Add tree traversal utilities to C API.

PiperOrigin-RevId: 639285787 Change-Id: Ieb52da87fb5e1c674985f03c9ff2b18783d1d657
2024-06-01 01:26:05 -07:00
parent 936866be0f
commit 14a3ce5ffa
5 changed files with 112 additions and 2 deletions
@@ -308,6 +308,9 @@ class mjCBody : public mjCBody_, private mjsBody {
  // used by mjXWriter and mjCModel
  const std::vector<double>& get_userdata() { return userdata_; }

+  // get next child of given type
+  mjElement* NextChild(mjElement* child, mjtObj type = mjOBJ_UNKNOWN);
+
 private:
  mjCBody(const mjCBody& other, mjCModel* _model);  // copy constructor
  mjCBody& operator=(const mjCBody& other);         // copy assignment