updated regularApi.xml and propertiesReference.htm mainly

Author: Coppelia

en/apiConstants.htm

@@ -119,10 +119,12 @@ <h1>regular API constants</h1>
 <div class=tab>scene was switched (react to this message in a similar way as you would react to a full scene content change)</div>
 <div class=tab>auxData[0]: do not use</div>
 <div class=tab>auxData[1]=current scene unique ID</div>
+<div class=tab>auxData[2]=previous scene unique ID</div>
 <div>sim_message_eventcallback_instanceabouttoswitch</div>
 <div class=tab>we are about to switch to a different scene</div>
 <div class=tab>auxData[0]: do not use</div>
 <div class=tab>auxData[1]=next scene unique ID</div>
+<div class=tab>auxData[2]=current scene unique ID</div>
 
 <div>sim_message_eventcallback_scriptstateabouttobedestroyed</div>
 <div class=tab>The specified script state is about to be destroyed</div>

en/designingDynamicSimulations.htm

@@ -56,8 +56,9 @@ <h2>
 <p class=imageLabel>[Static/non-static, respondable/non-respondable shape behaviors and interactions]</p>
 <br>
 
-<p>Two respondable shapes will always produce a collision reaction, unless their respective collision masks don't overlap. Static/non-static, respondable/non-respondable shape properties, as well as collision masks can be set in the <a href="shapeDynamicsProperties.htm">shape dynamics dialog</a>.<br>
-</p>
+<p>Two respondable shapes will always produce a collision reaction, unless their respective collision masks don't overlap. Static/non-static, respondable/non-respondable shape properties, as well as collision masks can be set in the <a href="shapeDynamicsProperties.htm">shape dynamics dialog</a>.</p>
+
+<p>Note: in MuJoCo, static shapes (<em>mocap</em> bodies) do not transmit friction forces. For that reason will static shapes in MuJoCo always be represented as a <em>mocap</em> body linked to a non-static free body via a <em>weld</em> constraint (unless the static shape's <a href="propertiesReference.htm#kinematic">kinematic</a> property is set to false).</p>
 
 <br>
 
@@ -95,6 +96,7 @@ <h2>
 <p class=imageLabel>[Dynamic overlap constraint, that rigidly binds two shapes]</p>
 <br>
 
+<p>Note: in MuJoCo, loop closures are handled via <em>weld</em> constraints that can appear soft or wobbly, depending on the setup. Stiffness/rigidity of the related <em>weld</em> constraint can be adjusted via the <a href="propertiesReference.htm#mujoco.overlapConstrSolref">mujoco.overlapConstrSolref</a>, <a href="propertiesReference.htm#mujoco.overlapConstrSolimp">mujoco.overlapConstrSolimp</a> and <a href="propertiesReference.htm#mujoco.overlapConstrTorquescale">mujoco.overlapConstrTorquescale</a> dummy properties (the average values are taken between both dummy properties).</p>
 
 <h2>
 <a name="rigidCompounds"></a>Rigid compounds

en/propertiesReference.htm

@@ -173,6 +173,9 @@ <h2><a name="scene"></a>Scene properties <span style="font-size: 60%;">(target i
 <dt><div class="mujoco.kinematicBodiesInertia"><a name="mujoco.kinematicBodiesInertia"></a><strong>mujoco.kinematicBodiesInertia</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.kinematicBodiesMass"><a name="mujoco.kinematicBodiesMass"></a><strong>mujoco.kinematicBodiesMass</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.kinematicBodiesOverrideFlags"><a name="mujoco.kinematicBodiesOverrideFlags"></a><strong>mujoco.kinematicBodiesOverrideFlags</strong>  (int):</div></dt><dd>Refer to engine's documentation</dd>
+<dt><div class="mujoco.kinematicWeldSolimp"><a name="mujoco.kinematicWeldSolimp"></a><strong>mujoco.kinematicWeldSolimp</strong>  (double[]):</div></dt><dd>Refer to engine's documentation</dd>
+<dt><div class="mujoco.kinematicWeldSolref"><a name="mujoco.kinematicWeldSolref"></a><strong>mujoco.kinematicWeldSolref</strong>  (double[]):</div></dt><dd>Refer to engine's documentation</dd>
+<dt><div class="mujoco.kinematicWeldTorquescale"><a name="mujoco.kinematicWeldTorquescale"></a><strong>mujoco.kinematicWeldTorquescale</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.limitEnable"><a name="mujoco.limitEnable"></a><strong>mujoco.limitEnable</strong>  (bool):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.ls_iterations"><a name="mujoco.ls_iterations"></a><strong>mujoco.ls_iterations</strong>  (int):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.ls_tolerance"><a name="mujoco.ls_tolerance"></a><strong>mujoco.ls_tolerance</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
@@ -323,6 +326,10 @@ <h2><a name="object"></a>Scene object common properties <span style="font-size:
 <h2><a name="shape"></a>Shape properties <span style="font-size: 60%;">(target is a shape)</span></h2>
 <div class="constList">
 <dl class="grid-list">
+<dt><div class="applyColor.diffuse"><a name="applyColor.diffuse"></a><strong>applyColor.diffuse</strong>  (color (float[3]), not readable):</div></dt><dd>Applies the diffuse color component to all contained meshes</dd>
+<dt><div class="applyColor.emission"><a name="applyColor.emission"></a><strong>applyColor.emission</strong>  (color (float[3]), not readable):</div></dt><dd>Applies the emission color component to all contained meshes</dd>
+<dt><div class="applyColor.specular"><a name="applyColor.specular"></a><strong>applyColor.specular</strong>  (color (float[3]), not readable):</div></dt><dd>Applies the specular color component to all contained meshes</dd>
+<dt><div class="applyColor.transparency"><a name="applyColor.transparency"></a><strong>applyColor.transparency</strong>  (double, not readable):</div></dt><dd>Applies transparency to all contained meshes</dd>
 <dt><div class="applyCulling"><a name="applyCulling"></a><strong>applyCulling</strong>  (bool, not readable):</div></dt><dd>Enables/disables culling for all contained meshes</dd>
 <dt><div class="applyShadingAngle"><a name="applyShadingAngle"></a><strong>applyShadingAngle</strong>  (double, not readable):</div></dt><dd>Applies a shading angle to all contained meshes</dd>
 <dt><div class="applyShowEdges"><a name="applyShowEdges"></a><strong>applyShowEdges</strong>  (bool, not readable):</div></dt><dd>Enables/disables edges for all contained meshes</dd>
@@ -338,6 +345,7 @@ <h2><a name="shape"></a>Shape properties <span style="font-size: 60%;">(target i
 <dt><div class="bullet.restitution"><a name="bullet.restitution"></a><strong>bullet.restitution</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="bullet.stickyContact"><a name="bullet.stickyContact"></a><strong>bullet.stickyContact</strong>  (bool):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="centerOfMass"><a name="centerOfMass"></a><strong>centerOfMass</strong>  (vector[3]):</div></dt><dd>Center of mass, relative to the shape's reference frame</dd>
+<dt><div class="compound"><a name="compound"></a><strong>compound</strong>  (bool, not writable):</div></dt><dd>Whether the shape is a compound</dd>
 <dt><div class="convex"><a name="convex"></a><strong>convex</strong>  (bool, not writable):</div></dt><dd>Whether the shape's components are all convex or not</dd>
 <dt><div class="dynAngularVelocity"><a name="dynAngularVelocity"></a><strong>dynAngularVelocity</strong>  (vector[3], not writable):</div></dt><dd>Rotational velocity, as transmitted by the physics engine</dd>
 <dt><div class="dynLinearVelocity"><a name="dynLinearVelocity"></a><strong>dynLinearVelocity</strong>  (vector[3], not writable):</div></dt><dd>Linear velocity, as transmitted by the physics engine</dd>
@@ -378,6 +386,7 @@ <h2><a name="shape"></a>Shape properties <span style="font-size: 60%;">(target i
 <dt><div class="ode.softCfm"><a name="ode.softCfm"></a><strong>ode.softCfm</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="ode.softErp"><a name="ode.softErp"></a><strong>ode.softErp</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="pmiQuaternion"><a name="pmiQuaternion"></a><strong>pmiQuaternion</strong>  (<a href="positionOrientationTransformation.htm#quaternion">quaternion</a>, not writable):</div></dt><dd>Quaternion of the principal moment of inertia, relative to the shape's reference frame</dd>
+<dt><div class="primitive"><a name="primitive"></a><strong>primitive</strong>  (bool, not writable):</div></dt><dd>Whether the shape's components are all primitives</dd>
 <dt><div class="principalMomentOfInertia"><a name="principalMomentOfInertia"></a><strong>principalMomentOfInertia</strong>  (double[], not writable):</div></dt><dd>Principal moment of inertia, relative to pmiQuaternion</dd>
 <dt><div class="respondable"><a name="respondable"></a><strong>respondable</strong>  (bool):</div></dt><dd>Shape will transmit a collision force</dd>
 <dt><div class="respondableMask"><a name="respondableMask"></a><strong>respondableMask</strong>  (int):</div></dt><dd>Respondable mask</dd>
@@ -568,6 +577,9 @@ <h2><a name="dummy"></a>Dummy properties <span style="font-size: 60%;">(target i
 <dt><div class="mujoco.limitsSolimp"><a name="mujoco.limitsSolimp"></a><strong>mujoco.limitsSolimp</strong>  (double[]):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.limitsSolref"><a name="mujoco.limitsSolref"></a><strong>mujoco.limitsSolref</strong>  (double[]):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.margin"><a name="mujoco.margin"></a><strong>mujoco.margin</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
+<dt><div class="mujoco.overlapConstrSolimp"><a name="mujoco.overlapConstrSolimp"></a><strong>mujoco.overlapConstrSolimp</strong>  (double[]):</div></dt><dd>Refer to engine's documentation</dd>
+<dt><div class="mujoco.overlapConstrSolref"><a name="mujoco.overlapConstrSolref"></a><strong>mujoco.overlapConstrSolref</strong>  (double[]):</div></dt><dd>Refer to engine's documentation</dd>
+<dt><div class="mujoco.overlapConstrTorquescale"><a name="mujoco.overlapConstrTorquescale"></a><strong>mujoco.overlapConstrTorquescale</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.springDamping"><a name="mujoco.springDamping"></a><strong>mujoco.springDamping</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.springLength"><a name="mujoco.springLength"></a><strong>mujoco.springLength</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>
 <dt><div class="mujoco.springStiffness"><a name="mujoco.springStiffness"></a><strong>mujoco.springStiffness</strong>  (double):</div></dt><dd>Refer to engine's documentation</dd>

en/simMujoco.htm

@@ -30,7 +30,7 @@
 <a href="?#simMujoco.composite">simMujoco.composite</a>
 <a href="?#simMujoco.getCompositeInfo">simMujoco.getCompositeInfo</a>
 <a href="?#simMujoco.getFlexcompInfo">simMujoco.getFlexcompInfo</a>
-<a href="?#simMujoco.geInfo">simMujoco.getInfo</a>
+<a href="?#simMujoco.getInfo">simMujoco.getInfo</a>
 <a href="?#simMujoco.addInjection">simMujoco.addInjection</a>
 <a href="?#simMujoco.removeInjection">simMujoco.removeInjection</a>
 </pre></td></tr>
@@ -211,7 +211,7 @@
 <tr class="apiTableTr">
 <td class="apiTableLeftLParam">Lua arguments</td>
 <td class="apiTableRightLParam">
-<div><strong>what</strong>: the information type. Currently only 'nameAndIds' is supported</div>
+<div><strong>what</strong>: the information type. Currently only 'nameAndIds' and 'bodies' is supported</div>
 </td>
 </tr>
 <tr class="apiTableTr">