Interface to C API

When the user requires extra flexibility, that MuJoCo-rs does not offer, direct FFI bindings to the C language structs and functions can be used.

Direct FFI bindings are available inside the mujoco_rs::mujoco_c module.

Mixing between direct FFI bindings and the rest of MuJoCo-rs is also possible. Most of MuJoCo-rs’s structs are actually just FFI structs aliased to a PascalCase name. To obtain a reference to the FFI type inside of a wrapped type, call either ffi() or ffi_mut(). For example, MjData::ffi_mut and MjModel::ffi can be used as arguments to mj_step.

unsafe { mujoco_rs::mujoco_c::mj_step(model.ffi(), data.ffi_mut()) }

FFI bindings can also be used to read specific attributes that aren’t directly exposed via wrapped structs:

model.ffi().nq