Add a section for element casting in the function API reference, move these functions to the end.
PiperOrigin-RevId: 677783917 Change-Id: I5042e7df20f2a2e0ecfe01a85a1969ccfc2307cd
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Yuval Tassa
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Copybara-Service
Copybara-Service
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@@ -1559,78 +1559,6 @@ MJAPI mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
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// Return spec's next element; return NULL if element is last.
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MJAPI mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
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// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
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MJAPI mjsBody* mjs_asBody(mjsElement* element);
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// Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.
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MJAPI mjsGeom* mjs_asGeom(mjsElement* element);
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// Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.
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MJAPI mjsJoint* mjs_asJoint(mjsElement* element);
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// Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.
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MJAPI mjsSite* mjs_asSite(mjsElement* element);
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// Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.
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MJAPI mjsCamera* mjs_asCamera(mjsElement* element);
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// Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.
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MJAPI mjsLight* mjs_asLight(mjsElement* element);
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// Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
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MJAPI mjsFrame* mjs_asFrame(mjsElement* element);
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// Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
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MJAPI mjsActuator* mjs_asActuator(mjsElement* element);
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// Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
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MJAPI mjsSensor* mjs_asSensor(mjsElement* element);
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// Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
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MJAPI mjsFlex* mjs_asFlex(mjsElement* element);
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// Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
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MJAPI mjsPair* mjs_asPair(mjsElement* element);
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// Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
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MJAPI mjsEquality* mjs_asEquality(mjsElement* element);
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// Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
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MJAPI mjsExclude* mjs_asExclude(mjsElement* element);
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// Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
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MJAPI mjsTendon* mjs_asTendon(mjsElement* element);
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// Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
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MJAPI mjsNumeric* mjs_asNumeric(mjsElement* element);
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// Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
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MJAPI mjsText* mjs_asText(mjsElement* element);
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// Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
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MJAPI mjsTuple* mjs_asTuple(mjsElement* element);
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// Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
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MJAPI mjsKey* mjs_asKey(mjsElement* element);
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// Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
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MJAPI mjsMesh* mjs_asMesh(mjsElement* element);
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// Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
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MJAPI mjsHField* mjs_asHField(mjsElement* element);
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// Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
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MJAPI mjsSkin* mjs_asSkin(mjsElement* element);
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// Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
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MJAPI mjsTexture* mjs_asTexture(mjsElement* element);
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// Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
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MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
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// Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin.
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MJAPI mjsPlugin* mjs_asPlugin(mjsElement* element);
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//---------------------------------- Attribute setters ---------------------------------------------
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@@ -1770,6 +1698,81 @@ MJAPI void mjs_defaultKey(mjsKey* key);
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// Default plugin attributes.
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MJAPI void mjs_defaultPlugin(mjsPlugin* plugin);
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//---------------------------------- Element casting -----------------------------------------------
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// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
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MJAPI mjsBody* mjs_asBody(mjsElement* element);
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// Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.
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MJAPI mjsGeom* mjs_asGeom(mjsElement* element);
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// Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.
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MJAPI mjsJoint* mjs_asJoint(mjsElement* element);
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// Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.
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MJAPI mjsSite* mjs_asSite(mjsElement* element);
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// Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.
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MJAPI mjsCamera* mjs_asCamera(mjsElement* element);
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// Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.
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MJAPI mjsLight* mjs_asLight(mjsElement* element);
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// Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
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MJAPI mjsFrame* mjs_asFrame(mjsElement* element);
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// Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
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MJAPI mjsActuator* mjs_asActuator(mjsElement* element);
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// Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
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MJAPI mjsSensor* mjs_asSensor(mjsElement* element);
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// Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
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MJAPI mjsFlex* mjs_asFlex(mjsElement* element);
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// Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
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MJAPI mjsPair* mjs_asPair(mjsElement* element);
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// Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
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MJAPI mjsEquality* mjs_asEquality(mjsElement* element);
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// Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
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MJAPI mjsExclude* mjs_asExclude(mjsElement* element);
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// Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
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MJAPI mjsTendon* mjs_asTendon(mjsElement* element);
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// Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
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MJAPI mjsNumeric* mjs_asNumeric(mjsElement* element);
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// Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
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MJAPI mjsText* mjs_asText(mjsElement* element);
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// Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
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MJAPI mjsTuple* mjs_asTuple(mjsElement* element);
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// Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
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MJAPI mjsKey* mjs_asKey(mjsElement* element);
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// Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
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MJAPI mjsMesh* mjs_asMesh(mjsElement* element);
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// Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
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MJAPI mjsHField* mjs_asHField(mjsElement* element);
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// Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
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MJAPI mjsSkin* mjs_asSkin(mjsElement* element);
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// Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
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MJAPI mjsTexture* mjs_asTexture(mjsElement* element);
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// Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
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MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
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// Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin.
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MJAPI mjsPlugin* mjs_asPlugin(mjsElement* element);
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#ifdef __cplusplus
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}
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#endif
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