Add mjmModel opaque pointer to C API.

PiperOrigin-RevId: 607619891 Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
2024-02-16 02:20:29 -08:00
parent f9f7827a64
commit 5e353efaaf
9 changed files with 124 additions and 113 deletions
@@ -72,6 +72,8 @@ class mjCModel {
  mjCModel();                                          // constructor
  ~mjCModel();                                         // destructor

+  mjmModel spec;
+
  mjModel*    Compile(const mjVFS* vfs = 0);           // COMPILER: construct mjModel
  bool        CopyBack(const mjModel*);                // DECOMPILER: copy numeric back
  void        FuseStatic(void);                        // fuse static bodies with parent