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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.h
+4 -4
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@@ -66,12 +66,12 @@ MJAPI void mjs_addSpec(mjSpec* s, mjSpec* child);
//---------------------------------- Attachment ----------------------------------------------------
// Attach child body to a parent frame, return 0 on success.
MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return 0 on success.
MJAPI int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Detach body from mjSpec, remove all references and delete the body, return 0 on success.