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Add AddFreeJoint and remove isfree from AddJoint.

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PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
This commit is contained in:
Alessio Quaglino
2024-02-06 03:48:48 -08:00
committed by Copybara-Service
parent 3b2dd06c54
commit 01439f28b3
4 changed files with 23 additions and 13 deletions
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src/user/user_objects.cc
+18 -9
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@@ -659,16 +659,25 @@ mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
// create new joint and add it to body
// _def==NULL means no defaults, unlike all others which inherit from body
mjCJoint* mjCBody::AddJoint(mjCDef* _def, bool isfree) {
// create joint
mjCJoint* obj = new mjCJoint(model, _def ? _def : (isfree ? NULL : def));
// create new free joint (no default inheritance) and add it to body
mjCJoint* mjCBody::AddFreeJoint() {
// create free joint, don't inherit from defaults
mjCJoint* obj = new mjCJoint(model, NULL);
obj->type = mjJNT_FREE;
// set free type if specified
if (isfree) {
obj->type = mjJNT_FREE;
}
// set body pointer, add
obj->body = this;
joints.push_back(obj);
return obj;
}
// create new joint and add it to body
mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
// create joint
mjCJoint* obj = new mjCJoint(model, _def ? _def : def);
// set body pointer, add
obj->body = this;