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Update last_call_timestamp of callbacks #68

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Merged
pkrack merged 2 commits into from
Jul 3, 2024
Merged

Update last_call_timestamp of callbacks #68

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da0d78b
Update last_call_timestamp of callbacks
pkrack Jul 3, 2024
d3695bf
Merge branch 'develop' into (fix)krack/sim_callback_timestamps
pkrack Jul 3, 2024
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7 changes: 5 additions & 2 deletions src/sim/sim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ void process_condition_callbacks(std::vector<ConditionCallback>& cbs,
mjtNum dt = time - cbs[i].last_call_timestamp;
if (dt > cbs[i].seconds_between_calls) {
cbs[i].last_return_value = cbs[i].cb();
cbs[i].last_call_timestamp = time;
}
}
}
Expand All @@ -39,10 +40,11 @@ Config Sim::get_config() { return this->cfg; }

void Sim::invoke_callbacks() {
for (int i = 0; i < std::size(this->callbacks); ++i) {
Callback cb = this->callbacks[i];
Callback& cb = this->callbacks[i];
mjtNum dt = this->d->time - cb.last_call_timestamp;
if (dt > cb.seconds_between_calls) {
cb.cb();
cb.last_call_timestamp = this->d->time;
}
}
}
Expand All @@ -64,7 +66,7 @@ bool Sim::invoke_condition_callbacks() {
void Sim::invoke_rendering_callbacks() {
// bool scene_updated = false;
for (size_t i = 0; i < std::size(this->rendering_callbacks); ++i) {
RenderingCallback cb = this->rendering_callbacks[i];
RenderingCallback& cb = this->rendering_callbacks[i];
mjtNum dt = this->d->time - cb.last_call_timestamp;
if (dt > cb.seconds_between_calls) {
// if (!scene_updated) {
Expand All @@ -75,6 +77,7 @@ void Sim::invoke_rendering_callbacks() {
// }
mjrContext* ctx = this->renderer.get_context(cb.id);
cb.cb(cb.id, *ctx, this->renderer.scene, this->renderer.opt);
cb.last_call_timestamp = this->d->time;
}
}
}
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