File size: 1,259 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 | // Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "engine/engine_callback.h"
#include <mujoco/mjdata.h>
//------------------------- global callback pointers -----------------------------------------------
mjfGeneric mjcb_passive = 0;
mjfGeneric mjcb_control = 0;
mjfConFilt mjcb_contactfilter = 0;
mjfSensor mjcb_sensor = 0;
mjfTime mjcb_time = 0;
mjfAct mjcb_act_bias = 0;
mjfAct mjcb_act_gain = 0;
mjfAct mjcb_act_dyn = 0;
// reset callbacks to defaults
void mj_resetCallbacks(void) {
mjcb_passive = 0;
mjcb_control = 0;
mjcb_contactfilter = 0;
mjcb_sensor = 0;
mjcb_time = 0;
mjcb_act_bias = 0;
mjcb_act_gain = 0;
mjcb_act_dyn = 0;
}
|