Get rid of the opaque "entryIndex" argument.

Use pointer arithmetic instead. PiperOrigin-RevId: 451493057 Change-Id: Ic89ad8ff1d3191180031a1011c1b100eaea12f6f
2022-05-27 15:23:29 -07:00
parent 6faf1d93de
commit ef9fa9dfe4
2 changed files with 16 additions and 12 deletions
@@ -27,8 +27,9 @@ namespace Mujoco {

    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
      if (WeldOffset) {
-        MjEngineTool.SetMjTransform(model->eq_data, WeldOffset.localPosition,
-                                    WeldOffset.localRotation, MujocoId);
+        MjEngineTool.SetMjTransform(
+            MjEngineTool.MjTransformAtEntry(model->eq_data, MujocoId),
+            WeldOffset.localPosition, WeldOffset.localRotation);
      }
    }