Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.

PiperOrigin-RevId: 627087335 Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:44:33 -07:00
parent 546a27ca72
commit 8ebc9ed2c8
8 changed files with 37 additions and 22 deletions
@@ -1200,6 +1200,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 type=ValueType(name='int'),
                 doc='number of kinematic trees under world body',
             ),
+             StructFieldDecl(
+                 name='ngravcomp',
+                 type=ValueType(name='int'),
+                 doc='number of bodies with nonzero gravcomp',
+             ),
             StructFieldDecl(
                 name='nemax',
                 type=ValueType(name='int'),