Add mjStatistic to mjmModel.

PiperOrigin-RevId: 607657424 Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
2024-02-16 05:16:47 -08:00
parent f1d4f8f0a1
commit d7c47de353
6 changed files with 55 additions and 52 deletions
@@ -21,6 +21,20 @@



+// default model attributes
+void mjm_defaultModel(mjmModel& model) {
+  memset(&model, 0, sizeof(mjmModel));
+
+  // default statistics
+  model.stat.meaninertia = mjNAN;
+  model.stat.meanmass = mjNAN;
+  model.stat.meansize = mjNAN;
+  model.stat.extent = mjNAN;
+  model.stat.center[0] = mjNAN;
+}
+
+
+
 // default body attributes
 void mjm_defaultBody(mjmBody& body) {
  memset(&body, 0, sizeof(mjmBody));