//--------------------------------//
//  This file is part MuJoCo      //
//  Copyright © 2018, Roboti LLC  //
//--------------------------------//


#pragma once


//-------------------------------- mjOption ---------------------------------------------

// scalar fields of mjOption
#define MJOPTION_SCALARS          \
    X( mjtNum,  timestep        ) \
    X( mjtNum,  apirate         ) \
    X( mjtNum,  impratio        ) \
    X( mjtNum,  tolerance       ) \
    X( mjtNum,  noslip_tolerance ) \
    X( mjtNum,  mpr_tolerance   ) \
    X( mjtNum,  density         ) \
    X( mjtNum,  viscosity       ) \
    X( mjtNum,  o_margin        ) \
    X( int,     integrator      ) \
    X( int,     collision       ) \
    X( int,     cone            ) \
    X( int,     jacobian        ) \
    X( int,     solver          ) \
    X( int,     iterations      ) \
    X( int,     noslip_iterations ) \
    X( int,     mpr_iterations  ) \
    X( int,     disableflags    ) \
    X( int,     enableflags     )


// vector fields of mjOption
#define MJOPTION_VECTORS          \
    X( gravity,         3       ) \
    X( wind,            3       ) \
    X( magnetic,        3       ) \
    X( o_solref,        mjNREF  ) \
    X( o_solimp,        mjNIMP  )



//-------------------------------- mjModel ----------------------------------------------

// int fields of mjModel
#define MJMODEL_INTS        \
    X( nq )                 \
    X( nv )                 \
    X( nu )                 \
    X( na )                 \
    X( nbody )              \
    X( njnt )               \
    X( ngeom )              \
    X( nsite )              \
    X( ncam )               \
    X( nlight )             \
    X( nmesh )              \
    X( nmeshvert )          \
    X( nmeshtexvert )       \
    X( nmeshface )          \
    X( nmeshgraph )         \
    X( nskin )              \
    X( nskinvert )          \
    X( nskintexvert )       \
    X( nskinface )          \
    X( nskinbone )          \
    X( nskinbonevert )      \
    X( nhfield )            \
    X( nhfielddata )        \
    X( ntex )               \
    X( ntexdata )           \
    X( nmat )               \
    X( npair )              \
    X( nexclude )           \
    X( neq )                \
    X( ntendon )            \
    X( nwrap )              \
    X( nsensor )            \
    X( nnumeric )           \
    X( nnumericdata )       \
    X( ntext )              \
    X( ntextdata )          \
    X( ntuple )             \
    X( ntupledata )         \
    X( nkey )               \
    X( nuser_body )         \
    X( nuser_jnt )          \
    X( nuser_geom )         \
    X( nuser_site )         \
    X( nuser_cam )          \
    X( nuser_tendon )       \
    X( nuser_actuator )     \
    X( nuser_sensor )       \
    X( nnames )             \
    X( nM )                 \
    X( nemax )              \
    X( njmax )              \
    X( nconmax )            \
    X( nstack )             \
    X( nuserdata )          \
    X( nmocap )             \
    X( nsensordata )        \
    X( nbuffer )            


// pointer fields of mjModel
#define MJMODEL_POINTERS                                          \
    X( mjtNum,  qpos0,                   nq,        1           ) \
    X( mjtNum,  qpos_spring,             nq,        1           ) \
    X( int,     body_parentid,           nbody,     1           ) \
    X( int,     body_rootid,             nbody,     1           ) \
    X( int,     body_weldid,             nbody,     1           ) \
    X( int,     body_mocapid,            nbody,     1           ) \
    X( int,     body_jntnum,             nbody,     1           ) \
    X( int,     body_jntadr,             nbody,     1           ) \
    X( int,     body_dofnum,             nbody,     1           ) \
    X( int,     body_dofadr,             nbody,     1           ) \
    X( int,     body_geomnum,            nbody,     1           ) \
    X( int,     body_geomadr,            nbody,     1           ) \
    X( mjtByte, body_simple,             nbody,     1           ) \
    X( mjtByte, body_sameframe,          nbody,     1           ) \
    X( mjtNum,  body_pos,                nbody,     3           ) \
    X( mjtNum,  body_quat,               nbody,     4           ) \
    X( mjtNum,  body_ipos,               nbody,     3           ) \
    X( mjtNum,  body_iquat,              nbody,     4           ) \
    X( mjtNum,  body_mass,               nbody,     1           ) \
    X( mjtNum,  body_subtreemass,        nbody,     1           ) \
    X( mjtNum,  body_inertia,            nbody,     3           ) \
    X( mjtNum,  body_invweight0,         nbody,     2           ) \
    X( mjtNum,  body_user,               nbody,     nuser_body  ) \
    X( int,     jnt_type,                njnt,      1           ) \
    X( int,     jnt_qposadr,             njnt,      1           ) \
    X( int,     jnt_dofadr,              njnt,      1           ) \
    X( int,     jnt_bodyid,              njnt,      1           ) \
    X( int,     jnt_group,               njnt,      1           ) \
    X( mjtByte, jnt_limited,             njnt,      1           ) \
    X( mjtNum,  jnt_solref,              njnt,      mjNREF      ) \
    X( mjtNum,  jnt_solimp,              njnt,      mjNIMP      ) \
    X( mjtNum,  jnt_pos,                 njnt,      3           ) \
    X( mjtNum,  jnt_axis,                njnt,      3           ) \
    X( mjtNum,  jnt_stiffness,           njnt,      1           ) \
    X( mjtNum,  jnt_range,               njnt,      2           ) \
    X( mjtNum,  jnt_margin,              njnt,      1           ) \
    X( mjtNum,  jnt_user,                njnt,      nuser_jnt   ) \
    X( int,     dof_bodyid,              nv,        1           ) \
    X( int,     dof_jntid,               nv,        1           ) \
    X( int,     dof_parentid,            nv,        1           ) \
    X( int,     dof_Madr,                nv,        1           ) \
    X( int,     dof_simplenum,           nv,        1           ) \
    X( mjtNum,  dof_solref,              nv,        mjNREF      ) \
    X( mjtNum,  dof_solimp,              nv,        mjNIMP      ) \
    X( mjtNum,  dof_frictionloss,        nv,        1           ) \
    X( mjtNum,  dof_armature,            nv,        1           ) \
    X( mjtNum,  dof_damping,             nv,        1           ) \
    X( mjtNum,  dof_invweight0,          nv,        1           ) \
    X( mjtNum,  dof_M0,                  nv,        1           ) \
    X( int,     geom_type,               ngeom,     1           ) \
    X( int,     geom_contype,            ngeom,     1           ) \
    X( int,     geom_conaffinity,        ngeom,     1           ) \
    X( int,     geom_condim,             ngeom,     1           ) \
    X( int,     geom_bodyid,             ngeom,     1           ) \
    X( int,     geom_dataid,             ngeom,     1           ) \
    X( int,     geom_matid,              ngeom,     1           ) \
    X( int,     geom_group,              ngeom,     1           ) \
    X( int,     geom_priority,           ngeom,     1           ) \
    X( mjtByte, geom_sameframe,          ngeom,     1           ) \
    X( mjtNum,  geom_solmix,             ngeom,     1           ) \
    X( mjtNum,  geom_solref,             ngeom,     mjNREF      ) \
    X( mjtNum,  geom_solimp,             ngeom,     mjNIMP      ) \
    X( mjtNum,  geom_size,               ngeom,     3           ) \
    X( mjtNum,  geom_rbound,             ngeom,     1           ) \
    X( mjtNum,  geom_pos,                ngeom,     3           ) \
    X( mjtNum,  geom_quat,               ngeom,     4           ) \
    X( mjtNum,  geom_friction,           ngeom,     3           ) \
    X( mjtNum,  geom_margin,             ngeom,     1           ) \
    X( mjtNum,  geom_gap,                ngeom,     1           ) \
    X( mjtNum,  geom_user,               ngeom,     nuser_geom  ) \
    X( float,   geom_rgba,               ngeom,     4           ) \
    X( int,     site_type,               nsite,     1           ) \
    X( int,     site_bodyid,             nsite,     1           ) \
    X( int,     site_matid,              nsite,     1           ) \
    X( int,     site_group,              nsite,     1           ) \
    X( mjtByte, site_sameframe,          nsite,     1           ) \
    X( mjtNum,  site_size,               nsite,     3           ) \
    X( mjtNum,  site_pos,                nsite,     3           ) \
    X( mjtNum,  site_quat,               nsite,     4           ) \
    X( mjtNum,  site_user,               nsite,     nuser_site  ) \
    X( float,   site_rgba,               nsite,     4           ) \
    X( int,     cam_mode,                ncam,      1           ) \
    X( int,     cam_bodyid,              ncam,      1           ) \
    X( int,     cam_targetbodyid,        ncam,      1           ) \
    X( mjtNum,  cam_pos,                 ncam,      3           ) \
    X( mjtNum,  cam_quat,                ncam,      4           ) \
    X( mjtNum,  cam_poscom0,             ncam,      3           ) \
    X( mjtNum,  cam_pos0,                ncam,      3           ) \
    X( mjtNum,  cam_mat0,                ncam,      9           ) \
    X( mjtNum,  cam_fovy,                ncam,      1           ) \
    X( mjtNum,  cam_ipd,                 ncam,      1           ) \
    X( mjtNum,  cam_user,                ncam,      nuser_cam   ) \
    X( int,     light_mode,              nlight,    1           ) \
    X( int,     light_bodyid,            nlight,    1           ) \
    X( int,     light_targetbodyid,      nlight,    1           ) \
    X( mjtByte, light_directional,       nlight,    1           ) \
    X( mjtByte, light_castshadow,        nlight,    1           ) \
    X( mjtByte, light_active,            nlight,    1           ) \
    X( mjtNum,  light_pos,               nlight,    3           ) \
    X( mjtNum,  light_dir,               nlight,    3           ) \
    X( mjtNum,  light_poscom0,           nlight,    3           ) \
    X( mjtNum,  light_pos0,              nlight,    3           ) \
    X( mjtNum,  light_dir0,              nlight,    3           ) \
    X( float,   light_attenuation,       nlight,    3           ) \
    X( float,   light_cutoff,            nlight,    1           ) \
    X( float,   light_exponent,          nlight,    1           ) \
    X( float,   light_ambient,           nlight,    3           ) \
    X( float,   light_diffuse,           nlight,    3           ) \
    X( float,   light_specular,          nlight,    3           ) \
    X( int,     mesh_vertadr,            nmesh,     1           ) \
    X( int,     mesh_vertnum,            nmesh,     1           ) \
    X( int,     mesh_texcoordadr,        nmesh,     1           ) \
    X( int,     mesh_faceadr,            nmesh,     1           ) \
    X( int,     mesh_facenum,            nmesh,     1           ) \
    X( int,     mesh_graphadr,           nmesh,     1           ) \
    X( float,   mesh_vert,               nmeshvert, 3           ) \
    X( float,   mesh_normal,             nmeshvert, 3           ) \
    X( float,   mesh_texcoord,           nmeshtexvert, 2        ) \
    X( int,     mesh_face,               nmeshface, 3           ) \
    X( int,     mesh_graph,              nmeshgraph,1           ) \
    X( int,     skin_matid,              nskin,     1           ) \
    X( float,   skin_rgba,               nskin,     4           ) \
    X( float,   skin_inflate,            nskin,     1           ) \
    X( int,     skin_vertadr,            nskin,     1           ) \
    X( int,     skin_vertnum,            nskin,     1           ) \
    X( int,     skin_texcoordadr,        nskin,     1           ) \
    X( int,     skin_faceadr,            nskin,     1           ) \
    X( int,     skin_facenum,            nskin,     1           ) \
    X( int,     skin_boneadr,            nskin,     1           ) \
    X( int,     skin_bonenum,            nskin,     1           ) \
    X( float,   skin_vert,               nskinvert, 3           ) \
    X( float,   skin_texcoord,           nskintexvert, 2        ) \
    X( int,     skin_face,               nskinface, 3           ) \
    X( int,     skin_bonevertadr,        nskinbone, 1           ) \
    X( int,     skin_bonevertnum,        nskinbone, 1           ) \
    X( float,   skin_bonebindpos,        nskinbone, 3           ) \
    X( float,   skin_bonebindquat,       nskinbone, 4           ) \
    X( int,     skin_bonebodyid,         nskinbone, 1           ) \
    X( int,     skin_bonevertid,         nskinbonevert, 1       ) \
    X( float,   skin_bonevertweight,     nskinbonevert, 1       ) \
    X( mjtNum,  hfield_size,             nhfield,   4           ) \
    X( int,     hfield_nrow,             nhfield,   1           ) \
    X( int,     hfield_ncol,             nhfield,   1           ) \
    X( int,     hfield_adr,              nhfield,   1           ) \
    X( float,   hfield_data,             nhfielddata, 1         ) \
    X( int,     tex_type,                ntex,      1           ) \
    X( int,     tex_height,              ntex,      1           ) \
    X( int,     tex_width,               ntex,      1           ) \
    X( int,     tex_adr,                 ntex,      1           ) \
    X( mjtByte, tex_rgb,                 ntexdata,  1           ) \
    X( int,     mat_texid,               nmat,      1           ) \
    X( mjtByte, mat_texuniform,          nmat,      1           ) \
    X( float,   mat_texrepeat,           nmat,      2           ) \
    X( float,   mat_emission,            nmat,      1           ) \
    X( float,   mat_specular,            nmat,      1           ) \
    X( float,   mat_shininess,           nmat,      1           ) \
    X( float,   mat_reflectance,         nmat,      1           ) \
    X( float,   mat_rgba,                nmat,      4           ) \
    X( int,     pair_dim,                npair,     1           ) \
    X( int,     pair_geom1,              npair,     1           ) \
    X( int,     pair_geom2,              npair,     1           ) \
    X( int,     pair_signature,          npair,     1           ) \
    X( mjtNum,  pair_solref,             npair,     mjNREF      ) \
    X( mjtNum,  pair_solimp,             npair,     mjNIMP      ) \
    X( mjtNum,  pair_margin,             npair,     1           ) \
    X( mjtNum,  pair_gap,                npair,     1           ) \
    X( mjtNum,  pair_friction,           npair,     5           ) \
    X( int,     exclude_signature,       nexclude,  1           ) \
    X( int,     eq_type,                 neq,       1           ) \
    X( int,     eq_obj1id,               neq,       1           ) \
    X( int,     eq_obj2id,               neq,       1           ) \
    X( mjtByte, eq_active,               neq,       1           ) \
    X( mjtNum,  eq_solref,               neq,       mjNREF      ) \
    X( mjtNum,  eq_solimp,               neq,       mjNIMP      ) \
    X( mjtNum,  eq_data,                 neq,       mjNEQDATA   ) \
    X( int,     tendon_adr,              ntendon,   1           ) \
    X( int,     tendon_num,              ntendon,   1           ) \
    X( int,     tendon_matid,            ntendon,   1           ) \
    X( int,     tendon_group,            ntendon,   1           ) \
    X( mjtByte, tendon_limited,          ntendon,   1           ) \
    X( mjtNum,  tendon_width,            ntendon,   1           ) \
    X( mjtNum,  tendon_solref_lim,       ntendon,   mjNREF      ) \
    X( mjtNum,  tendon_solimp_lim,       ntendon,   mjNIMP      ) \
    X( mjtNum,  tendon_solref_fri,       ntendon,   mjNREF      ) \
    X( mjtNum,  tendon_solimp_fri,       ntendon,   mjNIMP      ) \
    X( mjtNum,  tendon_range,            ntendon,   2           ) \
    X( mjtNum,  tendon_margin,           ntendon,   1           ) \
    X( mjtNum,  tendon_stiffness,        ntendon,   1           ) \
    X( mjtNum,  tendon_damping,          ntendon,   1           ) \
    X( mjtNum,  tendon_frictionloss,     ntendon,   1           ) \
    X( mjtNum,  tendon_lengthspring,     ntendon,   1           ) \
    X( mjtNum,  tendon_length0,          ntendon,   1           ) \
    X( mjtNum,  tendon_invweight0,       ntendon,   1           ) \
    X( mjtNum,  tendon_user,             ntendon,   nuser_tendon) \
    X( float,   tendon_rgba,             ntendon,   4           ) \
    X( int,     wrap_type,               nwrap,     1           ) \
    X( int,     wrap_objid,              nwrap,     1           ) \
    X( mjtNum,  wrap_prm,                nwrap,     1           ) \
    X( int,     actuator_trntype,        nu,        1           ) \
    X( int,     actuator_dyntype,        nu,        1           ) \
    X( int,     actuator_gaintype,       nu,        1           ) \
    X( int,     actuator_biastype,       nu,        1           ) \
    X( int,     actuator_trnid,          nu,        2           ) \
    X( int,     actuator_group,          nu,        1           ) \
    X( mjtByte, actuator_ctrllimited,    nu,        1           ) \
    X( mjtByte, actuator_forcelimited,   nu,        1           ) \
    X( mjtNum,  actuator_dynprm,         nu,        mjNDYN      ) \
    X( mjtNum,  actuator_gainprm,        nu,        mjNGAIN     ) \
    X( mjtNum,  actuator_biasprm,        nu,        mjNBIAS     ) \
    X( mjtNum,  actuator_ctrlrange,      nu,        2           ) \
    X( mjtNum,  actuator_forcerange,     nu,        2           ) \
    X( mjtNum,  actuator_gear,           nu,        6           ) \
    X( mjtNum,  actuator_cranklength,    nu,        1           ) \
    X( mjtNum,  actuator_acc0,           nu,        1           ) \
    X( mjtNum,  actuator_length0,        nu,        1           ) \
    X( mjtNum,  actuator_lengthrange,    nu,        2           ) \
    X( mjtNum,  actuator_user,           nu,        nuser_actuator) \
    X( int,     sensor_type,             nsensor,   1           ) \
    X( int,     sensor_datatype,         nsensor,   1           ) \
    X( int,     sensor_needstage,        nsensor,   1           ) \
    X( int,     sensor_objtype,          nsensor,   1           ) \
    X( int,     sensor_objid,            nsensor,   1           ) \
    X( int,     sensor_dim,              nsensor,   1           ) \
    X( int,     sensor_adr,              nsensor,   1           ) \
    X( mjtNum,  sensor_cutoff,           nsensor,   1           ) \
    X( mjtNum,  sensor_noise,            nsensor,   1           ) \
    X( mjtNum,  sensor_user,             nsensor,   nuser_sensor) \
    X( int,     numeric_adr,             nnumeric,  1           ) \
    X( int,     numeric_size,            nnumeric,  1           ) \
    X( mjtNum,  numeric_data,            nnumericdata, 1        ) \
    X( int,     text_adr,                ntext,     1           ) \
    X( int,     text_size,               ntext,     1           ) \
    X( char,    text_data,               ntextdata, 1           ) \
    X( int,     tuple_adr,               ntuple,    1           ) \
    X( int,     tuple_size,              ntuple,    1           ) \
    X( int,     tuple_objtype,           ntupledata, 1          ) \
    X( int,     tuple_objid,             ntupledata, 1          ) \
    X( mjtNum,  tuple_objprm,            ntupledata, 1          ) \
    X( mjtNum,  key_time,                nkey,      1           ) \
    X( mjtNum,  key_qpos,                nkey,      nq          ) \
    X( mjtNum,  key_qvel,                nkey,      nv          ) \
    X( mjtNum,  key_act,                 nkey,      na          ) \
    X( int,     name_bodyadr,            nbody,     1           ) \
    X( int,     name_jntadr,             njnt,      1           ) \
    X( int,     name_geomadr,            ngeom,     1           ) \
    X( int,     name_siteadr,            nsite,     1           ) \
    X( int,     name_camadr,             ncam,      1           ) \
    X( int,     name_lightadr,           nlight,    1           ) \
    X( int,     name_meshadr,            nmesh,     1           ) \
    X( int,     name_skinadr,            nskin,     1           ) \
    X( int,     name_hfieldadr,          nhfield,   1           ) \
    X( int,     name_texadr,             ntex,      1           ) \
    X( int,     name_matadr,             nmat,      1           ) \
    X( int,     name_pairadr,            npair,     1           ) \
    X( int,     name_excludeadr,         nexclude,  1           ) \
    X( int,     name_eqadr,              neq,       1           ) \
    X( int,     name_tendonadr,          ntendon,   1           ) \
    X( int,     name_actuatoradr,        nu,        1           ) \
    X( int,     name_sensoradr,          nsensor,   1           ) \
    X( int,     name_numericadr,         nnumeric,  1           ) \
    X( int,     name_textadr,            ntext,     1           ) \
    X( int,     name_tupleadr,           ntuple,    1           ) \
    X( int,     name_keyadr,             nkey,      1           ) \
    X( char,    names,                   nnames,    1           )



//-------------------------------- mjData -----------------------------------------------

// pointer fields of mjData
#define MJDATA_POINTERS                                   \
    X( mjtNum,  qpos,               nq,         1       ) \
    X( mjtNum,  qvel,               nv,         1       ) \
    X( mjtNum,  act,                na,         1       ) \
    X( mjtNum,  qacc_warmstart,     nv,         1       ) \
    X( mjtNum,  ctrl,               nu,         1       ) \
    X( mjtNum,  qfrc_applied,       nv,         1       ) \
    X( mjtNum,  xfrc_applied,       nbody,      6       ) \
    X( mjtNum,  qacc,               nv,         1       ) \
    X( mjtNum,  act_dot,            na,         1       ) \
    X( mjtNum,  mocap_pos,          nmocap,     3       ) \
    X( mjtNum,  mocap_quat,         nmocap,     4       ) \
    X( mjtNum,  userdata,           nuserdata,  1       ) \
    X( mjtNum,  sensordata,         nsensordata,1       ) \
    X( mjtNum,  xpos,               nbody,      3       ) \
    X( mjtNum,  xquat,              nbody,      4       ) \
    X( mjtNum,  xmat,               nbody,      9       ) \
    X( mjtNum,  xipos,              nbody,      3       ) \
    X( mjtNum,  ximat,              nbody,      9       ) \
    X( mjtNum,  xanchor,            njnt,       3       ) \
    X( mjtNum,  xaxis,              njnt,       3       ) \
    X( mjtNum,  geom_xpos,          ngeom,      3       ) \
    X( mjtNum,  geom_xmat,          ngeom,      9       ) \
    X( mjtNum,  site_xpos,          nsite,      3       ) \
    X( mjtNum,  site_xmat,          nsite,      9       ) \
    X( mjtNum,  cam_xpos,           ncam,       3       ) \
    X( mjtNum,  cam_xmat,           ncam,       9       ) \
    X( mjtNum,  light_xpos,         nlight,     3       ) \
    X( mjtNum,  light_xdir,         nlight,     3       ) \
    X( mjtNum,  subtree_com,        nbody,      3       ) \
    X( mjtNum,  cdof,               nv,         6       ) \
    X( mjtNum,  cinert,             nbody,      10      ) \
    X( int,     ten_wrapadr,        ntendon,    1       ) \
    X( int,     ten_wrapnum,        ntendon,    1       ) \
    X( int,     ten_J_rownnz,       ntendon,    1       ) \
    X( int,     ten_J_rowadr,       ntendon,    1       ) \
    X( int,     ten_J_colind,       ntendon,    nv      ) \
    X( mjtNum,  ten_length,         ntendon,    1       ) \
    X( mjtNum,  ten_J,              ntendon,    nv      ) \
    X( int,     wrap_obj,           nwrap,      2       ) \
    X( mjtNum,  wrap_xpos,          nwrap,      6       ) \
    X( mjtNum,  actuator_length,    nu,         1       ) \
    X( mjtNum,  actuator_moment,    nu,         nv      ) \
    X( mjtNum,  crb,                nbody,      10      ) \
    X( mjtNum,  qM,                 nM,         1       ) \
    X( mjtNum,  qLD,                nM,         1       ) \
    X( mjtNum,  qLDiagInv,          nv,         1       ) \
    X( mjtNum,  qLDiagSqrtInv,      nv,         1       ) \
    X( mjContact, contact,          nconmax,    1       ) \
    X( int,     efc_type,           njmax,      1       ) \
    X( int,     efc_id,             njmax,      1       ) \
    X( int,     efc_J_rownnz,       njmax,      1       ) \
    X( int,     efc_J_rowadr,       njmax,      1       ) \
    X( int,     efc_J_rowsuper,     njmax,      1       ) \
    X( int,     efc_J_colind,       njmax,      nv      ) \
    X( int,     efc_JT_rownnz,      nv,         1       ) \
    X( int,     efc_JT_rowadr,      nv,         1       ) \
    X( int,     efc_JT_rowsuper,    nv,         1       ) \
    X( int,     efc_JT_colind,      nv,         njmax   ) \
    X( mjtNum,  efc_J,              njmax,      nv      ) \
    X( mjtNum,  efc_JT,             nv,         njmax   ) \
    X( mjtNum,  efc_pos,            njmax,      1       ) \
    X( mjtNum,  efc_margin,         njmax,      1       ) \
    X( mjtNum,  efc_frictionloss,   njmax,      1       ) \
    X( mjtNum,  efc_diagApprox,     njmax,      1       ) \
    X( mjtNum,  efc_KBIP,           njmax,      4       ) \
    X( mjtNum,  efc_D,              njmax,      1       ) \
    X( mjtNum,  efc_R,              njmax,      1       ) \
    X( int,     efc_AR_rownnz,      njmax,      1       ) \
    X( int,     efc_AR_rowadr,      njmax,      1       ) \
    X( int,     efc_AR_colind,      njmax,      njmax   ) \
    X( mjtNum,  efc_AR,             njmax,      njmax   ) \
    X( mjtNum,  ten_velocity,       ntendon,    1       ) \
    X( mjtNum,  actuator_velocity,  nu,         1       ) \
    X( mjtNum,  cvel,               nbody,      6       ) \
    X( mjtNum,  cdof_dot,           nv,         6       ) \
    X( mjtNum,  qfrc_bias,          nv,         1       ) \
    X( mjtNum,  qfrc_passive,       nv,         1       ) \
    X( mjtNum,  efc_vel,            njmax,      1       ) \
    X( mjtNum,  efc_aref,           njmax,      1       ) \
    X( mjtNum,  subtree_linvel,     nbody,      3       ) \
    X( mjtNum,  subtree_angmom,     nbody,      3       ) \
    X( mjtNum,  actuator_force,     nu,         1       ) \
    X( mjtNum,  qfrc_actuator,      nv,         1       ) \
    X( mjtNum,  qfrc_unc,           nv,         1       ) \
    X( mjtNum,  qacc_unc,           nv,         1       ) \
    X( mjtNum,  efc_b,              njmax,      1       ) \
    X( mjtNum,  efc_force,          njmax,      1       ) \
    X( int,     efc_state,          njmax,      1       ) \
    X( mjtNum,  qfrc_constraint,    nv,         1       ) \
    X( mjtNum,  qfrc_inverse,       nv,         1       ) \
    X( mjtNum,  cacc,               nbody,      6       ) \
    X( mjtNum,  cfrc_int,           nbody,      6       ) \
    X( mjtNum,  cfrc_ext,           nbody,      6       )


// scalar fields of mjData
#define MJDATA_SCALAR            \
    X( int,       nstack       ) \
    X( int,       nbuffer      ) \
    X( int,       pstack       ) \
    X( int,       maxuse_stack ) \
    X( int,       maxuse_con   ) \
    X( int,       maxuse_efc   ) \
    X( int,       solver_iter  ) \
    X( int,       solver_nnz   ) \
    X( int,       ne           ) \
    X( int,       nf           ) \
    X( int,       nefc         ) \
    X( int,       ncon         ) \
    X( mjtNum,    time         )


// vector fields of mjData
#define MJDATA_VECTOR                                   \
    X( mjWarningStat,  warning,        mjNWARNING,  1 ) \
    X( mjTimerStat,    timer,          mjNTIMER,    1 ) \
    X( mjSolverStat,   solver,         mjNSOLVER,   1 ) \
    X( mjtNum,         solver_fwdinv,  2,           1 ) \
    X( mjtNum,         energy,         2,           1 )
