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
@@ -48,6 +48,9 @@ MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int src
 // set state
 MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig);

+// copy state from src to dst
+MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig);
+
 // copy current state to the k-th model keyframe
 MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);