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Add mj_extractState as a public API function.

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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.

PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
This commit is contained in:
Saran Tunyasuvunakool
2025-10-21 10:00:24 -07:00
committed by Copybara-Service
parent 25f5be82ff
commit 2f65e23779
11 changed files with 171 additions and 1 deletions
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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -6621,6 +6621,9 @@ public static unsafe extern int mj_stateSize(mjModel_* m, uint sig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_getState(mjModel_* m, mjData_* d, double* state, uint sig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_extractState(mjModel_* m, double* src, uint srcsig, double* dst, uint dstsig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_setState(mjModel_* m, mjData_* d, double* state, uint sig);