Trying to update MuJoCo version to 3.3.0

Author: madhephaestus

mujocoRelease.txt

@@ -1 +1 @@
-3.1.3
+3.3.0

src/main/java/org/mujoco/MuJoCoConfig.java

@@ -1,49 +1,31 @@
 package org.mujoco;
 
-
 import org.bytedeco.javacpp.*;
 import org.bytedeco.javacpp.annotation.*;
 import org.bytedeco.javacpp.tools.*;
 
+@Properties(value = { @Platform(includepath = { "/tmp/mujoco/include/" }, linkpath = { "/tmp/mujoco/lib/" }, include = {
+		"mujoco/mjtnum.h",
 
-@Properties(
-    value = {
-    	@Platform(
-	        includepath = {"/tmp/mujoco/include/"},
-	        linkpath = {"/tmp/mujoco/lib/"},
-	        include = {
-	        		"mujoco/mjtnum.h",
-
-	        		"mujoco/mjexport.h",
-	        		"mujoco/mujoco.h"   ,   		
-	        		"mujoco/mjmacro.h",
-	        		"mujoco/mjthread.h",
-	        		"mujoco/mjdata.h",
-	        		"mujoco/mjmodel.h",
-	        		"mujoco/mjrender.h",
-	        		"mujoco/mjui.h",
-	        		"mujoco/mjvisualize.h",
-
+		"mujoco/mjexport.h", "mujoco/mujoco.h", "mujoco/mjmacro.h", "mujoco/mjthread.h", "mujoco/mjdata.h",
+		"mujoco/mjmodel.h", "mujoco/mjrender.h", "mujoco/mjui.h", "mujoco/mjvisualize.h",
 
-	        		//"mujoco/mjxmacro.h",
-	        		"mujoco/mjplugin.h"
-	        		},  
-	        link = {"mujoco"}
-	    ),
-	    @Platform(
-            value = "windows-x86_64",
-            includepath = {"mujoco/include/","C:/Users/runneradmin/AppData/Local/Temp/mujoco/include/"},
-            linkpath = {"mujoco/lib/","C:/Users/runneradmin/AppData/Local/Temp/mujoco/lib/"}
-	    )
-    },
-    target = "org.mujoco.MuJoCoLib"
-)
+		"mujoco/mjplugin.h", "mujoco/mjspec.h",
+				// "mujoco/mjxmacro.h" // This will not work with JavaCPP
+		}, link = { "mujoco" }),
+		@Platform(value = "windows-x86_64", includepath = { "mujoco/include/",
+				"C:/Users/runneradmin/AppData/Local/Temp/mujoco/include/" }, linkpath = { "mujoco/lib/",
+						"C:/Users/runneradmin/AppData/Local/Temp/mujoco/lib/" }) }, target = "org.mujoco.MuJoCoLib")
 
 public class MuJoCoConfig implements InfoMapper {
 	public void map(InfoMap infoMap) {
 		infoMap.put(new Info("MJ_STATIC").define(true));
 		infoMap.put(new Info("mjtNum").cast().valueTypes("double").pointerTypes("DoublePointer"));
-		
+		// mjString
+		// infoMap.put(new
+		// Info("mjString").cast().valueTypes("String").pointerTypes("StringPointer"));
+		// Skip mjString type
+
 		infoMap.put(new Info("MJOPTION_VECTORS").skip());
 		infoMap.put(new Info("MJMODEL_POINTERS").skip());
 		infoMap.put(new Info("MJDATA_VECTOR").skip());
@@ -71,10 +53,10 @@ public void map(InfoMap infoMap) {
 		infoMap.put(new Info("mjEXTERNC").skip());
 		infoMap.put(new Info("mjDLLMAIN").skip());
 		infoMap.put(new Info("XMJV").skip());
-		//infoMap.put(new Info("X").skip());
-		//infoMap.put(new Info("MJOPTION_FLOATS").skip());
-		//infoMap.put(new Info("MJOPTION_INTS").skip());
-		//infoMap.put(new Info("MJOPTION_SCALARS").skip());
+		// infoMap.put(new Info("X").skip());
+		// infoMap.put(new Info("MJOPTION_FLOATS").skip());
+		// infoMap.put(new Info("MJOPTION_INTS").skip());
+		// infoMap.put(new Info("MJOPTION_SCALARS").skip());
 		infoMap.put(new Info("mjPLUGIN_LIB_INIT").skip());
 		infoMap.put(new Info("mjfPluginLibraryLoadCallback").skip());
 		infoMap.put(new Info("mjfGeneric").skip());
@@ -83,13 +65,56 @@ public void map(InfoMap infoMap) {
 		infoMap.put(new Info("mjfTime").skip());
 		infoMap.put(new Info("mjfAct").skip());
 		infoMap.put(new Info("mjfCollision").skip());
-		//mj__freeStack
+		// mj__freeStack
 		infoMap.put(new Info("mj__freeStack").skip());
-		//mj__markStack
+		// mj__markStack
 		infoMap.put(new Info("mj__markStack").skip());
-		
-//		infoMap.put(new Info("").skip());
-//		infoMap.put(new Info("").skip());
-		
-    }
+
+		// XNV
+		infoMap.put(new Info("XNV").skip());
+		// mjs_findElement
+		infoMap.put(new Info("mjs_findElement").skip());
+
+		// mjs_firstElement
+		infoMap.put(new Info("mjs_firstElement").skip());
+		// mjs_firstChild
+		infoMap.put(new Info("mjs_firstChild").skip());
+		// Add this to your MuJoCoConfig.java
+		// Add this to your JavaCPP configuration class
+		// This adds custom code at the beginning of the generated file
+		infoMap.put(new Info().cppText(
+		    // Add a macro that will be used for string assignments
+		    "#include <string>\n" +
+		    "#define ASSIGN_TO_STRING_PTR(ptr, val) if(ptr) *ptr = val;\n" +
+		    
+		    // Create a function to override the problematic assignments
+		    "template<typename T>\n" +
+		    "void assign_string(T* ptr, const std::string& val) {\n" +
+		    "    if(ptr) *ptr = val;\n" +
+		    "}\n" +
+		    
+		    // This is the critical part - redefine the cast operator to call our safe function
+		    "#define __JAVACPP_HACK\n" +
+		    "#ifdef __JAVACPP_HACK\n" +
+		    "#define JAVACPP_STRING_CAST(x)\n" +
+		    "#endif\n"
+		));
+
+		// Tell JavaCPP how to handle specific problematic cases
+		infoMap.put(new Info("ptr->meshdir = (std::basic_string< char >&)adapter0")
+		    .define(false)
+		    .cppText("    assign_string(ptr->meshdir, adapter0)"));
+
+		infoMap.put(new Info("ptr->modelname = (std::basic_string< char >&)adapter0")
+		    .define(false)
+		    .cppText("    assign_string(ptr->modelname, adapter0)"));
+
+		infoMap.put(new Info("ptr->modelfiledir = (std::basic_string< char >&)adapter0")
+		    .define(false)
+		    .cppText("    assign_string(ptr->modelfiledir, adapter0)"));
+
+		// Add similar entries for other problematic assignments
+
+
+	}
 }