chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
wasm/codegen/generated/bindings.cc
+2 -4
View File
@@ -8709,12 +8709,10 @@ void mj_forwardSkip_wrapper(const MjModel& m, MjData& d, int skipstage, int skip
mj_forwardSkip(m.get(), d.get(), skipstage, skipsensor);
}
void mj_fullM_wrapper(const MjModel& m, const val& dst, const NumberArray& M) {
void mj_fullM_wrapper(const MjModel& m, const MjData& d, const val& dst) {
UNPACK_VALUE(mjtNum, dst);
UNPACK_ARRAY(mjtNum, M);
CHECK_SIZE(M, m.nM());
CHECK_SIZE(dst, m.nv() * m.nv());
mj_fullM(m.get(), dst_.data(), M_.data());
mj_fullM(m.get(), d.get(), dst_.data());
}
void mj_fwdAcceleration_wrapper(const MjModel& m, MjData& d) {