Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.

PiperOrigin-RevId: 740378879 Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:35:44 -07:00
parent c931565fdc
commit 157b074116
15 changed files with 165 additions and 2 deletions
@@ -5008,6 +5008,7 @@ public unsafe struct mjData_ {
  public double* efc_force;
  public int* efc_state;
  public UIntPtr threadpool;
+  public UInt64 signature;
 }

 [StructLayout(LayoutKind.Sequential)]
@@ -5672,6 +5673,7 @@ public unsafe struct mjModel_ {
  public char* names;
  public int* names_map;
  public char* paths;
+  public UInt64 signature;
 }

 [StructLayout(LayoutKind.Sequential)]