Implementation:Google deepmind Mujoco User Composite Header

Knowledge Sources	Google_deepmind_Mujoco
Domains	Physics Simulation, Composite Objects
Last Updated	2026-02-15 04:00 GMT

Overview

Declares the mjCComposite class and associated enums for composite object types, kinds, and shapes.

Description

user_composite.h defines the type enums mjtCompType (particle, grid, cable, rope, loop, cloth), mjtCompKind (joint), and mjtCompShape (line, cos, sin, zero) that control composite object generation. The mjCComposite class declaration includes methods for making composites (Make, MakeCable), generating skins (MakeSkin2, MakeSkin2Subgrid), and creating cable bones. Public properties include prefix, type, count array, offset, quaternion, initial boundary type for cables, skin settings, and plugin configuration.

Usage

Included by the native MJCF reader and the composite implementation to define the interface for composite object construction.

Code Reference

Source Location

• Repository: Google_deepmind_Mujoco
• File: src/user/user_composite.h
• Lines: 1-125

Key Functions

typedef enum _mjtCompType {
  mjCOMPTYPE_PARTICLE, mjCOMPTYPE_GRID, mjCOMPTYPE_CABLE,
  mjCOMPTYPE_ROPE, mjCOMPTYPE_LOOP, mjCOMPTYPE_CLOTH
} mjtCompType;

class mjCComposite {
 public:
  mjCComposite(void);
  bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
  bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
  void MakeSkin2(mjCModel* model, mjtNum inflate);
};

Import

#include "user/user_composite.h"

I/O Contract

Inputs

Name	Type	Required	Description
N/A	N/A	N/A	Header declaring the mjCComposite class and associated enums

Outputs

Name	Type	Description
mjCComposite	class	Composite object builder with type, count, offset, and skin properties

Related Pages

• Environment:Google_deepmind_Mujoco_C_Build_Environment