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Add mjData flags marking lazily evaluated pipeline stages

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PiperOrigin-RevId: 861763477
Change-Id: Ib613c56949264573a16306800658f868d2aa7665
This commit is contained in:
Yuval Tassa
2026-01-27 09:44:16 -08:00
committed by Copybara-Service
parent ba32568138
commit 5fb47df197
12 changed files with 124 additions and 73 deletions
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wasm/codegen/generated/bindings.cc
+28
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@@ -6205,6 +6205,30 @@ struct MjData {
void set_nv_awake(int value) {
ptr_->nv_awake = value;
}
mjtByte flg_energypos() const {
return ptr_->flg_energypos;
}
void set_flg_energypos(mjtByte value) {
ptr_->flg_energypos = value;
}
mjtByte flg_energyvel() const {
return ptr_->flg_energyvel;
}
void set_flg_energyvel(mjtByte value) {
ptr_->flg_energyvel = value;
}
mjtByte flg_subtreevel() const {
return ptr_->flg_subtreevel;
}
void set_flg_subtreevel(mjtByte value) {
ptr_->flg_subtreevel = value;
}
mjtByte flg_rnepost() const {
return ptr_->flg_rnepost;
}
void set_flg_rnepost(mjtByte value) {
ptr_->flg_rnepost = value;
}
mjtNum time() const {
return ptr_->time;
}
@@ -11075,6 +11099,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flexvert_J", &MjData::flexvert_J)
.property("flexvert_length", &MjData::flexvert_length)
.property("flexvert_xpos", &MjData::flexvert_xpos)
.property("flg_energypos", &MjData::flg_energypos, &MjData::set_flg_energypos, reference())
.property("flg_energyvel", &MjData::flg_energyvel, &MjData::set_flg_energyvel, reference())
.property("flg_rnepost", &MjData::flg_rnepost, &MjData::set_flg_rnepost, reference())
.property("flg_subtreevel", &MjData::flg_subtreevel, &MjData::set_flg_subtreevel, reference())
.property("geom_xmat", &MjData::geom_xmat)
.property("geom_xpos", &MjData::geom_xpos)
.property("iLD", &MjData::iLD)