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Return attached body/frame in mjs_attachBody/Frame.

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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
This commit is contained in:
Alessio Quaglino
2024-09-27 08:32:52 -07:00
committed by Copybara-Service
parent 176345b4e1
commit 25e4d75a07
11 changed files with 67 additions and 45 deletions
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src/user/user_api.cc
+12 -8
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@@ -117,33 +117,37 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
// attach body to a frame of the parent
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
mjCBody* child_body = static_cast<mjCBody*>(child->element);
try {
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
} catch (mjCError& e) {
frame_parent->model->SetError(e);
return -1;
return nullptr;
}
return 0;
mjsBody* attached_body = frame_parent->last_attached;
frame_parent->last_attached = nullptr;
return attached_body;
}
// attach frame to a parent body
int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix) {
mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix) {
mjCBody* body_parent = static_cast<mjCBody*>(parent->element);
mjCFrame* child_frame = static_cast<mjCFrame*>(child->element);
try {
*body_parent += std::string(prefix) + *child_frame + std::string(suffix);
} catch (mjCError& e) {
body_parent->model->SetError(e);
return -1;
return nullptr;
}
return 0;
mjsFrame* attached_frame = body_parent->last_attached;
body_parent->last_attached = nullptr;
return attached_frame;
}