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Add mjs_getParent to retrieve the parent body of an object.

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PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
This commit is contained in:
Alessio Quaglino
2025-01-15 07:41:45 -08:00
committed by Copybara-Service
parent 10c7207cea
commit 05d4c3d670
10 changed files with 116 additions and 0 deletions
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src/user/user_api.cc
+24
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@@ -649,6 +649,30 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// get parent body
mjsBody* mjs_getParent(mjsElement* element) {
switch (element->elemtype) {
case mjOBJ_BODY:
return &(static_cast<mjCBody*>(element)->GetParent()->spec);
case mjOBJ_FRAME:
return &(static_cast<mjCFrame*>(element)->GetParent()->spec);
case mjOBJ_JOINT:
return &(static_cast<mjCJoint*>(element)->GetParent()->spec);
case mjOBJ_GEOM:
return &(static_cast<mjCGeom*>(element)->GetParent()->spec);
case mjOBJ_SITE:
return &(static_cast<mjCSite*>(element)->GetParent()->spec);
case mjOBJ_CAMERA:
return &(static_cast<mjCCamera*>(element)->GetParent()->spec);
case mjOBJ_LIGHT:
return &(static_cast<mjCLight*>(element)->GetParent()->spec);
default:
return nullptr;
}
}
// find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);