Move mjtConstraintState from mjmodel.h to mjdata.h.

This is the correct location, this enum is only used in `mjData`, not `mjModel`.

PiperOrigin-RevId: 798860951
Change-Id: I48b9a2afc831bd9a6966cc9586429fd03605bdd2

Author: yuvaltassa

doc/APIreference/APItypes.rst

@@ -338,15 +338,6 @@ of active constraints is constructed at each simulation time step.
 
 .. mujoco-include:: mjtConstraint
 
-.. _mjtConstraintState:
-
-mjtConstraintState
-~~~~~~~~~~~~~~~~~~
-
-These values are used by the solver internally to keep track of the constraint states.
-
-.. mujoco-include:: mjtConstraintState
-
 
 .. _mjtSensor:
 
@@ -440,6 +431,16 @@ State component elements as integer bitflags and several convenient combinations
 .. mujoco-include:: mjtState
 
 
+.. _mjtConstraintState:
+
+mjtConstraintState
+~~~~~~~~~~~~~~~~~~
+
+These values are used by the solver internally to keep track of the constraint states.
+
+.. mujoco-include:: mjtConstraintState
+
+
 .. _mjtWarning:
 
 mjtWarning

doc/includes/references.h

@@ -41,6 +41,13 @@ typedef enum mjtState_ {          // state elements
                           mjSTATE_USERDATA,
   mjSTATE_INTEGRATION   = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
 } mjtState;
+typedef enum mjtConstraintState_ {  // constraint state
+  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
+  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
+  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
+  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
+  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
+} mjtConstraintState;
 typedef enum mjtWarning_ {   // warning types
   mjWARN_INERTIA      = 0,   // (near) singular inertia matrix
   mjWARN_CONTACTFULL,        // too many contacts in contact list
@@ -642,13 +649,6 @@ typedef enum mjtConstraint_ {     // type of constraint
   mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
   mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
 } mjtConstraint;
-typedef enum mjtConstraintState_ {  // constraint state
-  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
-  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
-  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
-  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
-  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
-} mjtConstraintState;
 typedef enum mjtSensor_ {         // type of sensor
   // common robotic sensors, attached to a site
   mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone

include/mujoco/mjdata.h

@@ -51,6 +51,15 @@ typedef enum mjtState_ {          // state elements
 } mjtState;
 
 
+typedef enum mjtConstraintState_ {  // constraint state
+  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
+  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
+  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
+  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
+  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
+} mjtConstraintState;
+
+
 typedef enum mjtWarning_ {   // warning types
   mjWARN_INERTIA      = 0,   // (near) singular inertia matrix
   mjWARN_CONTACTFULL,        // too many contacts in contact list

include/mujoco/mjmodel.h

@@ -303,15 +303,6 @@ typedef enum mjtConstraint_ {     // type of constraint
 } mjtConstraint;
 
 
-typedef enum mjtConstraintState_ {  // constraint state
-  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
-  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
-  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
-  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
-  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
-} mjtConstraintState;
-
-
 typedef enum mjtSensor_ {         // type of sensor
   // common robotic sensors, attached to a site
   mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone

python/mujoco/introspect/enums.py

@@ -327,18 +327,6 @@
              ('mjCNSTR_CONTACT_ELLIPTIC', 7),
          ]),
      )),
-    ('mjtConstraintState',
-     EnumDecl(
-         name='mjtConstraintState',
-         declname='enum mjtConstraintState_',
-         values=dict([
-             ('mjCNSTRSTATE_SATISFIED', 0),
-             ('mjCNSTRSTATE_QUADRATIC', 1),
-             ('mjCNSTRSTATE_LINEARNEG', 2),
-             ('mjCNSTRSTATE_LINEARPOS', 3),
-             ('mjCNSTRSTATE_CONE', 4),
-         ]),
-     )),
     ('mjtSensor',
      EnumDecl(
          name='mjtSensor',
@@ -513,6 +501,18 @@
              ('mjSTATE_INTEGRATION', 8191),
          ]),
      )),
+    ('mjtConstraintState',
+     EnumDecl(
+         name='mjtConstraintState',
+         declname='enum mjtConstraintState_',
+         values=dict([
+             ('mjCNSTRSTATE_SATISFIED', 0),
+             ('mjCNSTRSTATE_QUADRATIC', 1),
+             ('mjCNSTRSTATE_LINEARNEG', 2),
+             ('mjCNSTRSTATE_LINEARPOS', 3),
+             ('mjCNSTRSTATE_CONE', 4),
+         ]),
+     )),
     ('mjtWarning',
      EnumDecl(
          name='mjtWarning',

unity/Runtime/Bindings/MjBindings.cs

@@ -115,6 +115,13 @@ public static class MujocoLib {
 
 
 // ------------------------------------Enums------------------------------------
+public enum mjtConstraintState : int{
+  mjCNSTRSTATE_SATISFIED = 0,
+  mjCNSTRSTATE_QUADRATIC = 1,
+  mjCNSTRSTATE_LINEARNEG = 2,
+  mjCNSTRSTATE_LINEARPOS = 3,
+  mjCNSTRSTATE_CONE = 4,
+}
 public enum mjtWarning : int{
   mjWARN_INERTIA = 0,
   mjWARN_CONTACTFULL = 1,
@@ -344,13 +351,6 @@ public enum mjtConstraint : int{
   mjCNSTR_CONTACT_PYRAMIDAL = 6,
   mjCNSTR_CONTACT_ELLIPTIC = 7,
 }
-public enum mjtConstraintState : int{
-  mjCNSTRSTATE_SATISFIED = 0,
-  mjCNSTRSTATE_QUADRATIC = 1,
-  mjCNSTRSTATE_LINEARNEG = 2,
-  mjCNSTRSTATE_LINEARPOS = 3,
-  mjCNSTRSTATE_CONE = 4,
-}
 public enum mjtSensor : int{
   mjSENS_TOUCH = 0,
   mjSENS_ACCELEROMETER = 1,