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.. _API:
=========
Functions
=========
The main header `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a
large number of functions. However the functions that most users are likely to need are a small fraction.
API function can be classified as:
- **Main entry points**
- :ref:`Parse and compile<Parseandcompile>` an :ref:`mjModel` from XML files and assets.
- :ref:`Main simulation<Mainsimulation>` entry points, including :ref:`mj_step`.
- **Support functions**
- :ref:`Support<Support>` functions requiring :ref:`mjModel` and :ref:`mjData`.
- Pipeline :ref:`components<Components>`, called from :ref:`mj_step`, :ref:`mj_forward` and :ref:`mj_inverse`.
- :ref:`Sub components<Subcomponents>` of the simulation pipeline.
- :ref:`Ray casting<Raycollisions>`.
- :ref:`Printing<Printing>` of various quantities.
- :ref:`Virtual file system<Virtualfilesystem>`, used to load assets from memory.
- :ref:`Initialization<Initialization>` of data structures.
- :ref:`Error and memory<Errorandmemory>`.
- :ref:`Miscellaneous<Miscellaneous>` functions.
- **Visualization, Rendering, UI**
- :ref:`Abstract interaction<Interaction>`: mouse control of cameras and perturbations.
- :ref:`Abstract Visualization<Visualization-api>`.
- :ref:`OpenGL rendering<OpenGLrendering>`.
- :ref:`UI framework<UIframework>`.
- **Threads, Plugins, Derivatives**
- :ref:`Derivatives<Derivatives-api>`.
- :ref:`Thread<Thread>` |-| -related functions.
- :ref:`Plugin<Plugins-api>` |-| -related functions.
- **Math**
- Aliases for C :ref:`standard math<Standardmath>` functions.
- :ref:`Vector math<Vectormath>`.
- :ref:`Sparse math<Sparsemath>`.
- :ref:`Quaternions<Quaternions>`.
- :ref:`Pose transformations<Poses>`.
- :ref:`Matrix decompositions and solvers<Decompositions>`.
- **Model editing**
- :ref:`Attachment<Attachment>`.
- :ref:`Tree elements<AddTreeElements>`.
- :ref:`Non-tree elements<AddNonTreeElements>`.
- :ref:`Assets<AddAssets>`.
- :ref:`Find and get utilities<FindAndGetUtilities>`.
- :ref:`Attribute setters<AttributeSetters>`.
- :ref:`Attribute getters<AttributeGetters>`.
- :ref:`Spec utilities<SpecUtilities>`.
- :ref:`Element initialization<ElementInitialization>`.
- :ref:`Element casting<ElementCasting>`.
.. include:: functions.rst
|