From 428e54d2aadc949072a438a9eb6400efe09da382 Mon Sep 17 00:00:00 2001
From: Pierre Gergondet <pierre.gergondet@gmail.com>
Date: Thu, 9 Nov 2023 10:17:08 +0900
Subject: [PATCH] Support MuJoCo 3.0.0

---
 .github/workflows/ci.yml |  2 +-
 src/mj_utils.cpp         | 11 ++++++++++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4c2e7ff..cbbf51d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -55,7 +55,7 @@ jobs:
         set -e
         mkdir -p /opt
         cd /opt
-        MUJOCO_VERSION=2.3.7
+        MUJOCO_VERSION=3.0.0
         wget --quiet https://github.com/deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
         tar xzf mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
         mv mujoco-${MUJOCO_VERSION} mujoco
diff --git a/src/mj_utils.cpp b/src/mj_utils.cpp
index 11e6ead..8a44b1d 100644
--- a/src/mj_utils.cpp
+++ b/src/mj_utils.cpp
@@ -197,11 +197,20 @@ void uiEvent(mjuiState * state)
       // find geom and 3D click point, get corresponding body
       mjrRect r = state->rect[0];
       mjtNum selpnt[3];
-      int selgeom, selskin;
+      int selgeom;
+      int selskin;
+#if mjVERSION_HEADER < 300
       int selbody =
           mjv_select(mj_sim->model, mj_sim->data, &mj_sim->options, (mjtNum)r.width / (mjtNum)r.height,
                      (mjtNum)(state->x - r.left) / (mjtNum)r.width, (mjtNum)(state->y - r.bottom) / (mjtNum)r.height,
                      &mj_sim->scene, selpnt, &selgeom, &selskin);
+#else
+      int selflex;
+      int selbody =
+          mjv_select(mj_sim->model, mj_sim->data, &mj_sim->options, (mjtNum)r.width / (mjtNum)r.height,
+                     (mjtNum)(state->x - r.left) / (mjtNum)r.width, (mjtNum)(state->y - r.bottom) / (mjtNum)r.height,
+                     &mj_sim->scene, selpnt, &selgeom, &selflex, &selskin);
+#endif
 
       // set lookat point, start tracking is requested
       if(selmode == 2 || selmode == 3)