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
2024-11-22 09:37:18 -08:00
parent 74dcd51d83
commit 1d64362adc
9 changed files with 147 additions and 32 deletions
@@ -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);