAct`	`mjcb_act_dyn()`
`static void`	`mjcb_act_dyn(MuJoCoLib.mjfAct setter)`
`static MuJoCoLib.mjfAct`	`mjcb_act_gain()`
`static void`	`mjcb_act_gain(MuJoCoLib.mjfAct setter)`
`static MuJoCoLib.mjfConFilt`	`mjcb_contactfilter()`
`static void`	`mjcb_contactfilter(MuJoCoLib.mjfConFilt setter)`
`static MuJoCoLib.mjfGeneric`	`mjcb_control()`
`static void`	`mjcb_control(MuJoCoLib.mjfGeneric setter)`
`static MuJoCoLib.mjfGeneric`	`mjcb_passive()`
`static void`	`mjcb_passive(MuJoCoLib.mjfGeneric setter)`
`static MuJoCoLib.mjfSensor`	`mjcb_sensor()`
`static void`	`mjcb_sensor(MuJoCoLib.mjfSensor setter)`
`static MuJoCoLib.mjfTime`	`mjcb_time()`
`static void`	`mjcb_time(MuJoCoLib.mjfTime setter)`
`static org.bytedeco.javacpp.PointerPointer`	`mjDISABLESTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjDISABLESTRING(int i)`
`static void`	`mjDISABLESTRING(int i, org.bytedeco.javacpp.BytePointer setter)`
`static org.bytedeco.javacpp.PointerPointer`	`mjENABLESTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjENABLESTRING(int i)`
`static void`	`mjENABLESTRING(int i, org.bytedeco.javacpp.BytePointer setter)`
`static org.bytedeco.javacpp.PointerPointer`	`mjFRAMESTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjFRAMESTRING(int i)`
`static void`	`mjFRAMESTRING(int i, org.bytedeco.javacpp.BytePointer setter)`
`static org.bytedeco.javacpp.PointerPointer`	`mjLABELSTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjLABELSTRING(int i)`
`static void`	`mjLABELSTRING(int i, org.bytedeco.javacpp.BytePointer setter)`
`static void`	`mjr_addAux(int index, int width, int height, int samples, MuJoCoLib.mjrContext con)`
`static void`	`mjr_blitAux(int index, MuJoCoLib.mjrRect src, int left, int bottom, MuJoCoLib.mjrContext con)`
`static void`	`mjr_blitBuffer(MuJoCoLib.mjrRect src, MuJoCoLib.mjrRect dst, int flg_color, int flg_depth, MuJoCoLib.mjrContext con)`
`static void`	`mjr_changeFont(int fontscale, MuJoCoLib.mjrContext con)`
`static void`	`mjr_defaultContext(MuJoCoLib.mjrContext con)`
`static void`	`mjr_drawPixels(byte[] rgb, float[] depth, MuJoCoLib.mjrRect viewport, MuJoCoLib.mjrContext con)`
`static void`	`mjr_drawPixels(java.nio.ByteBuffer rgb, java.nio.FloatBuffer depth, MuJoCoLib.mjrRect viewport, MuJoCoLib.mjrContext con)`
`static void`	`mjr_drawPixels(org.bytedeco.javacpp.BytePointer rgb, org.bytedeco.javacpp.FloatPointer depth, MuJoCoLib.mjrRect viewport, MuJoCoLib.mjrContext con)`
`static void`	`mjr_figure(MuJoCoLib.mjrRect viewport, MuJoCoLib.mjvFigure fig, MuJoCoLib.mjrContext con)`
`static int`	`mjr_findRect(int x, int y, int nrect, MuJoCoLib.mjrRect rect)`
`static void`	`mjr_finish()`
`static void`	`mjr_freeContext(MuJoCoLib.mjrContext con)`
`static int`	`mjr_getError()`
`static void`	`mjr_label(MuJoCoLib.mjrRect viewport, int font, org.bytedeco.javacpp.BytePointer txt, float r, float g, float b, float a, float rt, float gt, float bt, MuJoCoLib.mjrContext con)`
`static void`	`mjr_label(MuJoCoLib.mjrRect viewport, int font, java.lang.String txt, float r, float g, float b, float a, float rt, float gt, float bt, MuJoCoLib.mjrContext con)`
`static void`	`mjr_makeContext(MuJoCoLib.mjModel m, MuJoCoLib.mjrContext con, int fontscale)`
`static MuJoCoLib.mjrRect`	`mjr_maxViewport(MuJoCoLib.mjrContext con)`
`static void`	`mjr_overlay(int font, int gridpos, MuJoCoLib.mjrRect viewport, org.bytedeco.javacpp.BytePointer overlay, org.bytedeco.javacpp.BytePointer overlay2, MuJoCoLib.mjrContext con)`
`static void`	`mjr_overlay(int font, int gridpos, MuJoCoLib.mjrRect viewport, java.lang.String overlay, java.lang.String overlay2, MuJoCoLib.mjrContext con)`
`static void`	`mjr_readPixels(byte[] rgb, float[] depth, MuJoCoLib.mjrRect viewport, MuJoCoLib.mjrContext con)`
`static void`	`mjr_readPixels(java.nio.ByteBuffer rgb, java.nio.FloatBuffer depth, MuJoCoLib.mjrRect viewport, MuJoCoLib.mjrContext con)`
`static void`	`mjr_readPixels(org.bytedeco.javacpp.BytePointer rgb, org.bytedeco.javacpp.FloatPointer depth, MuJoCoLib.mjrRect viewport, MuJoCoLib.mjrContext con)`
`static void`	`mjr_rectangle(MuJoCoLib.mjrRect viewport, float r, float g, float b, float a)`
`static void`	`mjr_render(MuJoCoLib.mjrRect viewport, MuJoCoLib.mjvScene scn, MuJoCoLib.mjrContext con)`
`static void`	`mjr_restoreBuffer(MuJoCoLib.mjrContext con)`
`static void`	`mjr_setAux(int index, MuJoCoLib.mjrContext con)`
`static void`	`mjr_setBuffer(int framebuffer, MuJoCoLib.mjrContext con)`
`static void`	`mjr_text(int font, org.bytedeco.javacpp.BytePointer txt, MuJoCoLib.mjrContext con, float x, float y, float r, float g, float b)`
`static void`	`mjr_text(int font, java.lang.String txt, MuJoCoLib.mjrContext con, float x, float y, float r, float g, float b)`
`static void`	`mjr_uploadHField(MuJoCoLib.mjModel m, MuJoCoLib.mjrContext con, int hfieldid)`
`static void`	`mjr_uploadMesh(MuJoCoLib.mjModel m, MuJoCoLib.mjrContext con, int meshid)`
`static void`	`mjr_uploadTexture(MuJoCoLib.mjModel m, MuJoCoLib.mjrContext con, int texid)`
`static org.bytedeco.javacpp.PointerPointer`	`mjRNDSTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjRNDSTRING(int i, int j)`
`static void`	`mjRNDSTRING(int i, int j, org.bytedeco.javacpp.BytePointer setter)`
`static org.bytedeco.javacpp.PointerPointer`	`mjTIMERSTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjTIMERSTRING(int i)`
`static void`	`mjTIMERSTRING(int i, org.bytedeco.javacpp.BytePointer setter)`
`static void`	`mju_add(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2, int n)`
`static void`	`mju_add3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2)`
`static void`	`mju_addScl(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2, double scl, int n)`
`static void`	`mju_addScl3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2, double scl)`
`static void`	`mju_addTo(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_addTo3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec)`
`static void`	`mju_addToScl(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, double scl, int n)`
`static void`	`mju_addToScl3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, double scl)`
`static void`	`mju_axisAngle2Quat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer axis, double angle)`
`static int`	`mju_cholFactor(org.bytedeco.javacpp.DoublePointer mat, int n, double mindiag)`
`static void`	`mju_cholSolve(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static int`	`mju_cholUpdate(org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.DoublePointer x, int n, int flg_plus)`
`static void`	`mju_clearHandlers()`
`static void`	`mju_copy(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer data, int n)`
`static void`	`mju_copy3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer data)`
`static void`	`mju_copy4(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer data)`
`static void`	`mju_cross(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer a, org.bytedeco.javacpp.DoublePointer b)`
`static void`	`mju_d2n(org.bytedeco.javacpp.DoublePointer res, double[] vec, int n)`
`static void`	`mju_d2n(org.bytedeco.javacpp.DoublePointer res, java.nio.DoubleBuffer vec, int n)`
`static void`	`mju_d2n(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_decodePyramid(org.bytedeco.javacpp.DoublePointer force, org.bytedeco.javacpp.DoublePointer pyramid, org.bytedeco.javacpp.DoublePointer mu, int dim)`
`static void`	`mju_derivQuat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer vel)`
`static double`	`mju_dist3(org.bytedeco.javacpp.DoublePointer pos1, org.bytedeco.javacpp.DoublePointer pos2)`
`static double`	`mju_dot(org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2, int n)`
`static double`	`mju_dot3(org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2)`
`static int`	`mju_eig3(org.bytedeco.javacpp.DoublePointer eigval, org.bytedeco.javacpp.DoublePointer eigvec, org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer mat)`
`static void`	`mju_encodePyramid(org.bytedeco.javacpp.DoublePointer pyramid, org.bytedeco.javacpp.DoublePointer force, org.bytedeco.javacpp.DoublePointer mu, int dim)`
`static void`	`mju_error_i(org.bytedeco.javacpp.BytePointer msg, int i)`
`static void`	`mju_error_i(java.lang.String msg, int i)`
`static void`	`mju_error_s(org.bytedeco.javacpp.BytePointer msg, org.bytedeco.javacpp.BytePointer text)`
`static void`	`mju_error_s(java.lang.String msg, java.lang.String text)`
`static void`	`mju_error(org.bytedeco.javacpp.BytePointer msg)`
`static void`	`mju_error(java.lang.String msg)`
`static void`	`mju_f2n(org.bytedeco.javacpp.DoublePointer res, float[] vec, int n)`
`static void`	`mju_f2n(org.bytedeco.javacpp.DoublePointer res, java.nio.FloatBuffer vec, int n)`
`static void`	`mju_f2n(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.FloatPointer vec, int n)`
`static void`	`mju_free(org.bytedeco.javacpp.Pointer ptr)`
`static double`	`mju_Halton(int index, int base)`
`static void`	`mju_insertionSort(org.bytedeco.javacpp.DoublePointer list, int n)`
`static void`	`mju_insertionSortInt(int[] list, int n)`
`static void`	`mju_insertionSortInt(java.nio.IntBuffer list, int n)`
`static void`	`mju_insertionSortInt(org.bytedeco.javacpp.IntPointer list, int n)`
`static int`	`mju_isBad(double x)`
`static int`	`mju_isZero(org.bytedeco.javacpp.DoublePointer vec, int n)`
`static double`	`mju_L1(org.bytedeco.javacpp.DoublePointer vec, int n)`
`static org.bytedeco.javacpp.Pointer`	`mju_malloc(long size)`
`static void`	`mju_mat2Quat(org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer mat)`
`static double`	`mju_max(double a, double b)`
`static double`	`mju_min(double a, double b)`
`static void`	`mju_mulMatMat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat1, org.bytedeco.javacpp.DoublePointer mat2, int r1, int c1, int c2)`
`static void`	`mju_mulMatMatT(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat1, org.bytedeco.javacpp.DoublePointer mat2, int r1, int c1, int r2)`
`static void`	`mju_mulMatTMat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat1, org.bytedeco.javacpp.DoublePointer mat2, int r1, int c1, int c2)`
`static void`	`mju_mulMatTVec(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.DoublePointer vec, int nr, int nc)`
`static void`	`mju_mulMatVec(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.DoublePointer vec, int nr, int nc)`
`static void`	`mju_mulPose(org.bytedeco.javacpp.DoublePointer posres, org.bytedeco.javacpp.DoublePointer quatres, org.bytedeco.javacpp.DoublePointer pos1, org.bytedeco.javacpp.DoublePointer quat1, org.bytedeco.javacpp.DoublePointer pos2, org.bytedeco.javacpp.DoublePointer quat2)`
`static void`	`mju_mulQuat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer quat1, org.bytedeco.javacpp.DoublePointer quat2)`
`static void`	`mju_mulQuatAxis(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer axis)`
`static double`	`mju_muscleBias(double len, org.bytedeco.javacpp.DoublePointer lengthrange, double acc0, org.bytedeco.javacpp.DoublePointer prm)`
`static double`	`mju_muscleDynamics(double ctrl, double act, org.bytedeco.javacpp.DoublePointer prm)`
`static double`	`mju_muscleGain(double len, double vel, org.bytedeco.javacpp.DoublePointer lengthrange, double acc0, org.bytedeco.javacpp.DoublePointer prm)`
`static void`	`mju_n2d(double[] res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_n2d(java.nio.DoubleBuffer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_n2d(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_n2f(float[] res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_n2f(java.nio.FloatBuffer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_n2f(org.bytedeco.javacpp.FloatPointer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_negPose(org.bytedeco.javacpp.DoublePointer posres, org.bytedeco.javacpp.DoublePointer quatres, org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer quat)`
`static void`	`mju_negQuat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer quat)`
`static double`	`mju_norm(org.bytedeco.javacpp.DoublePointer res, int n)`
`static double`	`mju_norm3(org.bytedeco.javacpp.DoublePointer vec)`
`static double`	`mju_normalize(org.bytedeco.javacpp.DoublePointer res, int n)`
`static double`	`mju_normalize3(org.bytedeco.javacpp.DoublePointer res)`
`static double`	`mju_normalize4(org.bytedeco.javacpp.DoublePointer res)`
`static void`	`mju_printMat(org.bytedeco.javacpp.DoublePointer mat, int nr, int nc)`
`static void`	`mju_printMatSparse(org.bytedeco.javacpp.DoublePointer mat, int nr, int[] rownnz, int[] rowadr, int[] colind)`
`static void`	`mju_printMatSparse(org.bytedeco.javacpp.DoublePointer mat, int nr, java.nio.IntBuffer rownnz, java.nio.IntBuffer rowadr, java.nio.IntBuffer colind)`
`static void`	`mju_printMatSparse(org.bytedeco.javacpp.DoublePointer mat, int nr, org.bytedeco.javacpp.IntPointer rownnz, org.bytedeco.javacpp.IntPointer rowadr, org.bytedeco.javacpp.IntPointer colind)`
`static void`	`mju_quat2Mat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer quat)`
`static void`	`mju_quat2Vel(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer quat, double dt)`
`static void`	`mju_quatIntegrate(org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer vel, double scale)`
`static void`	`mju_quatZ2Vec(org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer vec)`
`static double`	`mju_rayGeom(org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.DoublePointer size, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, int geomtype)`
`static double`	`mju_raySkin(int nface, int nvert, int[] face, float[] vert, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, int[] vertid)`
`static double`	`mju_raySkin(int nface, int nvert, java.nio.IntBuffer face, java.nio.FloatBuffer vert, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, java.nio.IntBuffer vertid)`
`static double`	`mju_raySkin(int nface, int nvert, org.bytedeco.javacpp.IntPointer face, org.bytedeco.javacpp.FloatPointer vert, org.bytedeco.javacpp.DoublePointer pnt, org.bytedeco.javacpp.DoublePointer vec, org.bytedeco.javacpp.IntPointer vertid)`
`static void`	`mju_rotVecMat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, org.bytedeco.javacpp.DoublePointer mat)`
`static void`	`mju_rotVecMatT(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, org.bytedeco.javacpp.DoublePointer mat)`
`static void`	`mju_rotVecQuat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, org.bytedeco.javacpp.DoublePointer quat)`
`static int`	`mju_round(double x)`
`static void`	`mju_scl(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, double scl, int n)`
`static void`	`mju_scl3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, double scl)`
`static double`	`mju_sigmoid(double x)`
`static double`	`mju_sign(double x)`
`static double`	`mju_springDamper(double pos0, double vel0, double Kp, double Kv, double dt)`
`static void`	`mju_sqrMatTD(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.DoublePointer diag, int nr, int nc)`
`static double`	`mju_standardNormal(org.bytedeco.javacpp.DoublePointer num2)`
`static int`	`mju_str2Type(org.bytedeco.javacpp.BytePointer str)`
`static int`	`mju_str2Type(java.lang.String str)`
`static byte[]`	`mju_strncpy(byte[] dst, org.bytedeco.javacpp.BytePointer src, int n)`
`static byte[]`	`mju_strncpy(byte[] dst, java.lang.String src, int n)`
`static java.nio.ByteBuffer`	`mju_strncpy(java.nio.ByteBuffer dst, org.bytedeco.javacpp.BytePointer src, int n)`
`static java.nio.ByteBuffer`	`mju_strncpy(java.nio.ByteBuffer dst, java.lang.String src, int n)`
`static org.bytedeco.javacpp.BytePointer`	`mju_strncpy(org.bytedeco.javacpp.BytePointer dst, org.bytedeco.javacpp.BytePointer src, int n)`
`static org.bytedeco.javacpp.BytePointer`	`mju_strncpy(org.bytedeco.javacpp.BytePointer dst, java.lang.String src, int n)`
`static void`	`mju_sub(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2, int n)`
`static void`	`mju_sub3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec1, org.bytedeco.javacpp.DoublePointer vec2)`
`static void`	`mju_subFrom(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_subFrom3(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec)`
`static void`	`mju_subQuat(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer qa, org.bytedeco.javacpp.DoublePointer qb)`
`static double`	`mju_sum(org.bytedeco.javacpp.DoublePointer vec, int n)`
`static void`	`mju_transformSpatial(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, int flg_force, org.bytedeco.javacpp.DoublePointer newpos, org.bytedeco.javacpp.DoublePointer oldpos, org.bytedeco.javacpp.DoublePointer rotnew2old)`
`static void`	`mju_transpose(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer mat, int nr, int nc)`
`static void`	`mju_trnVecPose(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer quat, org.bytedeco.javacpp.DoublePointer vec)`
`static org.bytedeco.javacpp.BytePointer`	`mju_type2Str(int type)`
`static void`	`mju_unit4(org.bytedeco.javacpp.DoublePointer res)`
`static MuJoCoLib.Mju_user_error_BytePointer`	`mju_user_error()`
`static void`	`mju_user_error(MuJoCoLib.Mju_user_error_BytePointer setter)`
`static MuJoCoLib.Mju_user_free_Pointer`	`mju_user_free()`
`static void`	`mju_user_free(MuJoCoLib.Mju_user_free_Pointer setter)`
`static MuJoCoLib.Mju_user_malloc_long`	`mju_user_malloc()`
`static void`	`mju_user_malloc(MuJoCoLib.Mju_user_malloc_long setter)`
`static MuJoCoLib.Mju_user_warning_BytePointer`	`mju_user_warning()`
`static void`	`mju_user_warning(MuJoCoLib.Mju_user_warning_BytePointer setter)`
`static void`	`mju_warning_i(org.bytedeco.javacpp.BytePointer msg, int i)`
`static void`	`mju_warning_i(java.lang.String msg, int i)`
`static void`	`mju_warning_s(org.bytedeco.javacpp.BytePointer msg, org.bytedeco.javacpp.BytePointer text)`
`static void`	`mju_warning_s(java.lang.String msg, java.lang.String text)`
`static void`	`mju_warning(org.bytedeco.javacpp.BytePointer msg)`
`static void`	`mju_warning(java.lang.String msg)`
`static org.bytedeco.javacpp.BytePointer`	`mju_warningText(int warning, int info)`
`static void`	`mju_writeLog(org.bytedeco.javacpp.BytePointer type, org.bytedeco.javacpp.BytePointer msg)`
`static void`	`mju_writeLog(java.lang.String type, java.lang.String msg)`
`static void`	`mju_zero(org.bytedeco.javacpp.DoublePointer res, int n)`
`static void`	`mju_zero3(org.bytedeco.javacpp.DoublePointer res)`
`static void`	`mju_zero4(org.bytedeco.javacpp.DoublePointer res)`
`static void`	`mjui_add(MuJoCoLib.mjUI ui, MuJoCoLib.mjuiDef def)`
`static void`	`mjui_addToSection(MuJoCoLib.mjUI ui, int sect, MuJoCoLib.mjuiDef def)`
`static MuJoCoLib.mjuiItem`	`mjui_event(MuJoCoLib.mjUI ui, MuJoCoLib.mjuiState state, MuJoCoLib.mjrContext con)`
`static void`	`mjui_render(MuJoCoLib.mjUI ui, MuJoCoLib.mjuiState state, MuJoCoLib.mjrContext con)`
`static void`	`mjui_resize(MuJoCoLib.mjUI ui, MuJoCoLib.mjrContext con)`
`static MuJoCoLib.mjuiThemeColor`	`mjui_themeColor(int ind)`
`static MuJoCoLib.mjuiThemeSpacing`	`mjui_themeSpacing(int ind)`
`static void`	`mjui_update(int section, int item, MuJoCoLib.mjUI ui, MuJoCoLib.mjuiState state, MuJoCoLib.mjrContext con)`
`static void`	`mjv_addGeoms(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvOption opt, MuJoCoLib.mjvPerturb pert, int catmask, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_alignToCamera(org.bytedeco.javacpp.DoublePointer res, org.bytedeco.javacpp.DoublePointer vec, org.bytedeco.javacpp.DoublePointer forward)`
`static void`	`mjv_applyPerturbForce(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvPerturb pert)`
`static void`	`mjv_applyPerturbPose(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvPerturb pert, int flg_paused)`
`static MuJoCoLib.mjvGLCamera`	`mjv_averageCamera(MuJoCoLib.mjvGLCamera cam1, MuJoCoLib.mjvGLCamera cam2)`
`static void`	`mjv_cameraInModel(org.bytedeco.javacpp.DoublePointer headpos, org.bytedeco.javacpp.DoublePointer forward, org.bytedeco.javacpp.DoublePointer up, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_cameraInRoom(org.bytedeco.javacpp.DoublePointer headpos, org.bytedeco.javacpp.DoublePointer forward, org.bytedeco.javacpp.DoublePointer up, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_defaultCamera(MuJoCoLib.mjvCamera cam)`
`static void`	`mjv_defaultFigure(MuJoCoLib.mjvFigure fig)`
`static void`	`mjv_defaultOption(MuJoCoLib.mjvOption opt)`
`static void`	`mjv_defaultPerturb(MuJoCoLib.mjvPerturb pert)`
`static void`	`mjv_defaultScene(MuJoCoLib.mjvScene scn)`
`static void`	`mjv_freeScene(MuJoCoLib.mjvScene scn)`
`static double`	`mjv_frustumHeight(MuJoCoLib.mjvScene scn)`
`static void`	`mjv_initGeom(MuJoCoLib.mjvGeom geom, int type, org.bytedeco.javacpp.DoublePointer size, org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer mat, float[] rgba)`
`static void`	`mjv_initGeom(MuJoCoLib.mjvGeom geom, int type, org.bytedeco.javacpp.DoublePointer size, org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer mat, java.nio.FloatBuffer rgba)`
`static void`	`mjv_initGeom(MuJoCoLib.mjvGeom geom, int type, org.bytedeco.javacpp.DoublePointer size, org.bytedeco.javacpp.DoublePointer pos, org.bytedeco.javacpp.DoublePointer mat, org.bytedeco.javacpp.FloatPointer rgba)`
`static void`	`mjv_initPerturb(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvScene scn, MuJoCoLib.mjvPerturb pert)`
`static void`	`mjv_makeConnector(MuJoCoLib.mjvGeom geom, int type, double width, double a0, double a1, double a2, double b0, double b1, double b2)`
`static void`	`mjv_makeLights(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_makeScene(MuJoCoLib.mjModel m, MuJoCoLib.mjvScene scn, int maxgeom)`
`static void`	`mjv_model2room(org.bytedeco.javacpp.DoublePointer roompos, org.bytedeco.javacpp.DoublePointer roomquat, org.bytedeco.javacpp.DoublePointer modelpos, org.bytedeco.javacpp.DoublePointer modelquat, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_moveCamera(MuJoCoLib.mjModel m, int action, double reldx, double reldy, MuJoCoLib.mjvScene scn, MuJoCoLib.mjvCamera cam)`
`static void`	`mjv_moveModel(MuJoCoLib.mjModel m, int action, double reldx, double reldy, org.bytedeco.javacpp.DoublePointer roomup, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_movePerturb(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, int action, double reldx, double reldy, MuJoCoLib.mjvScene scn, MuJoCoLib.mjvPerturb pert)`
`static void`	`mjv_room2model(org.bytedeco.javacpp.DoublePointer modelpos, org.bytedeco.javacpp.DoublePointer modelquat, org.bytedeco.javacpp.DoublePointer roompos, org.bytedeco.javacpp.DoublePointer roomquat, MuJoCoLib.mjvScene scn)`
`static int`	`mjv_select(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvOption vopt, double aspectratio, double relx, double rely, MuJoCoLib.mjvScene scn, org.bytedeco.javacpp.DoublePointer selpnt, int[] geomid, int[] skinid)`
`static int`	`mjv_select(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvOption vopt, double aspectratio, double relx, double rely, MuJoCoLib.mjvScene scn, org.bytedeco.javacpp.DoublePointer selpnt, java.nio.IntBuffer geomid, java.nio.IntBuffer skinid)`
`static int`	`mjv_select(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvOption vopt, double aspectratio, double relx, double rely, MuJoCoLib.mjvScene scn, org.bytedeco.javacpp.DoublePointer selpnt, org.bytedeco.javacpp.IntPointer geomid, org.bytedeco.javacpp.IntPointer skinid)`
`static void`	`mjv_updateCamera(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvCamera cam, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_updateScene(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvOption opt, MuJoCoLib.mjvPerturb pert, MuJoCoLib.mjvCamera cam, int catmask, MuJoCoLib.mjvScene scn)`
`static void`	`mjv_updateSkin(MuJoCoLib.mjModel m, MuJoCoLib.mjData d, MuJoCoLib.mjvScene scn)`
`static org.bytedeco.javacpp.PointerPointer`	`mjVISSTRING()`
`static org.bytedeco.javacpp.BytePointer`	`mjVISSTRING(int i, int j)`
`static void`	`mjVISSTRING(int i, int j, org.bytedeco.javacpp.BytePointer setter)`

Methods inherited from class org.mujoco.MuJoCoConfig
map

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail
- mjWARN_INERTIA
```
public static final int mjWARN_INERTIA
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_CONTACTFULL
```
public static final int mjWARN_CONTACTFULL
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_CNSTRFULL
```
public static final int mjWARN_CNSTRFULL
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_VGEOMFULL
```
public static final int mjWARN_VGEOMFULL
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_BADQPOS
```
public static final int mjWARN_BADQPOS
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_BADQVEL
```
public static final int mjWARN_BADQVEL
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_BADQACC
```
public static final int mjWARN_BADQACC
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjWARN_BADCTRL
```
public static final int mjWARN_BADCTRL
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjNWARNING
```
public static final int mjNWARNING
```
  enum mjtWarning
  
  See Also:
  
  Constant Field Values
- mjTIMER_STEP
```
public static final int mjTIMER_STEP
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_FORWARD
```
public static final int mjTIMER_FORWARD
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_INVERSE
```
public static final int mjTIMER_INVERSE
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_POSITION
```
public static final int mjTIMER_POSITION
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_VELOCITY
```
public static final int mjTIMER_VELOCITY
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_ACTUATION
```
public static final int mjTIMER_ACTUATION
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_ACCELERATION
```
public static final int mjTIMER_ACCELERATION
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_CONSTRAINT
```
public static final int mjTIMER_CONSTRAINT
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_POS_KINEMATICS
```
public static final int mjTIMER_POS_KINEMATICS
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_POS_INERTIA
```
public static final int mjTIMER_POS_INERTIA
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_POS_COLLISION
```
public static final int mjTIMER_POS_COLLISION
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_POS_MAKE
```
public static final int mjTIMER_POS_MAKE
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjTIMER_POS_PROJECT
```
public static final int mjTIMER_POS_PROJECT
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjNTIMER
```
public static final int mjNTIMER
```
  enum mjtTimer
  
  See Also:
  
  Constant Field Values
- mjPI
```
public static final double mjPI
```
  See Also:
  
  Constant Field Values
- mjMAXVAL
```
public static final double mjMAXVAL
```
  See Also:
  
  Constant Field Values
- mjMINMU
```
public static final double mjMINMU
```
  See Also:
  
  Constant Field Values
- mjMINIMP
```
public static final double mjMINIMP
```
  See Also:
  
  Constant Field Values
- mjMAXIMP
```
public static final double mjMAXIMP
```
  See Also:
  
  Constant Field Values
- mjMAXCONPAIR
```
public static final int mjMAXCONPAIR
```
  See Also:
  
  Constant Field Values
- mjMAXVFS
```
public static final int mjMAXVFS
```
  See Also:
  
  Constant Field Values
- mjMAXVFSNAME
```
public static final int mjMAXVFSNAME
```
  See Also:
  
  Constant Field Values
- mjNEQDATA
```
public static final int mjNEQDATA
```
  See Also:
  
  Constant Field Values
- mjNDYN
```
public static final int mjNDYN
```
  See Also:
  
  Constant Field Values
- mjNGAIN
```
public static final int mjNGAIN
```
  See Also:
  
  Constant Field Values
- mjNBIAS
```
public static final int mjNBIAS
```
  See Also:
  
  Constant Field Values
- mjNFLUID
```
public static final int mjNFLUID
```
  See Also:
  
  Constant Field Values
- mjNREF
```
public static final int mjNREF
```
  See Also:
  
  Constant Field Values
- mjNIMP
```
public static final int mjNIMP
```
  See Also:
  
  Constant Field Values
- mjNSOLVER
```
public static final int mjNSOLVER
```
  See Also:
  
  Constant Field Values
- mjDSBL_CONSTRAINT
```
public static final int mjDSBL_CONSTRAINT
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_EQUALITY
```
public static final int mjDSBL_EQUALITY
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_FRICTIONLOSS
```
public static final int mjDSBL_FRICTIONLOSS
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_LIMIT
```
public static final int mjDSBL_LIMIT
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_CONTACT
```
public static final int mjDSBL_CONTACT
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_PASSIVE
```
public static final int mjDSBL_PASSIVE
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_GRAVITY
```
public static final int mjDSBL_GRAVITY
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_CLAMPCTRL
```
public static final int mjDSBL_CLAMPCTRL
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_WARMSTART
```
public static final int mjDSBL_WARMSTART
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_FILTERPARENT
```
public static final int mjDSBL_FILTERPARENT
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_ACTUATION
```
public static final int mjDSBL_ACTUATION
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjDSBL_REFSAFE
```
public static final int mjDSBL_REFSAFE
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjNDISABLE
```
public static final int mjNDISABLE
```
  enum mjtDisableBit
  
  See Also:
  
  Constant Field Values
- mjENBL_OVERRIDE
```
public static final int mjENBL_OVERRIDE
```
  enum mjtEnableBit
  
  See Also:
  
  Constant Field Values
- mjENBL_ENERGY
```
public static final int mjENBL_ENERGY
```
  enum mjtEnableBit
  
  See Also:
  
  Constant Field Values
- mjENBL_FWDINV
```
public static final int mjENBL_FWDINV
```
  enum mjtEnableBit
  
  See Also:
  
  Constant Field Values
- mjENBL_SENSORNOISE
```
public static final int mjENBL_SENSORNOISE
```
  enum mjtEnableBit
  
  See Also:
  
  Constant Field Values
- mjENBL_MULTICCD
```
public static final int mjENBL_MULTICCD
```
  enum mjtEnableBit
  
  See Also:
  
  Constant Field Values
- mjNENABLE
```
public static final int mjNENABLE
```
  enum mjtEnableBit
  
  See Also:
  
  Constant Field Values
- mjJNT_FREE
```
public static final int mjJNT_FREE
```
  enum mjtJoint
  
  See Also:
  
  Constant Field Values
- mjJNT_BALL
```
public static final int mjJNT_BALL
```
  enum mjtJoint
  
  See Also:
  
  Constant Field Values
- mjJNT_SLIDE
```
public static final int mjJNT_SLIDE
```
  enum mjtJoint
  
  See Also:
  
  Constant Field Values
- mjJNT_HINGE
```
public static final int mjJNT_HINGE
```
  enum mjtJoint
  
  See Also:
  
  Constant Field Values
- mjGEOM_PLANE
```
public static final int mjGEOM_PLANE
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_HFIELD
```
public static final int mjGEOM_HFIELD
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_SPHERE
```
public static final int mjGEOM_SPHERE
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_CAPSULE
```
public static final int mjGEOM_CAPSULE
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_ELLIPSOID
```
public static final int mjGEOM_ELLIPSOID
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_CYLINDER
```
public static final int mjGEOM_CYLINDER
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_BOX
```
public static final int mjGEOM_BOX
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_MESH
```
public static final int mjGEOM_MESH
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjNGEOMTYPES
```
public static final int mjNGEOMTYPES
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_ARROW
```
public static final int mjGEOM_ARROW
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_ARROW1
```
public static final int mjGEOM_ARROW1
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_ARROW2
```
public static final int mjGEOM_ARROW2
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_LINE
```
public static final int mjGEOM_LINE
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_SKIN
```
public static final int mjGEOM_SKIN
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_LABEL
```
public static final int mjGEOM_LABEL
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjGEOM_NONE
```
public static final int mjGEOM_NONE
```
  enum mjtGeom
  
  See Also:
  
  Constant Field Values
- mjCAMLIGHT_FIXED
```
public static final int mjCAMLIGHT_FIXED
```
  enum mjtCamLight
  
  See Also:
  
  Constant Field Values
- mjCAMLIGHT_TRACK
```
public static final int mjCAMLIGHT_TRACK
```
  enum mjtCamLight
  
  See Also:
  
  Constant Field Values
- mjCAMLIGHT_TRACKCOM
```
public static final int mjCAMLIGHT_TRACKCOM
```
  enum mjtCamLight
  
  See Also:
  
  Constant Field Values
- mjCAMLIGHT_TARGETBODY
```
public static final int mjCAMLIGHT_TARGETBODY
```
  enum mjtCamLight
  
  See Also:
  
  Constant Field Values
- mjCAMLIGHT_TARGETBODYCOM
```
public static final int mjCAMLIGHT_TARGETBODYCOM
```
  enum mjtCamLight
  
  See Also:
  
  Constant Field Values
- mjTEXTURE_2D
```
public static final int mjTEXTURE_2D
```
  enum mjtTexture
  
  See Also:
  
  Constant Field Values
- mjTEXTURE_CUBE
```
public static final int mjTEXTURE_CUBE
```
  enum mjtTexture
  
  See Also:
  
  Constant Field Values
- mjTEXTURE_SKYBOX
```
public static final int mjTEXTURE_SKYBOX
```
  enum mjtTexture
  
  See Also:
  
  Constant Field Values
- mjINT_EULER
```
public static final int mjINT_EULER
```
  enum mjtIntegrator
  
  See Also:
  
  Constant Field Values
- mjINT_RK4
```
public static final int mjINT_RK4
```
  enum mjtIntegrator
  
  See Also:
  
  Constant Field Values
- mjINT_IMPLICIT
```
public static final int mjINT_IMPLICIT
```
  enum mjtIntegrator
  
  See Also:
  
  Constant Field Values
- mjCOL_ALL
```
public static final int mjCOL_ALL
```
  enum mjtCollision
  
  See Also:
  
  Constant Field Values
- mjCOL_PAIR
```
public static final int mjCOL_PAIR
```
  enum mjtCollision
  
  See Also:
  
  Constant Field Values
- mjCOL_DYNAMIC
```
public static final int mjCOL_DYNAMIC
```
  enum mjtCollision
  
  See Also:
  
  Constant Field Values
- mjCONE_PYRAMIDAL
```
public static final int mjCONE_PYRAMIDAL
```
  enum mjtCone
  
  See Also:
  
  Constant Field Values
- mjCONE_ELLIPTIC
```
public static final int mjCONE_ELLIPTIC
```
  enum mjtCone
  
  See Also:
  
  Constant Field Values
- mjJAC_DENSE
```
public static final int mjJAC_DENSE
```
  enum mjtJacobian
  
  See Also:
  
  Constant Field Values
- mjJAC_SPARSE
```
public static final int mjJAC_SPARSE
```
  enum mjtJacobian
  
  See Also:
  
  Constant Field Values
- mjJAC_AUTO
```
public static final int mjJAC_AUTO
```
  enum mjtJacobian
  
  See Also:
  
  Constant Field Values
- mjSOL_PGS
```
public static final int mjSOL_PGS
```
  enum mjtSolver
  
  See Also:
  
  Constant Field Values
- mjSOL_CG
```
public static final int mjSOL_CG
```
  enum mjtSolver
  
  See Also:
  
  Constant Field Values
- mjSOL_NEWTON
```
public static final int mjSOL_NEWTON
```
  enum mjtSolver
  
  See Also:
  
  Constant Field Values
- mjEQ_CONNECT
```
public static final int mjEQ_CONNECT
```
  enum mjtEq
  
  See Also:
  
  Constant Field Values
- mjEQ_WELD
```
public static final int mjEQ_WELD
```
  enum mjtEq
  
  See Also:
  
  Constant Field Values
- mjEQ_JOINT
```
public static final int mjEQ_JOINT
```
  enum mjtEq
  
  See Also:
  
  Constant Field Values
- mjEQ_TENDON
```
public static final int mjEQ_TENDON
```
  enum mjtEq
  
  See Also:
  
  Constant Field Values
- mjEQ_DISTANCE
```
public static final int mjEQ_DISTANCE
```
  enum mjtEq
  
  See Also:
  
  Constant Field Values
- mjWRAP_NONE
```
public static final int mjWRAP_NONE
```
  enum mjtWrap
  
  See Also:
  
  Constant Field Values
- mjWRAP_JOINT
```
public static final int mjWRAP_JOINT
```
  enum mjtWrap
  
  See Also:
  
  Constant Field Values
- mjWRAP_PULLEY
```
public static final int mjWRAP_PULLEY
```
  enum mjtWrap
  
  See Also:
  
  Constant Field Values
- mjWRAP_SITE
```
public static final int mjWRAP_SITE
```
  enum mjtWrap
  
  See Also:
  
  Constant Field Values
- mjWRAP_SPHERE
```
public static final int mjWRAP_SPHERE
```
  enum mjtWrap
  
  See Also:
  
  Constant Field Values
- mjWRAP_CYLINDER
```
public static final int mjWRAP_CYLINDER
```
  enum mjtWrap
  
  See Also:
  
  Constant Field Values
- mjTRN_JOINT
```
public static final int mjTRN_JOINT
```
  enum mjtTrn
  
  See Also:
  
  Constant Field Values
- mjTRN_JOINTINPARENT
```
public static final int mjTRN_JOINTINPARENT
```
  enum mjtTrn
  
  See Also:
  
  Constant Field Values
- mjTRN_SLIDERCRANK
```
public static final int mjTRN_SLIDERCRANK
```
  enum mjtTrn
  
  See Also:
  
  Constant Field Values
- mjTRN_TENDON
```
public static final int mjTRN_TENDON
```
  enum mjtTrn
  
  See Also:
  
  Constant Field Values
- mjTRN_SITE
```
public static final int mjTRN_SITE
```
  enum mjtTrn
  
  See Also:
  
  Constant Field Values
- mjTRN_UNDEFINED
```
public static final int mjTRN_UNDEFINED
```
  enum mjtTrn
  
  See Also:
  
  Constant Field Values
- mjDYN_NONE
```
public static final int mjDYN_NONE
```
  enum mjtDyn
  
  See Also:
  
  Constant Field Values
- mjDYN_INTEGRATOR
```
public static final int mjDYN_INTEGRATOR
```
  enum mjtDyn
  
  See Also:
  
  Constant Field Values
- mjDYN_FILTER
```
public static final int mjDYN_FILTER
```
  enum mjtDyn
  
  See Also:
  
  Constant Field Values
- mjDYN_MUSCLE
```
public static final int mjDYN_MUSCLE
```
  enum mjtDyn
  
  See Also:
  
  Constant Field Values
- mjDYN_USER
```
public static final int mjDYN_USER
```
  enum mjtDyn
  
  See Also:
  
  Constant Field Values
- mjGAIN_FIXED
```
public static final int mjGAIN_FIXED
```
  enum mjtGain
  
  See Also:
  
  Constant Field Values
- mjGAIN_MUSCLE
```
public static final int mjGAIN_MUSCLE
```
  enum mjtGain
  
  See Also:
  
  Constant Field Values
- mjGAIN_USER
```
public static final int mjGAIN_USER
```
  enum mjtGain
  
  See Also:
  
  Constant Field Values
- mjBIAS_NONE
```
public static final int mjBIAS_NONE
```
  enum mjtBias
  
  See Also:
  
  Constant Field Values
- mjBIAS_AFFINE
```
public static final int mjBIAS_AFFINE
```
  enum mjtBias
  
  See Also:
  
  Constant Field Values
- mjBIAS_MUSCLE
```
public static final int mjBIAS_MUSCLE
```
  enum mjtBias
  
  See Also:
  
  Constant Field Values
- mjBIAS_USER
```
public static final int mjBIAS_USER
```
  enum mjtBias
  
  See Also:
  
  Constant Field Values
- mjOBJ_UNKNOWN
```
public static final int mjOBJ_UNKNOWN
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_BODY
```
public static final int mjOBJ_BODY
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_XBODY
```
public static final int mjOBJ_XBODY
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_JOINT
```
public static final int mjOBJ_JOINT
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_DOF
```
public static final int mjOBJ_DOF
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_GEOM
```
public static final int mjOBJ_GEOM
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_SITE
```
public static final int mjOBJ_SITE
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_CAMERA
```
public static final int mjOBJ_CAMERA
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_LIGHT
```
public static final int mjOBJ_LIGHT
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_MESH
```
public static final int mjOBJ_MESH
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_SKIN
```
public static final int mjOBJ_SKIN
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_HFIELD
```
public static final int mjOBJ_HFIELD
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_TEXTURE
```
public static final int mjOBJ_TEXTURE
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_MATERIAL
```
public static final int mjOBJ_MATERIAL
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_PAIR
```
public static final int mjOBJ_PAIR
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_EXCLUDE
```
public static final int mjOBJ_EXCLUDE
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_EQUALITY
```
public static final int mjOBJ_EQUALITY
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_TENDON
```
public static final int mjOBJ_TENDON
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_ACTUATOR
```
public static final int mjOBJ_ACTUATOR
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_SENSOR
```
public static final int mjOBJ_SENSOR
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_NUMERIC
```
public static final int mjOBJ_NUMERIC
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_TEXT
```
public static final int mjOBJ_TEXT
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_TUPLE
```
public static final int mjOBJ_TUPLE
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjOBJ_KEY
```
public static final int mjOBJ_KEY
```
  enum mjtObj
  
  See Also:
  
  Constant Field Values
- mjCNSTR_EQUALITY
```
public static final int mjCNSTR_EQUALITY
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_FRICTION_DOF
```
public static final int mjCNSTR_FRICTION_DOF
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_FRICTION_TENDON
```
public static final int mjCNSTR_FRICTION_TENDON
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_LIMIT_JOINT
```
public static final int mjCNSTR_LIMIT_JOINT
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_LIMIT_TENDON
```
public static final int mjCNSTR_LIMIT_TENDON
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_CONTACT_FRICTIONLESS
```
public static final int mjCNSTR_CONTACT_FRICTIONLESS
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_CONTACT_PYRAMIDAL
```
public static final int mjCNSTR_CONTACT_PYRAMIDAL
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTR_CONTACT_ELLIPTIC
```
public static final int mjCNSTR_CONTACT_ELLIPTIC
```
  enum mjtConstraint
  
  See Also:
  
  Constant Field Values
- mjCNSTRSTATE_SATISFIED
```
public static final int mjCNSTRSTATE_SATISFIED
```
  enum mjtConstraintState
  
  See Also:
  
  Constant Field Values
- mjCNSTRSTATE_QUADRATIC
```
public static final int mjCNSTRSTATE_QUADRATIC
```
  enum mjtConstraintState
  
  See Also:
  
  Constant Field Values
- mjCNSTRSTATE_LINEARNEG
```
public static final int mjCNSTRSTATE_LINEARNEG
```
  enum mjtConstraintState
  
  See Also:
  
  Constant Field Values
- mjCNSTRSTATE_LINEARPOS
```
public static final int mjCNSTRSTATE_LINEARPOS
```
  enum mjtConstraintState
  
  See Also:
  
  Constant Field Values
- mjCNSTRSTATE_CONE
```
public static final int mjCNSTRSTATE_CONE
```
  enum mjtConstraintState
  
  See Also:
  
  Constant Field Values
- mjSENS_TOUCH
```
public static final int mjSENS_TOUCH
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_ACCELEROMETER
```
public static final int mjSENS_ACCELEROMETER
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_VELOCIMETER
```
public static final int mjSENS_VELOCIMETER
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_GYRO
```
public static final int mjSENS_GYRO
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FORCE
```
public static final int mjSENS_FORCE
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_TORQUE
```
public static final int mjSENS_TORQUE
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_MAGNETOMETER
```
public static final int mjSENS_MAGNETOMETER
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_RANGEFINDER
```
public static final int mjSENS_RANGEFINDER
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_JOINTPOS
```
public static final int mjSENS_JOINTPOS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_JOINTVEL
```
public static final int mjSENS_JOINTVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_TENDONPOS
```
public static final int mjSENS_TENDONPOS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_TENDONVEL
```
public static final int mjSENS_TENDONVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_ACTUATORPOS
```
public static final int mjSENS_ACTUATORPOS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_ACTUATORVEL
```
public static final int mjSENS_ACTUATORVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_ACTUATORFRC
```
public static final int mjSENS_ACTUATORFRC
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_BALLQUAT
```
public static final int mjSENS_BALLQUAT
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_BALLANGVEL
```
public static final int mjSENS_BALLANGVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_JOINTLIMITPOS
```
public static final int mjSENS_JOINTLIMITPOS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_JOINTLIMITVEL
```
public static final int mjSENS_JOINTLIMITVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_JOINTLIMITFRC
```
public static final int mjSENS_JOINTLIMITFRC
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_TENDONLIMITPOS
```
public static final int mjSENS_TENDONLIMITPOS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_TENDONLIMITVEL
```
public static final int mjSENS_TENDONLIMITVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_TENDONLIMITFRC
```
public static final int mjSENS_TENDONLIMITFRC
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEPOS
```
public static final int mjSENS_FRAMEPOS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEQUAT
```
public static final int mjSENS_FRAMEQUAT
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEXAXIS
```
public static final int mjSENS_FRAMEXAXIS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEYAXIS
```
public static final int mjSENS_FRAMEYAXIS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEZAXIS
```
public static final int mjSENS_FRAMEZAXIS
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMELINVEL
```
public static final int mjSENS_FRAMELINVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEANGVEL
```
public static final int mjSENS_FRAMEANGVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMELINACC
```
public static final int mjSENS_FRAMELINACC
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_FRAMEANGACC
```
public static final int mjSENS_FRAMEANGACC
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_SUBTREECOM
```
public static final int mjSENS_SUBTREECOM
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_SUBTREELINVEL
```
public static final int mjSENS_SUBTREELINVEL
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_SUBTREEANGMOM
```
public static final int mjSENS_SUBTREEANGMOM
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSENS_USER
```
public static final int mjSENS_USER
```
  enum mjtSensor
  
  See Also:
  
  Constant Field Values
- mjSTAGE_NONE
```
public static final int mjSTAGE_NONE
```
  enum mjtStage
  
  See Also:
  
  Constant Field Values
- mjSTAGE_POS
```
public static final int mjSTAGE_POS
```
  enum mjtStage
  
  See Also:
  
  Constant Field Values
- mjSTAGE_VEL
```
public static final int mjSTAGE_VEL
```
  enum mjtStage
  
  See Also:
  
  Constant Field Values
- mjSTAGE_ACC
```
public static final int mjSTAGE_ACC
```
  enum mjtStage
  
  See Also:
  
  Constant Field Values
- mjDATATYPE_REAL
```
public static final int mjDATATYPE_REAL
```
  enum mjtDataType
  
  See Also:
  
  Constant Field Values
- mjDATATYPE_POSITIVE
```
public static final int mjDATATYPE_POSITIVE
```
  enum mjtDataType
  
  See Also:
  
  Constant Field Values
- mjDATATYPE_AXIS
```
public static final int mjDATATYPE_AXIS
```
  enum mjtDataType
  
  See Also:
  
  Constant Field Values
- mjDATATYPE_QUATERNION
```
public static final int mjDATATYPE_QUATERNION
```
  enum mjtDataType
  
  See Also:
  
  Constant Field Values
- mjLRMODE_NONE
```
public static final int mjLRMODE_NONE
```
  enum mjtLRMode
  
  See Also:
  
  Constant Field Values
- mjLRMODE_MUSCLE
```
public static final int mjLRMODE_MUSCLE
```
  enum mjtLRMode
  
  See Also:
  
  Constant Field Values
- mjLRMODE_MUSCLEUSER
```
public static final int mjLRMODE_MUSCLEUSER
```
  enum mjtLRMode
  
  See Also:
  
  Constant Field Values
- mjLRMODE_ALL
```
public static final int mjLRMODE_ALL
```
  enum mjtLRMode
  
  See Also:
  
  Constant Field Values
- mjNAUX
```
public static final int mjNAUX
```
  See Also:
  
  Constant Field Values
- mjMAXTEXTURE
```
public static final int mjMAXTEXTURE
```
  See Also:
  
  Constant Field Values
- mjGRID_TOPLEFT
```
public static final int mjGRID_TOPLEFT
```
  enum mjtGridPos
  
  See Also:
  
  Constant Field Values
- mjGRID_TOPRIGHT
```
public static final int mjGRID_TOPRIGHT
```
  enum mjtGridPos
  
  See Also:
  
  Constant Field Values
- mjGRID_BOTTOMLEFT
```
public static final int mjGRID_BOTTOMLEFT
```
  enum mjtGridPos
  
  See Also:
  
  Constant Field Values
- mjGRID_BOTTOMRIGHT
```
public static final int mjGRID_BOTTOMRIGHT
```
  enum mjtGridPos
  
  See Also:
  
  Constant Field Values
- mjFB_WINDOW
```
public static final int mjFB_WINDOW
```
  enum mjtFramebuffer
  
  See Also:
  
  Constant Field Values
- mjFB_OFFSCREEN
```
public static final int mjFB_OFFSCREEN
```
  enum mjtFramebuffer
  
  See Also:
  
  Constant Field Values
- mjFONTSCALE_50
```
public static final int mjFONTSCALE_50
```
  enum mjtFontScale
  
  See Also:
  
  Constant Field Values
- mjFONTSCALE_100
```
public static final int mjFONTSCALE_100
```
  enum mjtFontScale
  
  See Also:
  
  Constant Field Values
- mjFONTSCALE_150
```
public static final int mjFONTSCALE_150
```
  enum mjtFontScale
  
  See Also:
  
  Constant Field Values
- mjFONTSCALE_200
```
public static final int mjFONTSCALE_200
```
  enum mjtFontScale
  
  See Also:
  
  Constant Field Values
- mjFONTSCALE_250
```
public static final int mjFONTSCALE_250
```
  enum mjtFontScale
  
  See Also:
  
  Constant Field Values
- mjFONTSCALE_300
```
public static final int mjFONTSCALE_300
```
  enum mjtFontScale
  
  See Also:
  
  Constant Field Values
- mjFONT_NORMAL
```
public static final int mjFONT_NORMAL
```
  enum mjtFont
  
  See Also:
  
  Constant Field Values
- mjFONT_SHADOW
```
public static final int mjFONT_SHADOW
```
  enum mjtFont
  
  See Also:
  
  Constant Field Values
- mjFONT_BIG
```
public static final int mjFONT_BIG
```
  enum mjtFont
  
  See Also:
  
  Constant Field Values
- mjMINVAL
```
public static final double mjMINVAL
```
  See Also:
  
  Constant Field Values
- mjMAXUISECT
```
public static final int mjMAXUISECT
```
  See Also:
  
  Constant Field Values
- mjMAXUIITEM
```
public static final int mjMAXUIITEM
```
  See Also:
  
  Constant Field Values
- mjMAXUITEXT
```
public static final int mjMAXUITEXT
```
  See Also:
  
  Constant Field Values
- mjMAXUINAME
```
public static final int mjMAXUINAME
```
  See Also:
  
  Constant Field Values
- mjMAXUIMULTI
```
public static final int mjMAXUIMULTI
```
  See Also:
  
  Constant Field Values
- mjMAXUIEDIT
```
public static final int mjMAXUIEDIT
```
  See Also:
  
  Constant Field Values
- mjMAXUIRECT
```
public static final int mjMAXUIRECT
```
  See Also:
  
  Constant Field Values
- mjSEPCLOSED
```
public static final int mjSEPCLOSED
```
  See Also:
  
  Constant Field Values
- mjKEY_ESCAPE
```
public static final int mjKEY_ESCAPE
```
  See Also:
  
  Constant Field Values
- mjKEY_ENTER
```
public static final int mjKEY_ENTER
```
  See Also:
  
  Constant Field Values
- mjKEY_TAB
```
public static final int mjKEY_TAB
```
  See Also:
  
  Constant Field Values
- mjKEY_BACKSPACE
```
public static final int mjKEY_BACKSPACE
```
  See Also:
  
  Constant Field Values
- mjKEY_INSERT
```
public static final int mjKEY_INSERT
```
  See Also:
  
  Constant Field Values
- mjKEY_DELETE
```
public static final int mjKEY_DELETE
```
  See Also:
  
  Constant Field Values
- mjKEY_RIGHT
```
public static final int mjKEY_RIGHT
```
  See Also:
  
  Constant Field Values
- mjKEY_LEFT
```
public static final int mjKEY_LEFT
```
  See Also:
  
  Constant Field Values
- mjKEY_DOWN
```
public static final int mjKEY_DOWN
```
  See Also:
  
  Constant Field Values
- mjKEY_UP
```
public static final int mjKEY_UP
```
  See Also:
  
  Constant Field Values
- mjKEY_PAGE_UP
```
public static final int mjKEY_PAGE_UP
```
  See Also:
  
  Constant Field Values
- mjKEY_PAGE_DOWN
```
public static final int mjKEY_PAGE_DOWN
```
  See Also:
  
  Constant Field Values
- mjKEY_HOME
```
public static final int mjKEY_HOME
```
  See Also:
  
  Constant Field Values
- mjKEY_END
```
public static final int mjKEY_END
```
  See Also:
  
  Constant Field Values
- mjKEY_F1
```
public static final int mjKEY_F1
```
  See Also:
  
  Constant Field Values
- mjKEY_F2
```
public static final int mjKEY_F2
```
  See Also:
  
  Constant Field Values
- mjKEY_F3
```
public static final int mjKEY_F3
```
  See Also:
  
  Constant Field Values
- mjKEY_F4
```
public static final int mjKEY_F4
```
  See Also:
  
  Constant Field Values
- mjKEY_F5
```
public static final int mjKEY_F5
```
  See Also:
  
  Constant Field Values
- mjKEY_F6
```
public static final int mjKEY_F6
```
  See Also:
  
  Constant Field Values
- mjKEY_F7
```
public static final int mjKEY_F7
```
  See Also:
  
  Constant Field Values
- mjKEY_F8
```
public static final int mjKEY_F8
```
  See Also:
  
  Constant Field Values
- mjKEY_F9
```
public static final int mjKEY_F9
```
  See Also:
  
  Constant Field Values
- mjKEY_F10
```
public static final int mjKEY_F10
```
  See Also:
  
  Constant Field Values
- mjKEY_F11
```
public static final int mjKEY_F11
```
  See Also:
  
  Constant Field Values
- mjKEY_F12
```
public static final int mjKEY_F12
```
  See Also:
  
  Constant Field Values
- mjBUTTON_NONE
```
public static final int mjBUTTON_NONE
```
  enum mjtButton
  
  See Also:
  
  Constant Field Values
- mjBUTTON_LEFT
```
public static final int mjBUTTON_LEFT
```
  enum mjtButton
  
  See Also:
  
  Constant Field Values
- mjBUTTON_RIGHT
```
public static final int mjBUTTON_RIGHT
```
  enum mjtButton
  
  See Also:
  
  Constant Field Values
- mjBUTTON_MIDDLE
```
public static final int mjBUTTON_MIDDLE
```
  enum mjtButton
  
  See Also:
  
  Constant Field Values
- mjEVENT_NONE
```
public static final int mjEVENT_NONE
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjEVENT_MOVE
```
public static final int mjEVENT_MOVE
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjEVENT_PRESS
```
public static final int mjEVENT_PRESS
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjEVENT_RELEASE
```
public static final int mjEVENT_RELEASE
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjEVENT_SCROLL
```
public static final int mjEVENT_SCROLL
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjEVENT_KEY
```
public static final int mjEVENT_KEY
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjEVENT_RESIZE
```
public static final int mjEVENT_RESIZE
```
  enum mjtEvent
  
  See Also:
  
  Constant Field Values
- mjITEM_END
```
public static final int mjITEM_END
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_SECTION
```
public static final int mjITEM_SECTION
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_SEPARATOR
```
public static final int mjITEM_SEPARATOR
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_STATIC
```
public static final int mjITEM_STATIC
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_BUTTON
```
public static final int mjITEM_BUTTON
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_CHECKINT
```
public static final int mjITEM_CHECKINT
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_CHECKBYTE
```
public static final int mjITEM_CHECKBYTE
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_RADIO
```
public static final int mjITEM_RADIO
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_RADIOLINE
```
public static final int mjITEM_RADIOLINE
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_SELECT
```
public static final int mjITEM_SELECT
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_SLIDERINT
```
public static final int mjITEM_SLIDERINT
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_SLIDERNUM
```
public static final int mjITEM_SLIDERNUM
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_EDITINT
```
public static final int mjITEM_EDITINT
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_EDITNUM
```
public static final int mjITEM_EDITNUM
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjITEM_EDITTXT
```
public static final int mjITEM_EDITTXT
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjNITEM
```
public static final int mjNITEM
```
  enum mjtItem
  
  See Also:
  
  Constant Field Values
- mjNGROUP
```
public static final int mjNGROUP
```
  See Also:
  
  Constant Field Values
- mjMAXLIGHT
```
public static final int mjMAXLIGHT
```
  See Also:
  
  Constant Field Values
- mjMAXOVERLAY
```
public static final int mjMAXOVERLAY
```
  See Also:
  
  Constant Field Values
- mjMAXLINE
```
public static final int mjMAXLINE
```
  See Also:
  
  Constant Field Values
- mjMAXLINEPNT
```
public static final int mjMAXLINEPNT
```
  See Also:
  
  Constant Field Values
- mjMAXPLANEGRID
```
public static final int mjMAXPLANEGRID
```
  See Also:
  
  Constant Field Values
- mjCAT_STATIC
```
public static final int mjCAT_STATIC
```
  enum mjtCatBit
  
  See Also:
  
  Constant Field Values
- mjCAT_DYNAMIC
```
public static final int mjCAT_DYNAMIC
```
  enum mjtCatBit
  
  See Also:
  
  Constant Field Values
- mjCAT_DECOR
```
public static final int mjCAT_DECOR
```
  enum mjtCatBit
  
  See Also:
  
  Constant Field Values
- mjCAT_ALL
```
public static final int mjCAT_ALL
```
  enum mjtCatBit
  
  See Also:
  
  Constant Field Values
- mjMOUSE_NONE
```
public static final int mjMOUSE_NONE
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjMOUSE_ROTATE_V
```
public static final int mjMOUSE_ROTATE_V
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjMOUSE_ROTATE_H
```
public static final int mjMOUSE_ROTATE_H
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjMOUSE_MOVE_V
```
public static final int mjMOUSE_MOVE_V
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjMOUSE_MOVE_H
```
public static final int mjMOUSE_MOVE_H
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjMOUSE_ZOOM
```
public static final int mjMOUSE_ZOOM
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjMOUSE_SELECT
```
public static final int mjMOUSE_SELECT
```
  enum mjtMouse
  
  See Also:
  
  Constant Field Values
- mjPERT_TRANSLATE
```
public static final int mjPERT_TRANSLATE
```
  enum mjtPertBit
  
  See Also:
  
  Constant Field Values
- mjPERT_ROTATE
```
public static final int mjPERT_ROTATE
```
  enum mjtPertBit
  
  See Also:
  
  Constant Field Values
- mjCAMERA_FREE
```
public static final int mjCAMERA_FREE
```
  enum mjtCamera
  
  See Also:
  
  Constant Field Values
- mjCAMERA_TRACKING
```
public static final int mjCAMERA_TRACKING
```
  enum mjtCamera
  
  See Also:
  
  Constant Field Values
- mjCAMERA_FIXED
```
public static final int mjCAMERA_FIXED
```
  enum mjtCamera
  
  See Also:
  
  Constant Field Values
- mjCAMERA_USER
```
public static final int mjCAMERA_USER
```
  enum mjtCamera
  
  See Also:
  
  Constant Field Values
- mjLABEL_NONE
```
public static final int mjLABEL_NONE
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_BODY
```
public static final int mjLABEL_BODY
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_JOINT
```
public static final int mjLABEL_JOINT
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_GEOM
```
public static final int mjLABEL_GEOM
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_SITE
```
public static final int mjLABEL_SITE
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_CAMERA
```
public static final int mjLABEL_CAMERA
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_LIGHT
```
public static final int mjLABEL_LIGHT
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_TENDON
```
public static final int mjLABEL_TENDON
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_ACTUATOR
```
public static final int mjLABEL_ACTUATOR
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_CONSTRAINT
```
public static final int mjLABEL_CONSTRAINT
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_SKIN
```
public static final int mjLABEL_SKIN
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_SELECTION
```
public static final int mjLABEL_SELECTION
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_SELPNT
```
public static final int mjLABEL_SELPNT
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjLABEL_CONTACTFORCE
```
public static final int mjLABEL_CONTACTFORCE
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjNLABEL
```
public static final int mjNLABEL
```
  enum mjtLabel
  
  See Also:
  
  Constant Field Values
- mjFRAME_NONE
```
public static final int mjFRAME_NONE
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_BODY
```
public static final int mjFRAME_BODY
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_GEOM
```
public static final int mjFRAME_GEOM
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_SITE
```
public static final int mjFRAME_SITE
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_CAMERA
```
public static final int mjFRAME_CAMERA
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_LIGHT
```
public static final int mjFRAME_LIGHT
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_CONTACT
```
public static final int mjFRAME_CONTACT
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjFRAME_WORLD
```
public static final int mjFRAME_WORLD
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjNFRAME
```
public static final int mjNFRAME
```
  enum mjtFrame
  
  See Also:
  
  Constant Field Values
- mjVIS_CONVEXHULL
```
public static final int mjVIS_CONVEXHULL
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_TEXTURE
```
public static final int mjVIS_TEXTURE
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_JOINT
```
public static final int mjVIS_JOINT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_ACTUATOR
```
public static final int mjVIS_ACTUATOR
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_CAMERA
```
public static final int mjVIS_CAMERA
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_LIGHT
```
public static final int mjVIS_LIGHT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_TENDON
```
public static final int mjVIS_TENDON
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_RANGEFINDER
```
public static final int mjVIS_RANGEFINDER
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_CONSTRAINT
```
public static final int mjVIS_CONSTRAINT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_INERTIA
```
public static final int mjVIS_INERTIA
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_SCLINERTIA
```
public static final int mjVIS_SCLINERTIA
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_PERTFORCE
```
public static final int mjVIS_PERTFORCE
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_PERTOBJ
```
public static final int mjVIS_PERTOBJ
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_CONTACTPOINT
```
public static final int mjVIS_CONTACTPOINT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_CONTACTFORCE
```
public static final int mjVIS_CONTACTFORCE
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_CONTACTSPLIT
```
public static final int mjVIS_CONTACTSPLIT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_TRANSPARENT
```
public static final int mjVIS_TRANSPARENT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_AUTOCONNECT
```
public static final int mjVIS_AUTOCONNECT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_COM
```
public static final int mjVIS_COM
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_SELECT
```
public static final int mjVIS_SELECT
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_STATIC
```
public static final int mjVIS_STATIC
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjVIS_SKIN
```
public static final int mjVIS_SKIN
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjNVISFLAG
```
public static final int mjNVISFLAG
```
  enum mjtVisFlag
  
  See Also:
  
  Constant Field Values
- mjRND_SHADOW
```
public static final int mjRND_SHADOW
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_WIREFRAME
```
public static final int mjRND_WIREFRAME
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_REFLECTION
```
public static final int mjRND_REFLECTION
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_ADDITIVE
```
public static final int mjRND_ADDITIVE
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_SKYBOX
```
public static final int mjRND_SKYBOX
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_FOG
```
public static final int mjRND_FOG
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_HAZE
```
public static final int mjRND_HAZE
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_SEGMENT
```
public static final int mjRND_SEGMENT
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjRND_IDCOLOR
```
public static final int mjRND_IDCOLOR
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjNRNDFLAG
```
public static final int mjNRNDFLAG
```
  enum mjtRndFlag
  
  See Also:
  
  Constant Field Values
- mjSTEREO_NONE
```
public static final int mjSTEREO_NONE
```
  enum mjtStereo
  
  See Also:
  
  Constant Field Values
- mjSTEREO_QUADBUFFERED
```
public static final int mjSTEREO_QUADBUFFERED
```
  enum mjtStereo
  
  See Also:
  
  Constant Field Values
- mjSTEREO_SIDEBYSIDE
```
public static final int mjSTEREO_SIDEBYSIDE
```
  enum mjtStereo
  
  See Also:
  
  Constant Field Values
- mjVERSION_HEADER
```
public static final int mjVERSION_HEADER
```
  See Also:
  
  Constant Field Values

Constructor Detail
- MuJoCoLib
```
public MuJoCoLib()
```

Method Detail

mju_user_error

public static MuJoCoLib.Mju_user_error_BytePointer mju_user_error()

mju_user_error

public static void mju_user_error(MuJoCoLib.Mju_user_error_BytePointer setter)

mju_user_warning

public static MuJoCoLib.Mju_user_warning_BytePointer mju_user_warning()

mju_user_warning

public static void mju_user_warning(MuJoCoLib.Mju_user_warning_BytePointer setter)

mju_user_malloc

public static MuJoCoLib.Mju_user_malloc_long mju_user_malloc()

mju_user_malloc

public static void mju_user_malloc(MuJoCoLib.Mju_user_malloc_long setter)

mju_user_free

public static MuJoCoLib.Mju_user_free_Pointer mju_user_free()

mju_user_free

public static void mju_user_free(MuJoCoLib.Mju_user_free_Pointer setter)

mjcb_passive

public static MuJoCoLib.mjfGeneric mjcb_passive()

mjcb_passive

public static void mjcb_passive(MuJoCoLib.mjfGeneric setter)

mjcb_control

public static MuJoCoLib.mjfGeneric mjcb_control()

mjcb_control

public static void mjcb_control(MuJoCoLib.mjfGeneric setter)

mjcb_contactfilter

public static MuJoCoLib.mjfConFilt mjcb_contactfilter()

mjcb_contactfilter

public static void mjcb_contactfilter(MuJoCoLib.mjfConFilt setter)

mjcb_sensor

public static MuJoCoLib.mjfSensor mjcb_sensor()

mjcb_sensor

public static void mjcb_sensor(MuJoCoLib.mjfSensor setter)

mjcb_time

public static MuJoCoLib.mjfTime mjcb_time()

mjcb_time

public static void mjcb_time(MuJoCoLib.mjfTime setter)

mjcb_act_dyn

public static MuJoCoLib.mjfAct mjcb_act_dyn()

mjcb_act_dyn

public static void mjcb_act_dyn(MuJoCoLib.mjfAct setter)

mjcb_act_gain

public static MuJoCoLib.mjfAct mjcb_act_gain()

mjcb_act_gain

public static void mjcb_act_gain(MuJoCoLib.mjfAct setter)

mjcb_act_bias

public static MuJoCoLib.mjfAct mjcb_act_bias()

mjcb_act_bias

public static void mjcb_act_bias(MuJoCoLib.mjfAct setter)

mjDISABLESTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjDISABLESTRING(int i)

mjDISABLESTRING

public static void mjDISABLESTRING(int i,
                                   org.bytedeco.javacpp.BytePointer setter)

mjDISABLESTRING

@MemberGetter
 @Cast(value="const char**")
public static org.bytedeco.javacpp.PointerPointer mjDISABLESTRING()

mjENABLESTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjENABLESTRING(int i)

mjENABLESTRING

public static void mjENABLESTRING(int i,
                                  org.bytedeco.javacpp.BytePointer setter)

mjENABLESTRING

@MemberGetter
 @Cast(value="const char**")
public static org.bytedeco.javacpp.PointerPointer mjENABLESTRING()

mjTIMERSTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjTIMERSTRING(int i)

mjTIMERSTRING

public static void mjTIMERSTRING(int i,
                                 org.bytedeco.javacpp.BytePointer setter)

mjTIMERSTRING

@MemberGetter
 @Cast(value="const char**")
public static org.bytedeco.javacpp.PointerPointer mjTIMERSTRING()

mjLABELSTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjLABELSTRING(int i)

mjLABELSTRING

public static void mjLABELSTRING(int i,
                                 org.bytedeco.javacpp.BytePointer setter)

mjLABELSTRING

@MemberGetter
 @Cast(value="const char**")
public static org.bytedeco.javacpp.PointerPointer mjLABELSTRING()

mjFRAMESTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjFRAMESTRING(int i)

mjFRAMESTRING

public static void mjFRAMESTRING(int i,
                                 org.bytedeco.javacpp.BytePointer setter)

mjFRAMESTRING

@MemberGetter
 @Cast(value="const char**")
public static org.bytedeco.javacpp.PointerPointer mjFRAMESTRING()

mjVISSTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjVISSTRING(int i,
                                                                                      int j)

mjVISSTRING

public static void mjVISSTRING(int i,
                               int j,
                               org.bytedeco.javacpp.BytePointer setter)

mjVISSTRING

@MemberGetter
 @Cast(value="const char*(*)[3]")
public static org.bytedeco.javacpp.PointerPointer mjVISSTRING()

mjRNDSTRING

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mjRNDSTRING(int i,
                                                                                      int j)

mjRNDSTRING

public static void mjRNDSTRING(int i,
                               int j,
                               org.bytedeco.javacpp.BytePointer setter)

mjRNDSTRING

@MemberGetter
 @Cast(value="const char*(*)[3]")
public static org.bytedeco.javacpp.PointerPointer mjRNDSTRING()

mj_defaultVFS

public static void mj_defaultVFS(MuJoCoLib.mjVFS vfs)

mj_addFileVFS

public static int mj_addFileVFS(MuJoCoLib.mjVFS vfs,
                                @Cast(value="const char*")
                                org.bytedeco.javacpp.BytePointer directory,
                                @Cast(value="const char*")
                                org.bytedeco.javacpp.BytePointer filename)

mj_addFileVFS

public static int mj_addFileVFS(MuJoCoLib.mjVFS vfs,
                                java.lang.String directory,
                                java.lang.String filename)

mj_makeEmptyFileVFS

public static int mj_makeEmptyFileVFS(MuJoCoLib.mjVFS vfs,
                                      @Cast(value="const char*")
                                      org.bytedeco.javacpp.BytePointer filename,
                                      int filesize)

mj_makeEmptyFileVFS

public static int mj_makeEmptyFileVFS(MuJoCoLib.mjVFS vfs,
                                      java.lang.String filename,
                                      int filesize)

mj_findFileVFS

public static int mj_findFileVFS(@Const
                                 MuJoCoLib.mjVFS vfs,
                                 @Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename)

mj_findFileVFS

public static int mj_findFileVFS(@Const
                                 MuJoCoLib.mjVFS vfs,
                                 java.lang.String filename)

mj_deleteFileVFS

public static int mj_deleteFileVFS(MuJoCoLib.mjVFS vfs,
                                   @Cast(value="const char*")
                                   org.bytedeco.javacpp.BytePointer filename)

mj_deleteFileVFS

public static int mj_deleteFileVFS(MuJoCoLib.mjVFS vfs,
                                   java.lang.String filename)

mj_deleteVFS

public static void mj_deleteVFS(MuJoCoLib.mjVFS vfs)

mj_loadXML

public static MuJoCoLib.mjModel mj_loadXML(@Cast(value="const char*")
                                           org.bytedeco.javacpp.BytePointer filename,
                                           @Const
                                           MuJoCoLib.mjVFS vfs,
                                           @Cast(value="char*")
                                           org.bytedeco.javacpp.BytePointer error,
                                           int error_sz)

mj_loadXML

public static MuJoCoLib.mjModel mj_loadXML(java.lang.String filename,
                                           @Const
                                           MuJoCoLib.mjVFS vfs,
                                           @Cast(value="char*")
                                           java.nio.ByteBuffer error,
                                           int error_sz)

mj_loadXML

public static MuJoCoLib.mjModel mj_loadXML(@Cast(value="const char*")
                                           org.bytedeco.javacpp.BytePointer filename,
                                           @Const
                                           MuJoCoLib.mjVFS vfs,
                                           @Cast(value="char*")
                                           byte[] error,
                                           int error_sz)

mj_loadXML

public static MuJoCoLib.mjModel mj_loadXML(java.lang.String filename,
                                           @Const
                                           MuJoCoLib.mjVFS vfs,
                                           @Cast(value="char*")
                                           org.bytedeco.javacpp.BytePointer error,
                                           int error_sz)

mj_loadXML

public static MuJoCoLib.mjModel mj_loadXML(@Cast(value="const char*")
                                           org.bytedeco.javacpp.BytePointer filename,
                                           @Const
                                           MuJoCoLib.mjVFS vfs,
                                           @Cast(value="char*")
                                           java.nio.ByteBuffer error,
                                           int error_sz)

mj_loadXML

public static MuJoCoLib.mjModel mj_loadXML(java.lang.String filename,
                                           @Const
                                           MuJoCoLib.mjVFS vfs,
                                           @Cast(value="char*")
                                           byte[] error,
                                           int error_sz)

mj_saveLastXML

public static int mj_saveLastXML(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename,
                                 @Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="char*")
                                 org.bytedeco.javacpp.BytePointer error,
                                 int error_sz)

mj_saveLastXML

public static int mj_saveLastXML(java.lang.String filename,
                                 @Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="char*")
                                 java.nio.ByteBuffer error,
                                 int error_sz)

mj_saveLastXML

public static int mj_saveLastXML(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename,
                                 @Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="char*")
                                 byte[] error,
                                 int error_sz)

mj_saveLastXML

public static int mj_saveLastXML(java.lang.String filename,
                                 @Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="char*")
                                 org.bytedeco.javacpp.BytePointer error,
                                 int error_sz)

mj_saveLastXML

public static int mj_saveLastXML(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename,
                                 @Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="char*")
                                 java.nio.ByteBuffer error,
                                 int error_sz)

mj_saveLastXML

public static int mj_saveLastXML(java.lang.String filename,
                                 @Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="char*")
                                 byte[] error,
                                 int error_sz)

mj_freeLastXML
```
public static void mj_freeLastXML()
```

mj_printSchema

public static int mj_printSchema(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename,
                                 @Cast(value="char*")
                                 org.bytedeco.javacpp.BytePointer buffer,
                                 int buffer_sz,
                                 int flg_html,
                                 int flg_pad)

mj_printSchema

public static int mj_printSchema(java.lang.String filename,
                                 @Cast(value="char*")
                                 java.nio.ByteBuffer buffer,
                                 int buffer_sz,
                                 int flg_html,
                                 int flg_pad)

mj_printSchema

public static int mj_printSchema(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename,
                                 @Cast(value="char*")
                                 byte[] buffer,
                                 int buffer_sz,
                                 int flg_html,
                                 int flg_pad)

mj_printSchema

public static int mj_printSchema(java.lang.String filename,
                                 @Cast(value="char*")
                                 org.bytedeco.javacpp.BytePointer buffer,
                                 int buffer_sz,
                                 int flg_html,
                                 int flg_pad)

mj_printSchema

public static int mj_printSchema(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename,
                                 @Cast(value="char*")
                                 java.nio.ByteBuffer buffer,
                                 int buffer_sz,
                                 int flg_html,
                                 int flg_pad)

mj_printSchema

public static int mj_printSchema(java.lang.String filename,
                                 @Cast(value="char*")
                                 byte[] buffer,
                                 int buffer_sz,
                                 int flg_html,
                                 int flg_pad)

mj_step

public static void mj_step(@Const
                           MuJoCoLib.mjModel m,
                           MuJoCoLib.mjData d)

mj_step1

public static void mj_step1(@Const
                            MuJoCoLib.mjModel m,
                            MuJoCoLib.mjData d)

mj_step2

public static void mj_step2(@Const
                            MuJoCoLib.mjModel m,
                            MuJoCoLib.mjData d)

mj_forward

public static void mj_forward(@Const
                              MuJoCoLib.mjModel m,
                              MuJoCoLib.mjData d)

mj_inverse

public static void mj_inverse(@Const
                              MuJoCoLib.mjModel m,
                              MuJoCoLib.mjData d)

mj_forwardSkip

public static void mj_forwardSkip(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d,
                                  int skipstage,
                                  int skipsensor)

mj_inverseSkip

public static void mj_inverseSkip(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d,
                                  int skipstage,
                                  int skipsensor)

mj_defaultLROpt

public static void mj_defaultLROpt(MuJoCoLib.mjLROpt opt)

mj_defaultSolRefImp

public static void mj_defaultSolRefImp(@Cast(value="mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer solref,
                                       @Cast(value="mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer solimp)

mj_defaultOption

public static void mj_defaultOption(MuJoCoLib.mjOption opt)

mj_defaultVisual

public static void mj_defaultVisual(MuJoCoLib.mjVisual vis)

mj_copyModel

public static MuJoCoLib.mjModel mj_copyModel(MuJoCoLib.mjModel dest,
                                             @Const
                                             MuJoCoLib.mjModel src)

mj_saveModel

public static void mj_saveModel(@Const
                                MuJoCoLib.mjModel m,
                                @Cast(value="const char*")
                                org.bytedeco.javacpp.BytePointer filename,
                                org.bytedeco.javacpp.Pointer buffer,
                                int buffer_sz)

mj_saveModel

public static void mj_saveModel(@Const
                                MuJoCoLib.mjModel m,
                                java.lang.String filename,
                                org.bytedeco.javacpp.Pointer buffer,
                                int buffer_sz)

mj_loadModel

public static MuJoCoLib.mjModel mj_loadModel(@Cast(value="const char*")
                                             org.bytedeco.javacpp.BytePointer filename,
                                             @Const
                                             MuJoCoLib.mjVFS vfs)

mj_loadModel

public static MuJoCoLib.mjModel mj_loadModel(java.lang.String filename,
                                             @Const
                                             MuJoCoLib.mjVFS vfs)

mj_deleteModel

public static void mj_deleteModel(MuJoCoLib.mjModel m)

mj_sizeModel

public static int mj_sizeModel(@Const
                               MuJoCoLib.mjModel m)

mj_makeData

public static MuJoCoLib.mjData mj_makeData(@Const
                                           MuJoCoLib.mjModel m)

mj_copyData

public static MuJoCoLib.mjData mj_copyData(MuJoCoLib.mjData dest,
                                           @Const
                                           MuJoCoLib.mjModel m,
                                           @Const
                                           MuJoCoLib.mjData src)

mj_resetData

public static void mj_resetData(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_resetDataDebug

public static void mj_resetDataDebug(@Const
                                     MuJoCoLib.mjModel m,
                                     MuJoCoLib.mjData d,
                                     @Cast(value="unsigned char")
                                     byte debug_value)

mj_resetDataKeyframe

public static void mj_resetDataKeyframe(@Const
                                        MuJoCoLib.mjModel m,
                                        MuJoCoLib.mjData d,
                                        int key)

mj_stackAlloc

@Cast(value="mjtNum*")
public static org.bytedeco.javacpp.DoublePointer mj_stackAlloc(MuJoCoLib.mjData d,
                                                                                      int size)

mj_deleteData

public static void mj_deleteData(MuJoCoLib.mjData d)

mj_resetCallbacks

public static void mj_resetCallbacks()

mj_setConst

public static void mj_setConst(MuJoCoLib.mjModel m,
                               MuJoCoLib.mjData d)

mj_setLengthRange

public static int mj_setLengthRange(MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d,
                                    int index,
                                    @Const
                                    MuJoCoLib.mjLROpt opt,
                                    @Cast(value="char*")
                                    org.bytedeco.javacpp.BytePointer error,
                                    int error_sz)

mj_setLengthRange

public static int mj_setLengthRange(MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d,
                                    int index,
                                    @Const
                                    MuJoCoLib.mjLROpt opt,
                                    @Cast(value="char*")
                                    java.nio.ByteBuffer error,
                                    int error_sz)

mj_setLengthRange

public static int mj_setLengthRange(MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d,
                                    int index,
                                    @Const
                                    MuJoCoLib.mjLROpt opt,
                                    @Cast(value="char*")
                                    byte[] error,
                                    int error_sz)

mj_printFormattedModel

public static void mj_printFormattedModel(@Const
                                          MuJoCoLib.mjModel m,
                                          @Cast(value="const char*")
                                          org.bytedeco.javacpp.BytePointer filename,
                                          @Cast(value="const char*")
                                          org.bytedeco.javacpp.BytePointer float_format)

mj_printFormattedModel

public static void mj_printFormattedModel(@Const
                                          MuJoCoLib.mjModel m,
                                          java.lang.String filename,
                                          java.lang.String float_format)

mj_printModel

public static void mj_printModel(@Const
                                 MuJoCoLib.mjModel m,
                                 @Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer filename)

mj_printModel

public static void mj_printModel(@Const
                                 MuJoCoLib.mjModel m,
                                 java.lang.String filename)

mj_printFormattedData

public static void mj_printFormattedData(@Const
                                         MuJoCoLib.mjModel m,
                                         MuJoCoLib.mjData d,
                                         @Cast(value="const char*")
                                         org.bytedeco.javacpp.BytePointer filename,
                                         @Cast(value="const char*")
                                         org.bytedeco.javacpp.BytePointer float_format)

mj_printFormattedData

public static void mj_printFormattedData(@Const
                                         MuJoCoLib.mjModel m,
                                         MuJoCoLib.mjData d,
                                         java.lang.String filename,
                                         java.lang.String float_format)

mj_printData

public static void mj_printData(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d,
                                @Cast(value="const char*")
                                org.bytedeco.javacpp.BytePointer filename)

mj_printData

public static void mj_printData(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d,
                                java.lang.String filename)

mju_printMat

public static void mju_printMat(@Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer mat,
                                int nr,
                                int nc)

mju_printMatSparse

public static void mju_printMatSparse(@Cast(value="const mjtNum*")
                                      org.bytedeco.javacpp.DoublePointer mat,
                                      int nr,
                                      @Const
                                      org.bytedeco.javacpp.IntPointer rownnz,
                                      @Const
                                      org.bytedeco.javacpp.IntPointer rowadr,
                                      @Const
                                      org.bytedeco.javacpp.IntPointer colind)

mju_printMatSparse

public static void mju_printMatSparse(@Cast(value="const mjtNum*")
                                      org.bytedeco.javacpp.DoublePointer mat,
                                      int nr,
                                      @Const
                                      java.nio.IntBuffer rownnz,
                                      @Const
                                      java.nio.IntBuffer rowadr,
                                      @Const
                                      java.nio.IntBuffer colind)

mju_printMatSparse

public static void mju_printMatSparse(@Cast(value="const mjtNum*")
                                      org.bytedeco.javacpp.DoublePointer mat,
                                      int nr,
                                      @Const
                                      int[] rownnz,
                                      @Const
                                      int[] rowadr,
                                      @Const
                                      int[] colind)

mj_fwdPosition

public static void mj_fwdPosition(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d)

mj_fwdVelocity

public static void mj_fwdVelocity(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d)

mj_fwdActuation

public static void mj_fwdActuation(@Const
                                   MuJoCoLib.mjModel m,
                                   MuJoCoLib.mjData d)

mj_fwdAcceleration

public static void mj_fwdAcceleration(@Const
                                      MuJoCoLib.mjModel m,
                                      MuJoCoLib.mjData d)

mj_fwdConstraint

public static void mj_fwdConstraint(@Const
                                    MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d)

mj_Euler

public static void mj_Euler(@Const
                            MuJoCoLib.mjModel m,
                            MuJoCoLib.mjData d)

mj_RungeKutta

public static void mj_RungeKutta(@Const
                                 MuJoCoLib.mjModel m,
                                 MuJoCoLib.mjData d,
                                 int N)

mj_invPosition

public static void mj_invPosition(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d)

mj_invVelocity

public static void mj_invVelocity(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d)

mj_invConstraint

public static void mj_invConstraint(@Const
                                    MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d)

mj_compareFwdInv

public static void mj_compareFwdInv(@Const
                                    MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d)

mj_sensorPos

public static void mj_sensorPos(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_sensorVel

public static void mj_sensorVel(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_sensorAcc

public static void mj_sensorAcc(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_energyPos

public static void mj_energyPos(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_energyVel

public static void mj_energyVel(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_checkPos

public static void mj_checkPos(@Const
                               MuJoCoLib.mjModel m,
                               MuJoCoLib.mjData d)

mj_checkVel

public static void mj_checkVel(@Const
                               MuJoCoLib.mjModel m,
                               MuJoCoLib.mjData d)

mj_checkAcc

public static void mj_checkAcc(@Const
                               MuJoCoLib.mjModel m,
                               MuJoCoLib.mjData d)

mj_kinematics

public static void mj_kinematics(@Const
                                 MuJoCoLib.mjModel m,
                                 MuJoCoLib.mjData d)

mj_comPos

public static void mj_comPos(@Const
                             MuJoCoLib.mjModel m,
                             MuJoCoLib.mjData d)

mj_camlight

public static void mj_camlight(@Const
                               MuJoCoLib.mjModel m,
                               MuJoCoLib.mjData d)

mj_tendon

public static void mj_tendon(@Const
                             MuJoCoLib.mjModel m,
                             MuJoCoLib.mjData d)

mj_transmission

public static void mj_transmission(@Const
                                   MuJoCoLib.mjModel m,
                                   MuJoCoLib.mjData d)

mj_crb

public static void mj_crb(@Const
                          MuJoCoLib.mjModel m,
                          MuJoCoLib.mjData d)

mj_factorM

public static void mj_factorM(@Const
                              MuJoCoLib.mjModel m,
                              MuJoCoLib.mjData d)

mj_solveM

public static void mj_solveM(@Const
                             MuJoCoLib.mjModel m,
                             MuJoCoLib.mjData d,
                             @Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer x,
                             @Cast(value="const mjtNum*")
                             org.bytedeco.javacpp.DoublePointer y,
                             int n)

mj_solveM2

public static void mj_solveM2(@Const
                              MuJoCoLib.mjModel m,
                              MuJoCoLib.mjData d,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer x,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer y,
                              int n)

mj_comVel

public static void mj_comVel(@Const
                             MuJoCoLib.mjModel m,
                             MuJoCoLib.mjData d)

mj_passive

public static void mj_passive(@Const
                              MuJoCoLib.mjModel m,
                              MuJoCoLib.mjData d)

mj_subtreeVel

public static void mj_subtreeVel(@Const
                                 MuJoCoLib.mjModel m,
                                 MuJoCoLib.mjData d)

mj_rne

public static void mj_rne(@Const
                          MuJoCoLib.mjModel m,
                          MuJoCoLib.mjData d,
                          int flg_acc,
                          @Cast(value="mjtNum*")
                          org.bytedeco.javacpp.DoublePointer result)

mj_rnePostConstraint

public static void mj_rnePostConstraint(@Const
                                        MuJoCoLib.mjModel m,
                                        MuJoCoLib.mjData d)

mj_collision

public static void mj_collision(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d)

mj_makeConstraint

public static void mj_makeConstraint(@Const
                                     MuJoCoLib.mjModel m,
                                     MuJoCoLib.mjData d)

mj_projectConstraint

public static void mj_projectConstraint(@Const
                                        MuJoCoLib.mjModel m,
                                        MuJoCoLib.mjData d)

mj_referenceConstraint

public static void mj_referenceConstraint(@Const
                                          MuJoCoLib.mjModel m,
                                          MuJoCoLib.mjData d)

mj_constraintUpdate

public static void mj_constraintUpdate(@Const
                                       MuJoCoLib.mjModel m,
                                       MuJoCoLib.mjData d,
                                       @Cast(value="const mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer jar,
                                       @Cast(value="mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer cost,
                                       int flg_coneHessian)

mj_addContact

public static int mj_addContact(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d,
                                @Const
                                MuJoCoLib.mjContact con)

mj_isPyramidal

public static int mj_isPyramidal(@Const
                                 MuJoCoLib.mjModel m)

mj_isSparse

public static int mj_isSparse(@Const
                              MuJoCoLib.mjModel m)

mj_isDual

public static int mj_isDual(@Const
                            MuJoCoLib.mjModel m)

mj_mulJacVec

public static void mj_mulJacVec(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d,
                                @Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer res,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer vec)

mj_mulJacTVec

public static void mj_mulJacTVec(@Const
                                 MuJoCoLib.mjModel m,
                                 MuJoCoLib.mjData d,
                                 @Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vec)

mj_jac

public static void mj_jac(@Const
                          MuJoCoLib.mjModel m,
                          @Const
                          MuJoCoLib.mjData d,
                          @Cast(value="mjtNum*")
                          org.bytedeco.javacpp.DoublePointer jacp,
                          @Cast(value="mjtNum*")
                          org.bytedeco.javacpp.DoublePointer jacr,
                          @Cast(value="const mjtNum*")
                          org.bytedeco.javacpp.DoublePointer point,
                          int body)

mj_jacBody

public static void mj_jacBody(@Const
                              MuJoCoLib.mjModel m,
                              @Const
                              MuJoCoLib.mjData d,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer jacp,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer jacr,
                              int body)

mj_jacBodyCom

public static void mj_jacBodyCom(@Const
                                 MuJoCoLib.mjModel m,
                                 @Const
                                 MuJoCoLib.mjData d,
                                 @Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer jacp,
                                 @Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer jacr,
                                 int body)

mj_jacGeom

public static void mj_jacGeom(@Const
                              MuJoCoLib.mjModel m,
                              @Const
                              MuJoCoLib.mjData d,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer jacp,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer jacr,
                              int geom)

mj_jacSite

public static void mj_jacSite(@Const
                              MuJoCoLib.mjModel m,
                              @Const
                              MuJoCoLib.mjData d,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer jacp,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer jacr,
                              int site)

mj_jacPointAxis

public static void mj_jacPointAxis(@Const
                                   MuJoCoLib.mjModel m,
                                   MuJoCoLib.mjData d,
                                   @Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer jacPoint,
                                   @Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer jacAxis,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer point,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer axis,
                                   int body)

mj_name2id

public static int mj_name2id(@Const
                             MuJoCoLib.mjModel m,
                             int type,
                             @Cast(value="const char*")
                             org.bytedeco.javacpp.BytePointer name)

mj_name2id

public static int mj_name2id(@Const
                             MuJoCoLib.mjModel m,
                             int type,
                             java.lang.String name)

mj_id2name

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mj_id2name(@Const
                                                                                     MuJoCoLib.mjModel m,
                                                                                     int type,
                                                                                     int id)

mj_fullM

public static void mj_fullM(@Const
                            MuJoCoLib.mjModel m,
                            @Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer dst,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer M)

mj_mulM

public static void mj_mulM(@Const
                           MuJoCoLib.mjModel m,
                           @Const
                           MuJoCoLib.mjData d,
                           @Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec)

mj_mulM2

public static void mj_mulM2(@Const
                            MuJoCoLib.mjModel m,
                            @Const
                            MuJoCoLib.mjData d,
                            @Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer res,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer vec)

mj_addM

public static void mj_addM(@Const
                           MuJoCoLib.mjModel m,
                           MuJoCoLib.mjData d,
                           @Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer dst,
                           org.bytedeco.javacpp.IntPointer rownnz,
                           org.bytedeco.javacpp.IntPointer rowadr,
                           org.bytedeco.javacpp.IntPointer colind)

mj_addM

public static void mj_addM(@Const
                           MuJoCoLib.mjModel m,
                           MuJoCoLib.mjData d,
                           @Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer dst,
                           java.nio.IntBuffer rownnz,
                           java.nio.IntBuffer rowadr,
                           java.nio.IntBuffer colind)

mj_addM

public static void mj_addM(@Const
                           MuJoCoLib.mjModel m,
                           MuJoCoLib.mjData d,
                           @Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer dst,
                           int[] rownnz,
                           int[] rowadr,
                           int[] colind)

mj_applyFT

public static void mj_applyFT(@Const
                              MuJoCoLib.mjModel m,
                              MuJoCoLib.mjData d,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer force,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer torque,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer point,
                              int body,
                              @Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer qfrc_target)

mj_objectVelocity

public static void mj_objectVelocity(@Const
                                     MuJoCoLib.mjModel m,
                                     @Const
                                     MuJoCoLib.mjData d,
                                     int objtype,
                                     int objid,
                                     @Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer res,
                                     int flg_local)

mj_objectAcceleration

public static void mj_objectAcceleration(@Const
                                         MuJoCoLib.mjModel m,
                                         @Const
                                         MuJoCoLib.mjData d,
                                         int objtype,
                                         int objid,
                                         @Cast(value="mjtNum*")
                                         org.bytedeco.javacpp.DoublePointer res,
                                         int flg_local)

mj_contactForce

public static void mj_contactForce(@Const
                                   MuJoCoLib.mjModel m,
                                   @Const
                                   MuJoCoLib.mjData d,
                                   int id,
                                   @Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer result)

mj_differentiatePos

public static void mj_differentiatePos(@Const
                                       MuJoCoLib.mjModel m,
                                       @Cast(value="mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer qvel,
                                       @Cast(value="mjtNum")
                                       double dt,
                                       @Cast(value="const mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer qpos1,
                                       @Cast(value="const mjtNum*")
                                       org.bytedeco.javacpp.DoublePointer qpos2)

mj_integratePos

public static void mj_integratePos(@Const
                                   MuJoCoLib.mjModel m,
                                   @Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer qpos,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer qvel,
                                   @Cast(value="mjtNum")
                                   double dt)

mj_normalizeQuat

public static void mj_normalizeQuat(@Const
                                    MuJoCoLib.mjModel m,
                                    @Cast(value="mjtNum*")
                                    org.bytedeco.javacpp.DoublePointer qpos)

mj_local2Global

public static void mj_local2Global(MuJoCoLib.mjData d,
                                   @Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer xpos,
                                   @Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer xmat,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer pos,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer quat,
                                   int body,
                                   @Cast(value="mjtByte")
                                   byte sameframe)

mj_getTotalmass

@Cast(value="mjtNum")
public static double mj_getTotalmass(@Const
                                                           MuJoCoLib.mjModel m)

mj_setTotalmass

public static void mj_setTotalmass(MuJoCoLib.mjModel m,
                                   @Cast(value="mjtNum")
                                   double newmass)

mj_version
```
public static int mj_version()
```

mj_versionString

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mj_versionString()

mj_ray

@Cast(value="mjtNum")
public static double mj_ray(@Const
                                                  MuJoCoLib.mjModel m,
                                                  @Const
                                                  MuJoCoLib.mjData d,
                                                  @Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer pnt,
                                                  @Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer vec,
                                                  @Cast(value="const mjtByte*")
                                                  org.bytedeco.javacpp.BytePointer geomgroup,
                                                  @Cast(value="mjtByte")
                                                  byte flg_static,
                                                  int bodyexclude,
                                                  org.bytedeco.javacpp.IntPointer geomid)

mj_ray

@Cast(value="mjtNum")
public static double mj_ray(@Const
                                                  MuJoCoLib.mjModel m,
                                                  @Const
                                                  MuJoCoLib.mjData d,
                                                  @Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer pnt,
                                                  @Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer vec,
                                                  @Cast(value="const mjtByte*")
                                                  java.nio.ByteBuffer geomgroup,
                                                  @Cast(value="mjtByte")
                                                  byte flg_static,
                                                  int bodyexclude,
                                                  java.nio.IntBuffer geomid)

mj_ray

@Cast(value="mjtNum")
public static double mj_ray(@Const
                                                  MuJoCoLib.mjModel m,
                                                  @Const
                                                  MuJoCoLib.mjData d,
                                                  @Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer pnt,
                                                  @Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer vec,
                                                  @Cast(value="const mjtByte*")
                                                  byte[] geomgroup,
                                                  @Cast(value="mjtByte")
                                                  byte flg_static,
                                                  int bodyexclude,
                                                  int[] geomid)

mj_rayHfield

@Cast(value="mjtNum")
public static double mj_rayHfield(@Const
                                                        MuJoCoLib.mjModel m,
                                                        @Const
                                                        MuJoCoLib.mjData d,
                                                        int geomid,
                                                        @Cast(value="const mjtNum*")
                                                        org.bytedeco.javacpp.DoublePointer pnt,
                                                        @Cast(value="const mjtNum*")
                                                        org.bytedeco.javacpp.DoublePointer vec)

mj_rayMesh

@Cast(value="mjtNum")
public static double mj_rayMesh(@Const
                                                      MuJoCoLib.mjModel m,
                                                      @Const
                                                      MuJoCoLib.mjData d,
                                                      int geomid,
                                                      @Cast(value="const mjtNum*")
                                                      org.bytedeco.javacpp.DoublePointer pnt,
                                                      @Cast(value="const mjtNum*")
                                                      org.bytedeco.javacpp.DoublePointer vec)

mju_rayGeom

@Cast(value="mjtNum")
public static double mju_rayGeom(@Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer pos,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer mat,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer size,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer pnt,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer vec,
                                                       int geomtype)

mju_raySkin

@Cast(value="mjtNum")
public static double mju_raySkin(int nface,
                                                       int nvert,
                                                       @Const
                                                       org.bytedeco.javacpp.IntPointer face,
                                                       @Const
                                                       org.bytedeco.javacpp.FloatPointer vert,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer pnt,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer vec,
                                                       org.bytedeco.javacpp.IntPointer vertid)

mju_raySkin

@Cast(value="mjtNum")
public static double mju_raySkin(int nface,
                                                       int nvert,
                                                       @Const
                                                       java.nio.IntBuffer face,
                                                       @Const
                                                       java.nio.FloatBuffer vert,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer pnt,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer vec,
                                                       java.nio.IntBuffer vertid)

mju_raySkin

@Cast(value="mjtNum")
public static double mju_raySkin(int nface,
                                                       int nvert,
                                                       @Const
                                                       int[] face,
                                                       @Const
                                                       float[] vert,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer pnt,
                                                       @Cast(value="const mjtNum*")
                                                       org.bytedeco.javacpp.DoublePointer vec,
                                                       int[] vertid)

mjv_defaultCamera

public static void mjv_defaultCamera(MuJoCoLib.mjvCamera cam)

mjv_defaultPerturb

public static void mjv_defaultPerturb(MuJoCoLib.mjvPerturb pert)

mjv_room2model

public static void mjv_room2model(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer modelpos,
                                  @Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer modelquat,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer roompos,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer roomquat,
                                  @Const
                                  MuJoCoLib.mjvScene scn)

mjv_model2room

public static void mjv_model2room(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer roompos,
                                  @Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer roomquat,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer modelpos,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer modelquat,
                                  @Const
                                  MuJoCoLib.mjvScene scn)

mjv_cameraInModel

public static void mjv_cameraInModel(@Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer headpos,
                                     @Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer forward,
                                     @Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer up,
                                     @Const
                                     MuJoCoLib.mjvScene scn)

mjv_cameraInRoom

public static void mjv_cameraInRoom(@Cast(value="mjtNum*")
                                    org.bytedeco.javacpp.DoublePointer headpos,
                                    @Cast(value="mjtNum*")
                                    org.bytedeco.javacpp.DoublePointer forward,
                                    @Cast(value="mjtNum*")
                                    org.bytedeco.javacpp.DoublePointer up,
                                    @Const
                                    MuJoCoLib.mjvScene scn)

mjv_frustumHeight

@Cast(value="mjtNum")
public static double mjv_frustumHeight(@Const
                                                             MuJoCoLib.mjvScene scn)

mjv_alignToCamera

public static void mjv_alignToCamera(@Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer res,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer vec,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer forward)

mjv_moveCamera

public static void mjv_moveCamera(@Const
                                  MuJoCoLib.mjModel m,
                                  int action,
                                  @Cast(value="mjtNum")
                                  double reldx,
                                  @Cast(value="mjtNum")
                                  double reldy,
                                  @Const
                                  MuJoCoLib.mjvScene scn,
                                  MuJoCoLib.mjvCamera cam)

mjv_movePerturb

public static void mjv_movePerturb(@Const
                                   MuJoCoLib.mjModel m,
                                   @Const
                                   MuJoCoLib.mjData d,
                                   int action,
                                   @Cast(value="mjtNum")
                                   double reldx,
                                   @Cast(value="mjtNum")
                                   double reldy,
                                   @Const
                                   MuJoCoLib.mjvScene scn,
                                   MuJoCoLib.mjvPerturb pert)

mjv_moveModel

public static void mjv_moveModel(@Const
                                 MuJoCoLib.mjModel m,
                                 int action,
                                 @Cast(value="mjtNum")
                                 double reldx,
                                 @Cast(value="mjtNum")
                                 double reldy,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer roomup,
                                 MuJoCoLib.mjvScene scn)

mjv_initPerturb

public static void mjv_initPerturb(@Const
                                   MuJoCoLib.mjModel m,
                                   @Const
                                   MuJoCoLib.mjData d,
                                   @Const
                                   MuJoCoLib.mjvScene scn,
                                   MuJoCoLib.mjvPerturb pert)

mjv_applyPerturbPose

public static void mjv_applyPerturbPose(@Const
                                        MuJoCoLib.mjModel m,
                                        MuJoCoLib.mjData d,
                                        @Const
                                        MuJoCoLib.mjvPerturb pert,
                                        int flg_paused)

mjv_applyPerturbForce

public static void mjv_applyPerturbForce(@Const
                                         MuJoCoLib.mjModel m,
                                         MuJoCoLib.mjData d,
                                         @Const
                                         MuJoCoLib.mjvPerturb pert)

mjv_averageCamera

@ByVal
public static MuJoCoLib.mjvGLCamera mjv_averageCamera(@Const
                                                             MuJoCoLib.mjvGLCamera cam1,
                                                             @Const
                                                             MuJoCoLib.mjvGLCamera cam2)

mjv_select

public static int mjv_select(@Const
                             MuJoCoLib.mjModel m,
                             @Const
                             MuJoCoLib.mjData d,
                             @Const
                             MuJoCoLib.mjvOption vopt,
                             @Cast(value="mjtNum")
                             double aspectratio,
                             @Cast(value="mjtNum")
                             double relx,
                             @Cast(value="mjtNum")
                             double rely,
                             @Const
                             MuJoCoLib.mjvScene scn,
                             @Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer selpnt,
                             org.bytedeco.javacpp.IntPointer geomid,
                             org.bytedeco.javacpp.IntPointer skinid)

mjv_select

public static int mjv_select(@Const
                             MuJoCoLib.mjModel m,
                             @Const
                             MuJoCoLib.mjData d,
                             @Const
                             MuJoCoLib.mjvOption vopt,
                             @Cast(value="mjtNum")
                             double aspectratio,
                             @Cast(value="mjtNum")
                             double relx,
                             @Cast(value="mjtNum")
                             double rely,
                             @Const
                             MuJoCoLib.mjvScene scn,
                             @Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer selpnt,
                             java.nio.IntBuffer geomid,
                             java.nio.IntBuffer skinid)

mjv_select

public static int mjv_select(@Const
                             MuJoCoLib.mjModel m,
                             @Const
                             MuJoCoLib.mjData d,
                             @Const
                             MuJoCoLib.mjvOption vopt,
                             @Cast(value="mjtNum")
                             double aspectratio,
                             @Cast(value="mjtNum")
                             double relx,
                             @Cast(value="mjtNum")
                             double rely,
                             @Const
                             MuJoCoLib.mjvScene scn,
                             @Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer selpnt,
                             int[] geomid,
                             int[] skinid)

mjv_defaultOption

public static void mjv_defaultOption(MuJoCoLib.mjvOption opt)

mjv_defaultFigure

public static void mjv_defaultFigure(MuJoCoLib.mjvFigure fig)

mjv_initGeom

public static void mjv_initGeom(MuJoCoLib.mjvGeom geom,
                                int type,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer size,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer pos,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer mat,
                                @Const
                                org.bytedeco.javacpp.FloatPointer rgba)

mjv_initGeom

public static void mjv_initGeom(MuJoCoLib.mjvGeom geom,
                                int type,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer size,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer pos,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer mat,
                                @Const
                                java.nio.FloatBuffer rgba)

mjv_initGeom

public static void mjv_initGeom(MuJoCoLib.mjvGeom geom,
                                int type,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer size,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer pos,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer mat,
                                @Const
                                float[] rgba)

mjv_makeConnector

public static void mjv_makeConnector(MuJoCoLib.mjvGeom geom,
                                     int type,
                                     @Cast(value="mjtNum")
                                     double width,
                                     @Cast(value="mjtNum")
                                     double a0,
                                     @Cast(value="mjtNum")
                                     double a1,
                                     @Cast(value="mjtNum")
                                     double a2,
                                     @Cast(value="mjtNum")
                                     double b0,
                                     @Cast(value="mjtNum")
                                     double b1,
                                     @Cast(value="mjtNum")
                                     double b2)

mjv_defaultScene

public static void mjv_defaultScene(MuJoCoLib.mjvScene scn)

mjv_makeScene

public static void mjv_makeScene(@Const
                                 MuJoCoLib.mjModel m,
                                 MuJoCoLib.mjvScene scn,
                                 int maxgeom)

mjv_freeScene

public static void mjv_freeScene(MuJoCoLib.mjvScene scn)

mjv_updateScene

public static void mjv_updateScene(@Const
                                   MuJoCoLib.mjModel m,
                                   MuJoCoLib.mjData d,
                                   @Const
                                   MuJoCoLib.mjvOption opt,
                                   @Const
                                   MuJoCoLib.mjvPerturb pert,
                                   MuJoCoLib.mjvCamera cam,
                                   int catmask,
                                   MuJoCoLib.mjvScene scn)

mjv_addGeoms

public static void mjv_addGeoms(@Const
                                MuJoCoLib.mjModel m,
                                MuJoCoLib.mjData d,
                                @Const
                                MuJoCoLib.mjvOption opt,
                                @Const
                                MuJoCoLib.mjvPerturb pert,
                                int catmask,
                                MuJoCoLib.mjvScene scn)

mjv_makeLights

public static void mjv_makeLights(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d,
                                  MuJoCoLib.mjvScene scn)

mjv_updateCamera

public static void mjv_updateCamera(@Const
                                    MuJoCoLib.mjModel m,
                                    MuJoCoLib.mjData d,
                                    MuJoCoLib.mjvCamera cam,
                                    MuJoCoLib.mjvScene scn)

mjv_updateSkin

public static void mjv_updateSkin(@Const
                                  MuJoCoLib.mjModel m,
                                  MuJoCoLib.mjData d,
                                  MuJoCoLib.mjvScene scn)

mjr_defaultContext

public static void mjr_defaultContext(MuJoCoLib.mjrContext con)

mjr_makeContext

public static void mjr_makeContext(@Const
                                   MuJoCoLib.mjModel m,
                                   MuJoCoLib.mjrContext con,
                                   int fontscale)

mjr_changeFont

public static void mjr_changeFont(int fontscale,
                                  MuJoCoLib.mjrContext con)

mjr_addAux

public static void mjr_addAux(int index,
                              int width,
                              int height,
                              int samples,
                              MuJoCoLib.mjrContext con)

mjr_freeContext

public static void mjr_freeContext(MuJoCoLib.mjrContext con)

mjr_uploadTexture

public static void mjr_uploadTexture(@Const
                                     MuJoCoLib.mjModel m,
                                     @Const
                                     MuJoCoLib.mjrContext con,
                                     int texid)

mjr_uploadMesh

public static void mjr_uploadMesh(@Const
                                  MuJoCoLib.mjModel m,
                                  @Const
                                  MuJoCoLib.mjrContext con,
                                  int meshid)

mjr_uploadHField

public static void mjr_uploadHField(@Const
                                    MuJoCoLib.mjModel m,
                                    @Const
                                    MuJoCoLib.mjrContext con,
                                    int hfieldid)

mjr_restoreBuffer

public static void mjr_restoreBuffer(@Const
                                     MuJoCoLib.mjrContext con)

mjr_setBuffer

public static void mjr_setBuffer(int framebuffer,
                                 MuJoCoLib.mjrContext con)

mjr_readPixels

public static void mjr_readPixels(@Cast(value="unsigned char*")
                                  org.bytedeco.javacpp.BytePointer rgb,
                                  org.bytedeco.javacpp.FloatPointer depth,
                                  @ByVal
                                  MuJoCoLib.mjrRect viewport,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_readPixels

public static void mjr_readPixels(@Cast(value="unsigned char*")
                                  java.nio.ByteBuffer rgb,
                                  java.nio.FloatBuffer depth,
                                  @ByVal
                                  MuJoCoLib.mjrRect viewport,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_readPixels

public static void mjr_readPixels(@Cast(value="unsigned char*")
                                  byte[] rgb,
                                  float[] depth,
                                  @ByVal
                                  MuJoCoLib.mjrRect viewport,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_drawPixels

public static void mjr_drawPixels(@Cast(value="const unsigned char*")
                                  org.bytedeco.javacpp.BytePointer rgb,
                                  @Const
                                  org.bytedeco.javacpp.FloatPointer depth,
                                  @ByVal
                                  MuJoCoLib.mjrRect viewport,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_drawPixels

public static void mjr_drawPixels(@Cast(value="const unsigned char*")
                                  java.nio.ByteBuffer rgb,
                                  @Const
                                  java.nio.FloatBuffer depth,
                                  @ByVal
                                  MuJoCoLib.mjrRect viewport,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_drawPixels

public static void mjr_drawPixels(@Cast(value="const unsigned char*")
                                  byte[] rgb,
                                  @Const
                                  float[] depth,
                                  @ByVal
                                  MuJoCoLib.mjrRect viewport,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_blitBuffer

public static void mjr_blitBuffer(@ByVal
                                  MuJoCoLib.mjrRect src,
                                  @ByVal
                                  MuJoCoLib.mjrRect dst,
                                  int flg_color,
                                  int flg_depth,
                                  @Const
                                  MuJoCoLib.mjrContext con)

mjr_setAux

public static void mjr_setAux(int index,
                              @Const
                              MuJoCoLib.mjrContext con)

mjr_blitAux

public static void mjr_blitAux(int index,
                               @ByVal
                               MuJoCoLib.mjrRect src,
                               int left,
                               int bottom,
                               @Const
                               MuJoCoLib.mjrContext con)

mjr_text

public static void mjr_text(int font,
                            @Cast(value="const char*")
                            org.bytedeco.javacpp.BytePointer txt,
                            @Const
                            MuJoCoLib.mjrContext con,
                            float x,
                            float y,
                            float r,
                            float g,
                            float b)

mjr_text

public static void mjr_text(int font,
                            java.lang.String txt,
                            @Const
                            MuJoCoLib.mjrContext con,
                            float x,
                            float y,
                            float r,
                            float g,
                            float b)

mjr_overlay

public static void mjr_overlay(int font,
                               int gridpos,
                               @ByVal
                               MuJoCoLib.mjrRect viewport,
                               @Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer overlay,
                               @Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer overlay2,
                               @Const
                               MuJoCoLib.mjrContext con)

mjr_overlay

public static void mjr_overlay(int font,
                               int gridpos,
                               @ByVal
                               MuJoCoLib.mjrRect viewport,
                               java.lang.String overlay,
                               java.lang.String overlay2,
                               @Const
                               MuJoCoLib.mjrContext con)

mjr_maxViewport

@ByVal
public static MuJoCoLib.mjrRect mjr_maxViewport(@Const
                                                       MuJoCoLib.mjrContext con)

mjr_rectangle

public static void mjr_rectangle(@ByVal
                                 MuJoCoLib.mjrRect viewport,
                                 float r,
                                 float g,
                                 float b,
                                 float a)

mjr_label

public static void mjr_label(@ByVal
                             MuJoCoLib.mjrRect viewport,
                             int font,
                             @Cast(value="const char*")
                             org.bytedeco.javacpp.BytePointer txt,
                             float r,
                             float g,
                             float b,
                             float a,
                             float rt,
                             float gt,
                             float bt,
                             @Const
                             MuJoCoLib.mjrContext con)

mjr_label

public static void mjr_label(@ByVal
                             MuJoCoLib.mjrRect viewport,
                             int font,
                             java.lang.String txt,
                             float r,
                             float g,
                             float b,
                             float a,
                             float rt,
                             float gt,
                             float bt,
                             @Const
                             MuJoCoLib.mjrContext con)

mjr_figure

public static void mjr_figure(@ByVal
                              MuJoCoLib.mjrRect viewport,
                              MuJoCoLib.mjvFigure fig,
                              @Const
                              MuJoCoLib.mjrContext con)

mjr_render

public static void mjr_render(@ByVal
                              MuJoCoLib.mjrRect viewport,
                              MuJoCoLib.mjvScene scn,
                              @Const
                              MuJoCoLib.mjrContext con)

mjr_finish
```
public static void mjr_finish()
```

mjr_getError
```
public static int mjr_getError()
```

mjr_findRect

public static int mjr_findRect(int x,
                               int y,
                               int nrect,
                               @Const
                               MuJoCoLib.mjrRect rect)

mjui_themeSpacing

@ByVal
public static MuJoCoLib.mjuiThemeSpacing mjui_themeSpacing(int ind)

mjui_themeColor

@ByVal
public static MuJoCoLib.mjuiThemeColor mjui_themeColor(int ind)

mjui_add

public static void mjui_add(MuJoCoLib.mjUI ui,
                            @Const
                            MuJoCoLib.mjuiDef def)

mjui_addToSection

public static void mjui_addToSection(MuJoCoLib.mjUI ui,
                                     int sect,
                                     @Const
                                     MuJoCoLib.mjuiDef def)

mjui_resize

public static void mjui_resize(MuJoCoLib.mjUI ui,
                               @Const
                               MuJoCoLib.mjrContext con)

mjui_update

public static void mjui_update(int section,
                               int item,
                               @Const
                               MuJoCoLib.mjUI ui,
                               @Const
                               MuJoCoLib.mjuiState state,
                               @Const
                               MuJoCoLib.mjrContext con)

mjui_event

public static MuJoCoLib.mjuiItem mjui_event(MuJoCoLib.mjUI ui,
                                            MuJoCoLib.mjuiState state,
                                            @Const
                                            MuJoCoLib.mjrContext con)

mjui_render

public static void mjui_render(MuJoCoLib.mjUI ui,
                               @Const
                               MuJoCoLib.mjuiState state,
                               @Const
                               MuJoCoLib.mjrContext con)

mju_error

public static void mju_error(@Cast(value="const char*")
                             org.bytedeco.javacpp.BytePointer msg)

mju_error

public static void mju_error(java.lang.String msg)

mju_error_i

public static void mju_error_i(@Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer msg,
                               int i)

mju_error_i

public static void mju_error_i(java.lang.String msg,
                               int i)

mju_error_s

public static void mju_error_s(@Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer msg,
                               @Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer text)

mju_error_s

public static void mju_error_s(java.lang.String msg,
                               java.lang.String text)

mju_warning

public static void mju_warning(@Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer msg)

mju_warning

public static void mju_warning(java.lang.String msg)

mju_warning_i

public static void mju_warning_i(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer msg,
                                 int i)

mju_warning_i

public static void mju_warning_i(java.lang.String msg,
                                 int i)

mju_warning_s

public static void mju_warning_s(@Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer msg,
                                 @Cast(value="const char*")
                                 org.bytedeco.javacpp.BytePointer text)

mju_warning_s

public static void mju_warning_s(java.lang.String msg,
                                 java.lang.String text)

mju_clearHandlers

public static void mju_clearHandlers()

mju_malloc

public static org.bytedeco.javacpp.Pointer mju_malloc(@Cast(value="size_t")
                                                      long size)

mju_free

public static void mju_free(org.bytedeco.javacpp.Pointer ptr)

mj_warning

public static void mj_warning(MuJoCoLib.mjData d,
                              int warning,
                              int info)

mju_writeLog

public static void mju_writeLog(@Cast(value="const char*")
                                org.bytedeco.javacpp.BytePointer type,
                                @Cast(value="const char*")
                                org.bytedeco.javacpp.BytePointer msg)

mju_writeLog

public static void mju_writeLog(java.lang.String type,
                                java.lang.String msg)

mj_activate

public static int mj_activate(@Cast(value="const char*")
                              org.bytedeco.javacpp.BytePointer filename)

mj_activate

public static int mj_activate(java.lang.String filename)

mj_deactivate
```
public static void mj_deactivate()
```

mju_zero3

public static void mju_zero3(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res)

mju_copy3

public static void mju_copy3(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res,
                             @Cast(value="const mjtNum*")
                             org.bytedeco.javacpp.DoublePointer data)

mju_scl3

public static void mju_scl3(@Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer res,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer vec,
                            @Cast(value="mjtNum")
                            double scl)

mju_add3

public static void mju_add3(@Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer res,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer vec1,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer vec2)

mju_sub3

public static void mju_sub3(@Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer res,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer vec1,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer vec2)

mju_addTo3

public static void mju_addTo3(@Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer res,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer vec)

mju_subFrom3

public static void mju_subFrom3(@Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer res,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer vec)

mju_addToScl3

public static void mju_addToScl3(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vec,
                                 @Cast(value="mjtNum")
                                 double scl)

mju_addScl3

public static void mju_addScl3(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer res,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer vec1,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer vec2,
                               @Cast(value="mjtNum")
                               double scl)

mju_normalize3

@Cast(value="mjtNum")
public static double mju_normalize3(@Cast(value="mjtNum*")
                                                          org.bytedeco.javacpp.DoublePointer res)

mju_norm3

@Cast(value="mjtNum")
public static double mju_norm3(@Cast(value="const mjtNum*")
                                                     org.bytedeco.javacpp.DoublePointer vec)

mju_dot3

@Cast(value="mjtNum")
public static double mju_dot3(@Cast(value="const mjtNum*")
                                                    org.bytedeco.javacpp.DoublePointer vec1,
                                                    @Cast(value="const mjtNum*")
                                                    org.bytedeco.javacpp.DoublePointer vec2)

mju_dist3

@Cast(value="mjtNum")
public static double mju_dist3(@Cast(value="const mjtNum*")
                                                     org.bytedeco.javacpp.DoublePointer pos1,
                                                     @Cast(value="const mjtNum*")
                                                     org.bytedeco.javacpp.DoublePointer pos2)

mju_rotVecMat

public static void mju_rotVecMat(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vec,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat)

mju_rotVecMatT

public static void mju_rotVecMatT(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer res,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer vec,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer mat)

mju_cross

public static void mju_cross(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res,
                             @Cast(value="const mjtNum*")
                             org.bytedeco.javacpp.DoublePointer a,
                             @Cast(value="const mjtNum*")
                             org.bytedeco.javacpp.DoublePointer b)

mju_zero4

public static void mju_zero4(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res)

mju_unit4

public static void mju_unit4(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res)

mju_copy4

public static void mju_copy4(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res,
                             @Cast(value="const mjtNum*")
                             org.bytedeco.javacpp.DoublePointer data)

mju_normalize4

@Cast(value="mjtNum")
public static double mju_normalize4(@Cast(value="mjtNum*")
                                                          org.bytedeco.javacpp.DoublePointer res)

mju_zero

public static void mju_zero(@Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer res,
                            int n)

mju_copy

public static void mju_copy(@Cast(value="mjtNum*")
                            org.bytedeco.javacpp.DoublePointer res,
                            @Cast(value="const mjtNum*")
                            org.bytedeco.javacpp.DoublePointer data,
                            int n)

mju_sum

@Cast(value="mjtNum")
public static double mju_sum(@Cast(value="const mjtNum*")
                                                   org.bytedeco.javacpp.DoublePointer vec,
                                                   int n)

mju_L1

@Cast(value="mjtNum")
public static double mju_L1(@Cast(value="const mjtNum*")
                                                  org.bytedeco.javacpp.DoublePointer vec,
                                                  int n)

mju_scl

public static void mju_scl(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           @Cast(value="mjtNum")
                           double scl,
                           int n)

mju_add

public static void mju_add(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec1,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec2,
                           int n)

mju_sub

public static void mju_sub(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec1,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec2,
                           int n)

mju_addTo

public static void mju_addTo(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer res,
                             @Cast(value="const mjtNum*")
                             org.bytedeco.javacpp.DoublePointer vec,
                             int n)

mju_subFrom

public static void mju_subFrom(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer res,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer vec,
                               int n)

mju_addToScl

public static void mju_addToScl(@Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer res,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer vec,
                                @Cast(value="mjtNum")
                                double scl,
                                int n)

mju_addScl

public static void mju_addScl(@Cast(value="mjtNum*")
                              org.bytedeco.javacpp.DoublePointer res,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer vec1,
                              @Cast(value="const mjtNum*")
                              org.bytedeco.javacpp.DoublePointer vec2,
                              @Cast(value="mjtNum")
                              double scl,
                              int n)

mju_normalize

@Cast(value="mjtNum")
public static double mju_normalize(@Cast(value="mjtNum*")
                                                         org.bytedeco.javacpp.DoublePointer res,
                                                         int n)

mju_norm

@Cast(value="mjtNum")
public static double mju_norm(@Cast(value="const mjtNum*")
                                                    org.bytedeco.javacpp.DoublePointer res,
                                                    int n)

mju_dot

@Cast(value="mjtNum")
public static double mju_dot(@Cast(value="const mjtNum*")
                                                   org.bytedeco.javacpp.DoublePointer vec1,
                                                   @Cast(value="const mjtNum*")
                                                   org.bytedeco.javacpp.DoublePointer vec2,
                                                   int n)

mju_mulMatVec

public static void mju_mulMatVec(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vec,
                                 int nr,
                                 int nc)

mju_mulMatTVec

public static void mju_mulMatTVec(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer res,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer mat,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer vec,
                                  int nr,
                                  int nc)

mju_transpose

public static void mju_transpose(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat,
                                 int nr,
                                 int nc)

mju_mulMatMat

public static void mju_mulMatMat(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat1,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat2,
                                 int r1,
                                 int c1,
                                 int c2)

mju_mulMatMatT

public static void mju_mulMatMatT(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer res,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer mat1,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer mat2,
                                  int r1,
                                  int c1,
                                  int r2)

mju_mulMatTMat

public static void mju_mulMatTMat(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer res,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer mat1,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer mat2,
                                  int r1,
                                  int c1,
                                  int c2)

mju_sqrMatTD

public static void mju_sqrMatTD(@Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer res,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer mat,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer diag,
                                int nr,
                                int nc)

mju_transformSpatial

public static void mju_transformSpatial(@Cast(value="mjtNum*")
                                        org.bytedeco.javacpp.DoublePointer res,
                                        @Cast(value="const mjtNum*")
                                        org.bytedeco.javacpp.DoublePointer vec,
                                        int flg_force,
                                        @Cast(value="const mjtNum*")
                                        org.bytedeco.javacpp.DoublePointer newpos,
                                        @Cast(value="const mjtNum*")
                                        org.bytedeco.javacpp.DoublePointer oldpos,
                                        @Cast(value="const mjtNum*")
                                        org.bytedeco.javacpp.DoublePointer rotnew2old)

mju_rotVecQuat

public static void mju_rotVecQuat(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer res,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer vec,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer quat)

mju_negQuat

public static void mju_negQuat(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer res,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quat)

mju_mulQuat

public static void mju_mulQuat(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer res,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quat1,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quat2)

mju_mulQuatAxis

public static void mju_mulQuatAxis(@Cast(value="mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer res,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer quat,
                                   @Cast(value="const mjtNum*")
                                   org.bytedeco.javacpp.DoublePointer axis)

mju_axisAngle2Quat

public static void mju_axisAngle2Quat(@Cast(value="mjtNum*")
                                      org.bytedeco.javacpp.DoublePointer res,
                                      @Cast(value="const mjtNum*")
                                      org.bytedeco.javacpp.DoublePointer axis,
                                      @Cast(value="mjtNum")
                                      double angle)

mju_quat2Vel

public static void mju_quat2Vel(@Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer res,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer quat,
                                @Cast(value="mjtNum")
                                double dt)

mju_subQuat

public static void mju_subQuat(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer res,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer qa,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer qb)

mju_quat2Mat

public static void mju_quat2Mat(@Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer res,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer quat)

mju_mat2Quat

public static void mju_mat2Quat(@Cast(value="mjtNum*")
                                org.bytedeco.javacpp.DoublePointer quat,
                                @Cast(value="const mjtNum*")
                                org.bytedeco.javacpp.DoublePointer mat)

mju_derivQuat

public static void mju_derivQuat(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer quat,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vel)

mju_quatIntegrate

public static void mju_quatIntegrate(@Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer quat,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer vel,
                                     @Cast(value="mjtNum")
                                     double scale)

mju_quatZ2Vec

public static void mju_quatZ2Vec(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer quat,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vec)

mju_mulPose

public static void mju_mulPose(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer posres,
                               @Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quatres,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer pos1,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quat1,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer pos2,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quat2)

mju_negPose

public static void mju_negPose(@Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer posres,
                               @Cast(value="mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quatres,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer pos,
                               @Cast(value="const mjtNum*")
                               org.bytedeco.javacpp.DoublePointer quat)

mju_trnVecPose

public static void mju_trnVecPose(@Cast(value="mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer res,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer pos,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer quat,
                                  @Cast(value="const mjtNum*")
                                  org.bytedeco.javacpp.DoublePointer vec)

mju_cholFactor

public static int mju_cholFactor(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat,
                                 int n,
                                 @Cast(value="mjtNum")
                                 double mindiag)

mju_cholSolve

public static void mju_cholSolve(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer res,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat,
                                 @Cast(value="const mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer vec,
                                 int n)

mju_cholUpdate

public static int mju_cholUpdate(@Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer mat,
                                 @Cast(value="mjtNum*")
                                 org.bytedeco.javacpp.DoublePointer x,
                                 int n,
                                 int flg_plus)

mju_eig3

public static int mju_eig3(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer eigval,
                           @Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer eigvec,
                           @Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer quat,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer mat)

mju_muscleGain

@Cast(value="mjtNum")
public static double mju_muscleGain(@Cast(value="mjtNum")
                                                          double len,
                                                          @Cast(value="mjtNum")
                                                          double vel,
                                                          @Cast(value="const mjtNum*")
                                                          org.bytedeco.javacpp.DoublePointer lengthrange,
                                                          @Cast(value="mjtNum")
                                                          double acc0,
                                                          @Cast(value="const mjtNum*")
                                                          org.bytedeco.javacpp.DoublePointer prm)

mju_muscleBias

@Cast(value="mjtNum")
public static double mju_muscleBias(@Cast(value="mjtNum")
                                                          double len,
                                                          @Cast(value="const mjtNum*")
                                                          org.bytedeco.javacpp.DoublePointer lengthrange,
                                                          @Cast(value="mjtNum")
                                                          double acc0,
                                                          @Cast(value="const mjtNum*")
                                                          org.bytedeco.javacpp.DoublePointer prm)

mju_muscleDynamics

@Cast(value="mjtNum")
public static double mju_muscleDynamics(@Cast(value="mjtNum")
                                                              double ctrl,
                                                              @Cast(value="mjtNum")
                                                              double act,
                                                              @Cast(value="const mjtNum*")
                                                              org.bytedeco.javacpp.DoublePointer prm)

mju_encodePyramid

public static void mju_encodePyramid(@Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer pyramid,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer force,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer mu,
                                     int dim)

mju_decodePyramid

public static void mju_decodePyramid(@Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer force,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer pyramid,
                                     @Cast(value="const mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer mu,
                                     int dim)

mju_springDamper

@Cast(value="mjtNum")
public static double mju_springDamper(@Cast(value="mjtNum")
                                                            double pos0,
                                                            @Cast(value="mjtNum")
                                                            double vel0,
                                                            @Cast(value="mjtNum")
                                                            double Kp,
                                                            @Cast(value="mjtNum")
                                                            double Kv,
                                                            @Cast(value="mjtNum")
                                                            double dt)

mju_min

@Cast(value="mjtNum")
public static double mju_min(@Cast(value="mjtNum")
                                                   double a,
                                                   @Cast(value="mjtNum")
                                                   double b)

mju_max

@Cast(value="mjtNum")
public static double mju_max(@Cast(value="mjtNum")
                                                   double a,
                                                   @Cast(value="mjtNum")
                                                   double b)

mju_sign

@Cast(value="mjtNum")
public static double mju_sign(@Cast(value="mjtNum")
                                                    double x)

mju_round

public static int mju_round(@Cast(value="mjtNum")
                            double x)

mju_type2Str

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mju_type2Str(int type)

mju_str2Type

public static int mju_str2Type(@Cast(value="const char*")
                               org.bytedeco.javacpp.BytePointer str)

mju_str2Type

public static int mju_str2Type(java.lang.String str)

mju_warningText

@Cast(value="const char*")
public static org.bytedeco.javacpp.BytePointer mju_warningText(int warning,
                                                                                          int info)

mju_isBad

public static int mju_isBad(@Cast(value="mjtNum")
                            double x)

mju_isZero

public static int mju_isZero(@Cast(value="mjtNum*")
                             org.bytedeco.javacpp.DoublePointer vec,
                             int n)

mju_standardNormal

@Cast(value="mjtNum")
public static double mju_standardNormal(@Cast(value="mjtNum*")
                                                              org.bytedeco.javacpp.DoublePointer num2)

mju_f2n

public static void mju_f2n(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Const
                           org.bytedeco.javacpp.FloatPointer vec,
                           int n)

mju_f2n

public static void mju_f2n(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Const
                           java.nio.FloatBuffer vec,
                           int n)

mju_f2n

public static void mju_f2n(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Const
                           float[] vec,
                           int n)

mju_n2f

public static void mju_n2f(org.bytedeco.javacpp.FloatPointer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_n2f

public static void mju_n2f(java.nio.FloatBuffer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_n2f

public static void mju_n2f(float[] res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_d2n

public static void mju_d2n(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Const
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_d2n

public static void mju_d2n(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Const
                           java.nio.DoubleBuffer vec,
                           int n)

mju_d2n

public static void mju_d2n(@Cast(value="mjtNum*")
                           org.bytedeco.javacpp.DoublePointer res,
                           @Const
                           double[] vec,
                           int n)

mju_n2d

public static void mju_n2d(org.bytedeco.javacpp.DoublePointer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_n2d

public static void mju_n2d(java.nio.DoubleBuffer res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_n2d

public static void mju_n2d(double[] res,
                           @Cast(value="const mjtNum*")
                           org.bytedeco.javacpp.DoublePointer vec,
                           int n)

mju_insertionSort

public static void mju_insertionSort(@Cast(value="mjtNum*")
                                     org.bytedeco.javacpp.DoublePointer list,
                                     int n)

mju_insertionSortInt

public static void mju_insertionSortInt(org.bytedeco.javacpp.IntPointer list,
                                        int n)

mju_insertionSortInt

public static void mju_insertionSortInt(java.nio.IntBuffer list,
                                        int n)

mju_insertionSortInt

public static void mju_insertionSortInt(int[] list,
                                        int n)

mju_Halton

@Cast(value="mjtNum")
public static double mju_Halton(int index,
                                                      int base)

mju_strncpy

@Cast(value="char*")
public static org.bytedeco.javacpp.BytePointer mju_strncpy(@Cast(value="char*")
                                                                                org.bytedeco.javacpp.BytePointer dst,
                                                                                @Cast(value="const char*")
                                                                                org.bytedeco.javacpp.BytePointer src,
                                                                                int n)

mju_strncpy

@Cast(value="char*")
public static java.nio.ByteBuffer mju_strncpy(@Cast(value="char*")
                                                                   java.nio.ByteBuffer dst,
                                                                   java.lang.String src,
                                                                   int n)

mju_strncpy

@Cast(value="char*")
public static byte[] mju_strncpy(@Cast(value="char*")
                                                      byte[] dst,
                                                      @Cast(value="const char*")
                                                      org.bytedeco.javacpp.BytePointer src,
                                                      int n)

mju_strncpy

@Cast(value="char*")
public static org.bytedeco.javacpp.BytePointer mju_strncpy(@Cast(value="char*")
                                                                                org.bytedeco.javacpp.BytePointer dst,
                                                                                java.lang.String src,
                                                                                int n)

mju_strncpy

@Cast(value="char*")
public static java.nio.ByteBuffer mju_strncpy(@Cast(value="char*")
                                                                   java.nio.ByteBuffer dst,
                                                                   @Cast(value="const char*")
                                                                   org.bytedeco.javacpp.BytePointer src,
                                                                   int n)

mju_strncpy

@Cast(value="char*")
public static byte[] mju_strncpy(@Cast(value="char*")
                                                      byte[] dst,
                                                      java.lang.String src,
                                                      int n)

mju_sigmoid

@Cast(value="mjtNum")
public static double mju_sigmoid(@Cast(value="mjtNum")
                                                       double x)

Class MuJoCoLib

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class org.mujoco.MuJoCoConfig

Methods inherited from class java.lang.Object

Field Detail

mjWARN_INERTIA

mjWARN_CONTACTFULL

mjWARN_CNSTRFULL

mjWARN_VGEOMFULL

mjWARN_BADQPOS

mjWARN_BADQVEL

mjWARN_BADQACC

mjWARN_BADCTRL

mjNWARNING

mjTIMER_STEP

mjTIMER_FORWARD

mjTIMER_INVERSE

mjTIMER_POSITION

mjTIMER_VELOCITY

mjTIMER_ACTUATION

mjTIMER_ACCELERATION

mjTIMER_CONSTRAINT

mjTIMER_POS_KINEMATICS

mjTIMER_POS_INERTIA

mjTIMER_POS_COLLISION

mjTIMER_POS_MAKE

mjTIMER_POS_PROJECT

mjNTIMER

mjPI

mjMAXVAL

mjMINMU

mjMINIMP

mjMAXIMP

mjMAXCONPAIR

mjMAXVFS

mjMAXVFSNAME

mjNEQDATA

mjNDYN

mjNGAIN

mjNBIAS

mjNFLUID

mjNREF

mjNIMP

mjNSOLVER

mjDSBL_CONSTRAINT

mjDSBL_EQUALITY

mjDSBL_FRICTIONLOSS

mjDSBL_LIMIT

mjDSBL_CONTACT

mjDSBL_PASSIVE

mjDSBL_GRAVITY

mjDSBL_CLAMPCTRL

mjDSBL_WARMSTART

mjDSBL_FILTERPARENT

mjDSBL_ACTUATION

mjDSBL_REFSAFE

mjNDISABLE

mjENBL_OVERRIDE

mjENBL_ENERGY

mjENBL_FWDINV

mjENBL_SENSORNOISE

mjENBL_MULTICCD

mjNENABLE

mjJNT_FREE

mjJNT_BALL

mjJNT_SLIDE

mjJNT_HINGE

mjGEOM_PLANE

mjGEOM_HFIELD

mjGEOM_SPHERE

mjGEOM_CAPSULE

mjGEOM_ELLIPSOID

mjGEOM_CYLINDER

mjGEOM_BOX

mjGEOM_MESH

mjNGEOMTYPES

mjGEOM_ARROW