Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_callback.c

@@ -0,0 +1,42 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "engine/engine_callback.h"
+
+#include <mujoco/mjdata.h>
+
+//------------------------- global callback pointers -----------------------------------------------
+
+mjfGeneric mjcb_passive  = 0;
+mjfGeneric mjcb_control  = 0;
+mjfConFilt mjcb_contactfilter = 0;
+mjfSensor  mjcb_sensor   = 0;
+mjfTime    mjcb_time     = 0;
+mjfAct     mjcb_act_bias = 0;
+mjfAct     mjcb_act_gain = 0;
+mjfAct     mjcb_act_dyn  = 0;
+
+
+
+// reset callbacks to defauls
+void mj_resetCallbacks(void) {
+  mjcb_passive  = 0;
+  mjcb_control  = 0;
+  mjcb_contactfilter = 0;
+  mjcb_sensor   = 0;
+  mjcb_time     = 0;
+  mjcb_act_bias = 0;
+  mjcb_act_gain = 0;
+  mjcb_act_dyn  = 0;
+}