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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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plugin/elasticity/cable.cc
+5 -5
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@@ -302,11 +302,11 @@ return 0;
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};
plugin.visualize =
+[](const mjModel* m, mjData* d, mjvScene* scn, int instance) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Visualize(m, d, scn, instance);
};
plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt, mjvScene* scn,
int instance) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Visualize(m, d, scn, instance);
};
mjp_registerPlugin(&plugin);
}