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

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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
This commit is contained in:
Yuval Tassa
2024-11-22 09:37:18 -08:00
committed by Copybara-Service
parent 74dcd51d83
commit 1d64362adc
9 changed files with 147 additions and 32 deletions
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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -6940,6 +6940,9 @@ public static unsafe extern void mjv_updateScene(mjModel_* m, mjData_* d, mjvOpt
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mjv_updateSceneFromState(mjvSceneState_* scnstate, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_copyModel(mjModel_* dest, mjModel_* src);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_defaultSceneState(mjvSceneState_* scnstate);