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Add mjModel and mjData arguments to mj_makeModel and mj_makeRawData. If they are NULL, then the functions allocate the memory, otherwise they will use the memory allocated by the caller.

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PiperOrigin-RevId: 639283021
Change-Id: I765f95fe1b5c27202ae033b05a13ae7b5fb8dbc3
This commit is contained in:
Alessio Quaglino
2024-06-01 01:07:50 -07:00
committed by Copybara-Service
parent 814deb0e9f
commit 936866be0f
3 changed files with 127 additions and 86 deletions
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src/engine/engine_io.h
+15 -14
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@@ -51,19 +51,20 @@ void mj_defaultStatistic(mjStatistic* stat);
//------------------------------- mjModel ----------------------------------------------------------
// allocate mjModel
mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexshelldata, int nflexevpair,
int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata,
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames, int npaths);
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexshelldata, int nflexevpair,
int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata,
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames, int npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
@@ -91,7 +92,7 @@ MJAPI const char* mj_validateReferences(const mjModel* m);
MJAPI mjData* mj_makeData(const mjModel* m);
// allocate mjData corresponding to given model, used internally
MJAPI mjData* mj_makeRawData(const mjModel* m);
MJAPI void mj_makeRawData(mjData** dest, const mjModel* m);
// Copy mjData.
// m is only required to contain the size fields from MJMODEL_INTS.