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Replace mjv_sceneState and related code with mjv_copy{Model,Data}

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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
This commit is contained in:
Yuval Tassa
2025-05-19 09:50:49 -07:00
committed by Copybara-Service
parent 8268c6d1ff
commit ced630181d
17 changed files with 357 additions and 3793 deletions
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doc/changelog.rst
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@@ -10,6 +10,12 @@ General
- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
simulate
^^^^^^^^
- The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
Version 3.3.2 (April 28, 2025)
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