| 53 | // override PreStep to apply control / xfrc just before mj_step. |
| 54 | |
| 55 | virtual void PreStep(struct mjModel_* /*m*/, struct mjData_* /*d*/) {} |
| 56 | virtual void PostStep(struct mjModel_* /*m*/, struct mjData_* /*d*/) {} |
| 57 | |
| 58 | protected: |
nothing calls this directly
no outgoing calls
no test coverage detected