Yuval Tassa
893a993bf6
PiperOrigin-RevId: 716211176 Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
43 lines
1.2 KiB
C
43 lines
1.2 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "engine/engine_callback.h"
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#include <mujoco/mjdata.h>
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//------------------------- global callback pointers -----------------------------------------------
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mjfGeneric mjcb_passive = 0;
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mjfGeneric mjcb_control = 0;
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mjfConFilt mjcb_contactfilter = 0;
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mjfSensor mjcb_sensor = 0;
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mjfTime mjcb_time = 0;
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mjfAct mjcb_act_bias = 0;
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mjfAct mjcb_act_gain = 0;
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mjfAct mjcb_act_dyn = 0;
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// reset callbacks to defaults
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void mj_resetCallbacks(void) {
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mjcb_passive = 0;
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mjcb_control = 0;
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mjcb_contactfilter = 0;
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mjcb_sensor = 0;
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mjcb_time = 0;
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mjcb_act_bias = 0;
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mjcb_act_gain = 0;
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mjcb_act_dyn = 0;
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}
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