Fix multiple bugs related to mjvSceneState.

PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c

doc/includes/references.h

@@ -342,6 +342,7 @@ struct mjData_ {
   mjtNum* efc_KBIP;          // stiffness, damping, impedance, imp'              (nefc x 4)
   mjtNum* efc_D;             // constraint mass                                  (nefc x 1)
   mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
+  int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)
 
   // computed by mj_island
   int*    island_dofadr;     // address of first dof in island                   (nisland x 1)
@@ -1952,6 +1953,7 @@ struct mjvSceneState_ {
 
   // fields in mjModel that are necessary to re-render a scene
   struct {
+    int nv;
     int nu;
     int na;
     int nbody;
@@ -1970,6 +1972,7 @@ struct mjvSceneState_ {
     int nmat;
     int neq;
     int ntendon;
+    int ntree;
     int nwrap;
     int nsensor;
     int nnames;
@@ -1985,6 +1988,8 @@ struct mjvSceneState_ {
     int* body_mocapid;
     int* body_jntnum;
     int* body_jntadr;
+    int* body_dofnum;
+    int* body_dofadr;
     int* body_geomnum;
     int* body_geomadr;
     mjtNum* body_iquat;
@@ -2004,6 +2009,8 @@ struct mjvSceneState_ {
 
     int* geom_type;
     int* geom_bodyid;
+    int* geom_contype;
+    int* geom_conaffinity;
     int* geom_dataid;
     int* geom_matid;
     int* geom_group;
@@ -2032,6 +2039,8 @@ struct mjvSceneState_ {
     float* light_diffuse;
     float* light_specular;
 
+    int* mesh_bvhadr;
+    int* mesh_bvhnum;
     int* mesh_texcoordadr;
     int* mesh_graphadr;
 
@@ -2149,12 +2158,14 @@ struct mjvSceneState_ {
     int* ten_wrapadr;
     int* ten_wrapnum;
     int* wrap_obj;
+    mjtNum* ten_length;
     mjtNum* wrap_xpos;
 
     mjtByte* bvh_active;
     int* island_dofadr;
     int* dof_island;
     int* efc_island;
+    int* tendon_efcadr;
 
     mjContact* contact;
     mjtNum* efc_force;