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Allow passing a null pointer in mj_recompile.

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Fixes #1819.

PiperOrigin-RevId: 653242587
Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01
This commit is contained in:
Alessio Quaglino
2024-07-17 08:28:13 -07:00
committed by Copybara-Service
parent a2fd34caee
commit 2664cc1391
4 changed files with 38 additions and 24 deletions
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src/user/user_api.cc
+7 -2
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@@ -86,9 +86,14 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
// recompile spec into existing model and data while preserving the state
void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
modelC->SaveState(d);
if (d) {
modelC->SaveState(d->qpos, d->qvel, d->act);
}
modelC->Compile(vfs, &m);
modelC->RestoreState(m, &d);
if (d) {
modelC->MakeData(m, &d);
modelC->RestoreState(d->qpos, d->qvel, d->act);
}
}