Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization.

This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.

PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1

doc/APIreference/functions.rst

@@ -2163,6 +2163,15 @@ Update entire scene given model state.
 
 Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
 
+.. _mjv_copyModel:
+
+`mjv_copyModel <#mjv_copyModel>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_copyModel
+
+Copy mjModel, skip large arrays not required for abstract visualization.
+
 .. _mjv_defaultSceneState:
 
 `mjv_defaultSceneState <#mjv_defaultSceneState>`__

doc/includes/references.h

@@ -3347,6 +3347,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
 int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
                              const mjvPerturb* pert, mjvCamera* cam, int catmask,
                              mjvScene* scn);
+void mjv_copyModel(mjModel* dest, const mjModel* src);
 void mjv_defaultSceneState(mjvSceneState* scnstate);
 void mjv_makeSceneState(const mjModel* m, const mjData* d,
                         mjvSceneState* scnstate, int maxgeom);