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Refactor mj_fullM. This change is part of the deprecation of mjData.qM.

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PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
This commit is contained in:
Yuval Tassa
2026-06-02 17:22:15 -07:00
committed by Copybara-Service
parent 49211a05c5
commit 7b9b88060e
15 changed files with 49 additions and 63 deletions
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unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -6946,7 +6946,7 @@ public static unsafe extern int mj_name2id(mjModel_* m, int type, [MarshalAs(Unm
public static unsafe extern IntPtr mj_id2name(mjModel_* m, int type, int id);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_fullM(mjModel_* m, double* dst, double* M);
public static unsafe extern void mj_fullM(mjModel_* m, mjData_* d, double* dst);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_mulM(mjModel_* m, mjData_* d, double* res, double* vec);