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Disable contact in the temporary mjData created during mjCModel::TryCompile.

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PiperOrigin-RevId: 478793238
Change-Id: I28ed324b70931eb416ca57574570bf02c977f337
This commit is contained in:
Saran Tunyasuvunakool
2022-10-04 08:20:17 -07:00
committed by Copybara-Service
parent bc1490b7a8
commit 5ef8cb6bbc
1 changed files with 3 additions and 0 deletions
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src/user/user_model.cc
+3
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@@ -2673,6 +2673,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
} }
// create data // create data
int disableflags = m->opt.disableflags;
m->opt.disableflags |= mjDSBL_CONTACT;
d = mj_makeData(m); d = mj_makeData(m);
if (!d) { if (!d) {
throw mjCError(0, "could not create mjData"); throw mjCError(0, "could not create mjData");
@@ -2710,6 +2712,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// delete data // delete data
mj_deleteData(d); mj_deleteData(d);
m->opt.disableflags = disableflags;
d = nullptr; d = nullptr;
// pass warning back // pass warning back