Add a controls interface

Author: hephaestus

src/main/java/org/mujoco/IMujocoController.java

@@ -0,0 +1,8 @@
+package org.mujoco;
+
+import org.mujoco.MuJoCoLib.mjData_;
+import org.mujoco.MuJoCoLib.mjModel_;
+
+public interface IMujocoController {
+	public void controlStep(mjData_ data,mjModel_ model);
+}

src/main/java/org/mujoco/MuJoCoModelManager.java

@@ -22,6 +22,7 @@ public class MuJoCoModelManager {
 	private mjModel_ maccessable;
 	private mjData_ daccessable;
 	private mjOption_ opt;
+	private IMujocoController controller = null;
 	public MuJoCoModelManager(File config){
 		loadFromFile(config);
 	}
@@ -89,6 +90,8 @@ public void setData(mjData_ daccessable) {
 	}
 	public void step() {
 		stepOne();
+		if(controller!=null)
+			controller.controlStep(daccessable, maccessable);
 		stepTwo();
 	}
 	public void stepOne() {
@@ -109,4 +112,16 @@ public mjOption_ getOpt() {
 	public void setOpt(mjOption_ opt) {
 		this.opt = opt;
 	}
+	/**
+	 * @return the controller
+	 */
+	public IMujocoController getController() {
+		return controller;
+	}
+	/**
+	 * @param controller the controller to set
+	 */
+	public void setController(IMujocoController controller) {
+		this.controller = controller;
+	}
 }

src/test/java/mujoco/java/MuJoColibTest.java

@@ -31,10 +31,12 @@ public void managerTest() throws InterruptedException {
 		mjModel_ model = m.getModel();
 		mjData_ data = m.getData();
 		System.out.println("Run ModelManager for 10 seconds");
+		m.setController((data1, model1) -> {
+			// apply controls https://mujoco.readthedocs.io/en/stable/programming/simulation.html
+			
+		});
 		while (data.time() < 10) {
-			m.stepOne();
-			//apply controls
-			m.stepTwo();
+			m.step();
 			// sleep
 			Thread.sleep(m.getTimestepMilliSeconds());
 		}
@@ -72,7 +74,9 @@ public void mujocoJNILoadTest() {
 			try (mjData_ accessable = new mjData_(d)) {
 				System.out.println("Run model for 10 seconds");
 				while (accessable.time() < 10) {
-					MuJoCoLib.mj_step(m, d);
+					MuJoCoLib.mj_step1(m, d);
+					// apply controls https://mujoco.readthedocs.io/en/stable/programming/simulation.html
+					MuJoCoLib.mj_step2(m, d);
 					double timestep = new mjOption_(Maccessable.opt()).timestep()*1000;
 					Thread.sleep((long) timestep);