Add SDF functions to public API.

PiperOrigin-RevId: 757829339 Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:52:41 -07:00
parent d77126dc58
commit 8a7c42c747
10 changed files with 232 additions and 16 deletions
@@ -135,6 +135,16 @@ struct mjpPlugin_ {
 };
 typedef struct mjpPlugin_ mjpPlugin;

+struct mjSDF_ {
+  const mjpPlugin** plugin;
+  int* id;
+  mjtSDFType type;
+  mjtNum* relpos;
+  mjtNum* relmat;
+  mjtGeom* geomtype;
+};
+typedef struct mjSDF_ mjSDF;
+
 #if defined(__has_attribute)

  #if __has_attribute(constructor)