first pass adding headers and exceptions

Author: madhephaestus

mujocoRelease.txt

@@ -1 +1 @@
-2.2.0
+3.1.1

src/main/java/libmujoco.so

@@ -0,0 +1,47 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJEXPORT_H_
+#define MUJOCO_MJEXPORT_H_
+
+#if defined _WIN32 || defined __CYGWIN__
+  #define MUJOCO_HELPER_DLL_IMPORT __declspec(dllimport)
+  #define MUJOCO_HELPER_DLL_EXPORT __declspec(dllexport)
+  #define MUJOCO_HELPER_DLL_LOCAL
+#else
+  #if __GNUC__ >= 4
+    #define MUJOCO_HELPER_DLL_IMPORT __attribute__ ((visibility ("default")))
+    #define MUJOCO_HELPER_DLL_EXPORT __attribute__ ((visibility ("default")))
+    #define MUJOCO_HELPER_DLL_LOCAL  __attribute__ ((visibility ("hidden")))
+  #else
+    #define MUJOCO_HELPER_DLL_IMPORT
+    #define MUJOCO_HELPER_DLL_EXPORT
+    #define MUJOCO_HELPER_DLL_LOCAL
+  #endif
+#endif
+
+#ifdef MJ_STATIC
+  // static library
+  #define MJAPI
+  #define MJLOCAL
+#else
+  #ifdef MUJOCO_DLL_EXPORTS
+    #define MJAPI MUJOCO_HELPER_DLL_EXPORT
+  #else
+    #define MJAPI MUJOCO_HELPER_DLL_IMPORT
+  #endif
+  #define MJLOCAL MUJOCO_HELPER_DLL_LOCAL
+#endif
+
+#endif  // MUJOCO_MJEXPORT_H_

src/main/java/mujoco/mjdata.h

@@ -0,0 +1,49 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJMACRO_H_
+#define MUJOCO_MJMACRO_H_
+
+// include asan interface header, or provide stubs for poison/unpoison macros when not using asan
+#ifdef ADDRESS_SANITIZER
+  #include <sanitizer/asan_interface.h>
+#elif defined(_MSC_VER)
+  #define ASAN_POISON_MEMORY_REGION(addr, size)
+  #define ASAN_UNPOISON_MEMORY_REGION(addr, size)
+#else
+  #define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
+  #define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
+#endif
+
+// max and min (use only for primitive types)
+#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
+#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
+
+// return current value of mjOption enable/disable flags
+#define mjDISABLED(x) (m->opt.disableflags & (x))
+#define mjENABLED(x)  (m->opt.enableflags & (x))
+
+// is actuator disabled
+#define mjACTUATORDISABLED(i) (m->opt.disableactuator & (1 << m->actuator_group[i]))
+
+// annotation for functions that accept printf-like variadic arguments
+#ifndef mjPRINTFLIKE
+  #if defined(__GNUC__)
+    #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
+  #else
+    #define mjPRINTFLIKE(n, m)
+  #endif
+#endif
+
+#endif  // MUJOCO_MJMACRO_H_