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Add mjmHField to C API.

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PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
This commit is contained in:
Alessio Quaglino
2024-02-14 04:11:29 -08:00
committed by Copybara-Service
parent 2ee8a4dabd
commit c9e7586499
8 changed files with 138 additions and 51 deletions
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src/user/user_model.cc
+2 -2
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@@ -3387,11 +3387,11 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjCHField* phf;
for (int i=0; i<nhfield; i++) {
phf = hfields[i];
int size = phf->userdata().size();
int size = phf->get_userdata().size();
if (size) {
int nrow = m->hfield_nrow[i];
int ncol = m->hfield_ncol[i];
float* userdata = phf->userdata().data();
float* userdata = phf->get_userdata().data();
float* modeldata = m->hfield_data + m->hfield_adr[i];
// copy back in reverse row order
for (int j=0; j<nrow; j++) {