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Don't initialize plugins during model compilation.

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PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
This commit is contained in:
Yuval Tassa
2023-11-27 11:00:28 -08:00
committed by Copybara-Service
parent 6412c95a37
commit 51d80564fa
4 changed files with 95 additions and 139 deletions
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src/engine/engine_io.h
+5 -2
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@@ -87,10 +87,13 @@ MJAPI const char* mj_validateReferences(const mjModel* m);
//------------------------------- mjData -----------------------------------------------------------
// Allocate mjData corresponding to given model.
// If the model buffer is unallocated the initial configuration will not be set.
// allocate mjData corresponding to given model, initialize plugins, reset the state
// if the model buffer is unallocated the initial configuration will not be set
MJAPI mjData* mj_makeData(const mjModel* m);
// allocate mjData corresponding to given model, used internally
MJAPI mjData* mj_makeRawData(const mjModel* m);
// Copy mjData.
// m is only required to contain the size fields from MJMODEL_INTS.
MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);