Add mj_copyState

PiperOrigin-RevId: 836588419 Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:08:01 -08:00
parent eac8e60037
commit 888d3a7b07
12 changed files with 139 additions and 0 deletions
@@ -2520,6 +2520,36 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
         ),
         doc='Set state.',
     )),
+    ('mj_copyState',
+     FunctionDecl(
+         name='mj_copyState',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='src',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='dst',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='sig',
+                 type=ValueType(name='unsigned int'),
+             ),
+         ),
+         doc='Copy state from src to dst.',
+     )),
    ('mj_setKeyframe',
     FunctionDecl(
         name='mj_setKeyframe',