rename: unify struct naming convention and revert version to 0.1(.1)

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name          = "rusty_mujoco"
-version       = "0.2.0"
+version       = "0.1.1"
 edition       = "2024"
 authors       = ["kanarus <kanarus786@gmail.com>"]
 documentation = "https://docs.rs/rusty_mujoco"

README.md

@@ -57,7 +57,7 @@
 *Cargo.toml*
 ```toml
 [dependencies]
-rusty_mujoco = "0.2"
+rusty_mujoco = "0.1"
 ```
 
 *src/main.rs*
@@ -69,17 +69,11 @@ fn main() {
 
 See the [examples](./examples) directory for working examples.
 
-### Note
-
-- Binding policy:
+###  Binding Philosophy:
   - implement based on [rust-lang/bindgen](https://github.com/rust-lang/rust-bindgen).
   - deny any direct field access to raw-bindgen structs and provide fully-accessible methods.
   - automatically handle *resource types* that need proper resource management
     (e.g. calling `mj_deleteModel` for `MjModel` in its `Drop` impl).
-- Naming convention for MuJoCo items:
-  - *resource types*: PascalCase (`Mj~`)
-  - *other types*: as they are in MuJoCo (`mj~`)
-  - *functions*: as they in MuJoCo (`mj~_~`)
 
 ## Previous Works
 

examples/visualize_left_object.rs

@@ -1,5 +1,5 @@
 use rusty_mujoco::{mj_loadXML, mj_makeData, mj_step, mjr_render, mjv_updateScene};
-use rusty_mujoco::{MjrContext, mjrRect, MjvScene, mjvCamera, mjvOption, mjtCatBit, mjtFontScale};
+use rusty_mujoco::{mjrContext, mjrRect, mjvScene, mjvCamera, mjvOption, mjtCatBit, mjtFontScale};
 
 struct Args {
     xml_path: String,
@@ -49,9 +49,9 @@ fn main() {
     window.set_close_polling(true);
     glfw::Context::make_current(&mut *window);
 
-    let con = MjrContext::new(&model, mjtFontScale::X150);
+    let con = mjrContext::new(&model, mjtFontScale::X150);
     let opt = mjvOption::default();
-    let mut scn = MjvScene::new(&model, 2000);
+    let mut scn = mjvScene::new(&model, 2000);
     let mut cam = mjvCamera::default();
     camera_name.map(|name| cam.set_fixedcamid(model.object_id(&name).expect("No camera of such name in the model")));
 

src/functions/assets.rs

@@ -1,33 +1,33 @@
 //! # [Assets](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#assets)
 
-use crate::{MjSpec, mjsMesh, mjsDefault, mjsHField, mjsSkin, mjsTexture, mjsMaterial};
+use crate::{mjSpec, mjsMesh, mjsDefault, mjsHField, mjsSkin, mjsTexture, mjsMaterial};
 
 /// Add mesh to mjSpec.
 pub fn mjs_addMesh<'spec>(
-    s: &'spec mut MjSpec,
+    s: &'spec mut mjSpec,
     def: &mjsDefault,
 ) -> &'spec mut mjsMesh {
     unsafe { &mut *crate::bindgen::mjs_addMesh(s.as_mut_ptr(), def) }
 }
 
 /// Add height field to mjSpec.
-pub fn mjs_addHField<'spec>(s: &'spec mut MjSpec) -> &'spec mut mjsHField {
+pub fn mjs_addHField<'spec>(s: &'spec mut mjSpec) -> &'spec mut mjsHField {
     unsafe { &mut *crate::bindgen::mjs_addHField(s.as_mut_ptr()) }
 }
 
 /// Add skin to mjSpec.
-pub fn mjs_addSkin<'spec>(s: &'spec mut MjSpec) -> &'spec mut mjsSkin {
+pub fn mjs_addSkin<'spec>(s: &'spec mut mjSpec) -> &'spec mut mjsSkin {
     unsafe { &mut *crate::bindgen::mjs_addSkin(s.as_mut_ptr()) }
 }
 
 /// Add texture to mjSpec.
-pub fn mjs_addTexture<'spec>(s: &'spec mut MjSpec) -> &'spec mut mjsTexture {
+pub fn mjs_addTexture<'spec>(s: &'spec mut mjSpec) -> &'spec mut mjsTexture {
     unsafe { &mut *crate::bindgen::mjs_addTexture(s.as_mut_ptr()) }
 }
 
 /// Add material to mjSpec.
 pub fn mjs_addMaterial<'spec>(
-    s: &'spec mut MjSpec,
+    s: &'spec mut mjSpec,
     def: &mjsDefault,
 ) -> &'spec mut mjsMaterial {
     unsafe { &mut *crate::bindgen::mjs_addMaterial(s.as_mut_ptr(), def) }

src/functions/attachment.rs

@@ -1,6 +1,6 @@
 //! # [Attachment](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#attachment)
 
-use crate::{MjSpec, mjsElement, mjsBody, mjsDefault};
+use crate::{mjSpec, mjsElement, mjsBody, mjsDefault};
 
 /// Attach child to a parent, return the attached element if success or `None` otherwise.
 /* mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
@@ -28,7 +28,7 @@ pub fn mjs_attach<'element>(
 
 /// Delete body and descendants from mjSpec, remove all references.
 /* int mjs_detachBody(mjSpec* s, mjsBody* b); */
-pub fn mjs_detachBody(s: &mut MjSpec, b: &mut mjsBody) -> Result<(), ()> {
+pub fn mjs_detachBody(s: &mut mjSpec, b: &mut mjsBody) -> Result<(), ()> {
     /*
     <https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mjs-detachbody>
     > return 0 on success
@@ -38,7 +38,7 @@ pub fn mjs_detachBody(s: &mut MjSpec, b: &mut mjsBody) -> Result<(), ()> {
 
 /// Delete default class and descendants from mjSpec, remove all references.
 /* int mjs_detachDefault(mjSpec* s, mjsDefault* d); */
-pub fn mjs_detachDefault(s: &mut MjSpec, d: &mut mjsDefault) -> Result<(), ()> {
+pub fn mjs_detachDefault(s: &mut mjSpec, d: &mut mjsDefault) -> Result<(), ()> {
     /*
     <https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mjs-detachdefault>
     > return 0 on success

src/functions/components.rs

@@ -4,72 +4,72 @@
 
 /// Run position-dependent computations.
 /* void mj_fwdPosition(const mjModel* m, mjData* d); */
-pub fn mj_fwdPosition(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_fwdPosition(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_fwdPosition(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Run velocity-dependent computations.
 /* void mj_fwdVelocity(const mjModel* m, mjData* d); */
-pub fn mj_fwdVelocity(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_fwdVelocity(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_fwdVelocity(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Compute actuator force qfrc_actuator.
 /* void mj_fwdActuation(const mjModel* m, mjData* d); */
-pub fn mj_fwdActuation(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_fwdActuation(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_fwdActuation(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Add up all non-constraint forces, compute qacc_smooth.
 /* void mj_fwdAcceleration(const mjModel* m, mjData* d); */
-pub fn mj_fwdAcceleration(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_fwdAcceleration(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_fwdAcceleration(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Run selected constraint solver.
 /* void mj_fwdConstraint(const mjModel* m, mjData* d); */
-pub fn mj_fwdConstraint(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_fwdConstraint(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_fwdConstraint(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Euler integrator, semi-implicit in velocity.
 /* void mj_Euler(const mjModel* m, mjData* d); */
-pub fn mj_Euler(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_Euler(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_Euler(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Runge-Kutta explicit order-N integrator.
 /* void mj_RungeKutta(const mjModel* m, mjData* d, int N); */
-pub fn mj_RungeKutta(m: &crate::MjModel, d: &mut crate::MjData, n: usize) {
+pub fn mj_RungeKutta(m: &crate::mjModel, d: &mut crate::mjData, n: usize) {
     unsafe { crate::bindgen::mj_RungeKutta(m.as_ptr(), d.as_mut_ptr(), n as i32) }
 }
 
 /// Integrates the simulation state using an implicit-in-velocity integrator (either “implicit” or “implicitfast”, see Numerical Integration), and advances simulation time. See mjdata.h for fields computed by this function.
 /* void mj_implicit(const mjModel* m, mjData* d); */
-pub fn mj_implicit(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_implicit(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_implicit(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Run position-dependent computations in inverse dynamics.
 /* void mj_invPosition(const mjModel* m, mjData* d); */
-pub fn mj_invPosition(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_invPosition(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_invPosition(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Run velocity-dependent computations in inverse dynamics.
 /* void mj_invVelocity(const mjModel* m, mjData* d); */
-pub fn mj_invVelocity(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_invVelocity(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_invVelocity(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Apply the analytical formula for inverse constraint dynamics.
 /* void mj_invConstraint(const mjModel* m, mjData* d); */
-pub fn mj_invConstraint(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_invConstraint(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_invConstraint(m.as_ptr(), d.as_mut_ptr()) }
 }
 
 /// Compare forward and inverse dynamics, save results in fwdinv.
 /* void mj_compareFwdInv(const mjModel* m, mjData* d); */
-pub fn mj_compareFwdInv(m: &crate::MjModel, d: &mut crate::MjData) {
+pub fn mj_compareFwdInv(m: &crate::mjModel, d: &mut crate::mjData) {
     unsafe { crate::bindgen::mj_compareFwdInv(m.as_ptr(), d.as_mut_ptr()) }
 }

src/functions/element_initialization.rs

@@ -1,7 +1,7 @@
 //! # [Element initialization](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#element-initialization)
 
 use crate::{
-    MjSpec, 
+    mjSpec, 
     mjsOrientation, mjsBody, mjsFrame, mjsJoint, mjsGeom, mjsSite,
     mjsCamera, mjsLight, mjsFlex, mjsMesh, mjsHField, mjsSkin,
     mjsTexture, mjsMaterial, mjsPair, mjsEquality, mjsTendon,
@@ -13,10 +13,10 @@ use crate::{
 /// 
 /// **note**: This function is called in the `Default` implementation of [`mjSpec`].
 /* void mjs_defaultSpec(mjSpec* spec); */
-pub fn mjs_defaultSpec() -> MjSpec {
+pub fn mjs_defaultSpec() -> mjSpec {
     let mut c = Box::<crate::bindgen::mjSpec>::new_uninit();
     unsafe { crate::bindgen::mjs_defaultSpec(c.as_mut_ptr()); }
-    MjSpec::from_raw(Box::into_raw(unsafe { c.assume_init() }))
+    mjSpec::from_raw(Box::into_raw(unsafe { c.assume_init() }))
 }
 
 /// Set default orientation attributes.

src/functions/error_and_memory.rs

@@ -37,7 +37,7 @@ pub fn mju_free(ptr: *mut u8) {
 /// High-level warning function: count warnings in mjData, print only the first.
 /* void mj_warning(mjData* d, int warning, int info); */
 pub fn mj_warning(
-    d: &mut crate::MjData,
+    d: &mut crate::mjData,
     warning: crate::bindgen::mjtWarning,
     info: usize,
 ) {
@@ -54,7 +54,7 @@ pub fn mju_writeLog(kind: impl Into<String>, msg: impl Into<String>) {
 
 /// Get compiler error message from spec.
 /* const char* mjs_getError(mjSpec* s); */
-pub fn mjs_getError(s: &mut crate::MjSpec) -> Option<String> {
+pub fn mjs_getError(s: &mut crate::mjSpec) -> Option<String> {
     let c_ptr = unsafe { crate::bindgen::mjs_getError(s.as_mut_ptr()) };
     if c_ptr.is_null() {
         None
@@ -65,7 +65,7 @@ pub fn mjs_getError(s: &mut crate::MjSpec) -> Option<String> {
 
 /// Check if compiler error is a warning.
 /* int mjs_isWarning(mjSpec* s); */
-pub fn mjs_isWarning(s: &mut crate::MjSpec) -> bool {
+pub fn mjs_isWarning(s: &mut crate::mjSpec) -> bool {
     /*
     <https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mjs-isWarning>
     > Returns 1 if the error is a warning.

src/functions/find_and_get_utilities.rs

@@ -1,29 +1,29 @@
 //! # [Find and get utilities](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#find-and-get-utilities)
 
 use crate::{
-    MjSpec,
+    mjSpec,
     mjsElement, mjsBody, mjsFrame, mjsDefault,
     mjtObj,
 };
 
 /// Get spec from element.
 /* mjSpec* mjs_getSpec(mjsElement* element); */
-pub fn mjs_getSpec(element: &mut mjsElement) -> Option<MjSpec> {
+pub fn mjs_getSpec(element: &mut mjsElement) -> Option<mjSpec> {
     let ptr = unsafe { crate::bindgen::mjs_getSpec(element) };
-    if ptr.is_null() {None} else {Some(MjSpec::from_raw(ptr)) }
+    if ptr.is_null() {None} else {Some(mjSpec::from_raw(ptr)) }
 }
 
 /// Find spec (model asset) by name.
 /* mjSpec* mjs_findSpec(mjSpec* spec, const char* name); */
-pub fn mjs_findSpec<'spec>(spec: &'spec mut MjSpec, name: &str) -> Option<MjSpec> {
+pub fn mjs_findSpec<'spec>(spec: &'spec mut mjSpec, name: &str) -> Option<mjSpec> {
     let name = std::ffi::CString::new(name).expect("`name` must not contain null bytes");
     let ptr = unsafe { crate::bindgen::mjs_findSpec(spec.as_mut_ptr(), name.as_ptr()) };
-    if ptr.is_null() {None} else {Some(MjSpec::from_raw(ptr)) }
+    if ptr.is_null() {None} else {Some(mjSpec::from_raw(ptr)) }
 }
 
 /// Find body in spec by name.
 /* mjsBody* mjs_findBody(mjSpec* s, const char* name); */
-pub fn mjs_findBody<'spec>(spec: &'spec mut MjSpec, name: &str) -> Option<&'spec mut mjsBody> {
+pub fn mjs_findBody<'spec>(spec: &'spec mut mjSpec, name: &str) -> Option<&'spec mut mjsBody> {
     let name = std::ffi::CString::new(name).expect("`name` must not contain null bytes");
     let ptr = unsafe { crate::bindgen::mjs_findBody(spec.as_mut_ptr(), name.as_ptr()) };
     if ptr.is_null() {None} else {Some(unsafe { &mut *ptr }) }
@@ -32,7 +32,7 @@ pub fn mjs_findBody<'spec>(spec: &'spec mut MjSpec, name: &str) -> Option<&'spec
 /// Find element in spec by name.
 /* mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name); */
 pub fn mjs_findElement<'spec>(
-    spec: &'spec mut MjSpec,
+    spec: &'spec mut mjSpec,
     type_: mjtObj,
     name: &str,
 ) -> Option<&'spec mut mjsElement> {
@@ -65,7 +65,7 @@ pub fn mjs_getFrame<'element>(element: &'element mut mjsElement) -> Option<&'ele
 
 /// Find frame by name.
 /* mjsFrame* mjs_findFrame(mjSpec* s, const char* name); */
-pub fn mjs_findFrame<'spec>(spec: &'spec mut MjSpec, name: &str) -> Option<&'spec mut mjsFrame> {
+pub fn mjs_findFrame<'spec>(spec: &'spec mut mjSpec, name: &str) -> Option<&'spec mut mjsFrame> {
     let name = std::ffi::CString::new(name).expect("`name` must not contain null bytes");
     let ptr = unsafe { crate::bindgen::mjs_findFrame(spec.as_mut_ptr(), name.as_ptr()) };
     if ptr.is_null() {None} else {Some(unsafe { &mut *ptr }) }
@@ -81,7 +81,7 @@ pub fn mjs_getDefault<'element>(element: &'element mut mjsElement) -> Option<&'e
 /// Find default in model by class name.
 /* mjsDefault* mjs_findDefault(mjSpec* s, const char* classname); */
 pub fn mjs_findDefault<'spec>(
-    spec: &'spec mut MjSpec,
+    spec: &'spec mut mjSpec,
     classname: &str,
 ) -> Option<&'spec mut mjsDefault> {
     let classname = std::ffi::CString::new(classname).expect("`classname` must not contain null bytes");
@@ -91,7 +91,7 @@ pub fn mjs_findDefault<'spec>(
 
 /// Get global default from model.
 /* mjsDefault* mjs_getSpecDefault(mjSpec* s); */
-pub fn mjs_getSpecDefault<'spec>(spec: &'spec mut MjSpec) -> Option<&'spec mut mjsDefault> {
+pub fn mjs_getSpecDefault<'spec>(spec: &'spec mut mjSpec) -> Option<&'spec mut mjsDefault> {
     let ptr = unsafe { crate::bindgen::mjs_getSpecDefault(spec.as_mut_ptr()) };
     if ptr.is_null() {None} else {Some(unsafe { &mut *ptr })}
 }
@@ -127,7 +127,7 @@ pub fn mjs_nextChild<'body>(
 /// Return spec’s first element of selected type.
 /* mjsElement* mjs_firstElement(mjSpec* s, mjtObj type); */
 pub fn mjs_firstElement<'spec>(
-    spec: &'spec mut MjSpec,
+    spec: &'spec mut mjSpec,
     type_: mjtObj,
 ) -> Option<&'spec mut mjsElement> {
     let ptr = unsafe { crate::bindgen::mjs_firstElement(spec.as_mut_ptr(), type_) };
@@ -137,7 +137,7 @@ pub fn mjs_firstElement<'spec>(
 /// Return spec’s next element; return `None` if element is last.
 /* mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element); */
 pub fn mjs_nextElement<'spec>(
-    spec: &'spec mut MjSpec,
+    spec: &'spec mut mjSpec,
     element: &mut mjsElement,
 ) -> Option<&'spec mut mjsElement> {
     let ptr = unsafe { crate::bindgen::mjs_nextElement(spec.as_mut_ptr(), element) };