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Pass mjvOption to plugin visualize callback.

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PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
This commit is contained in:
Yuval Tassa
2023-04-21 08:43:36 -07:00
committed by Copybara-Service
parent 94779a722a
commit a2a1ac9fc2
11 changed files with 27 additions and 17 deletions
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include/mujoco/mjplugin.h
+1 -1
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@@ -87,7 +87,7 @@ struct mjpPlugin_ {
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
};
typedef struct mjpPlugin_ mjpPlugin;
include/mujoco/mujoco.h
+2 -1
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@@ -632,7 +632,8 @@ MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
// Update a scene state from model and data.
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate);
// Add geoms from selected categories.
MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,