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Add mjmPair to C API.

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PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
This commit is contained in:
Alessio Quaglino
2024-02-12 09:24:39 -08:00
committed by Copybara-Service
parent 72cf304e2b
commit 13d6eeacdd
8 changed files with 137 additions and 52 deletions
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src/user/user_api.cc
+11 -1
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@@ -137,7 +137,7 @@ mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
// Add material to model.
// add material to model
mjmMaterial* mjm_addMaterial(void* model, void* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
@@ -147,6 +147,16 @@ mjmMaterial* mjm_addMaterial(void* model, void* defspec) {
// add pair to model
mjmPair* mjm_addPair(void* model, void* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCPair* pair = modelC->AddPair(def);
return &pair->spec;
}
// add equality to model
mjmEquality* mjm_addEquality(void* model, void* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);