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Add mjmMaterial and mjmFrame to C API.

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PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
This commit is contained in:
Alessio Quaglino
2024-02-12 02:55:00 -08:00
committed by Copybara-Service
parent 4b8363de6d
commit 4e5b194e88
9 changed files with 192 additions and 54 deletions
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src/user/user_api.cc
+23 -6
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@@ -115,10 +115,24 @@ mjmLight* mjm_addLight(mjmBody* bodyspec, void* defspec) {
// add frame to body
void* mjm_addFrame(mjmBody* bodyspec, void* parentframe) {
mjCFrame* parentframeC = static_cast<mjCFrame*>(parentframe);
mjCFrame* frameC = reinterpret_cast<mjCBody*>(bodyspec->element)->AddFrame(parentframeC);
return frameC;
mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
mjCFrame* parentframeC = 0;
if (parentframe) {
parentframeC = reinterpret_cast<mjCFrame*>(parentframe->element);
}
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
mjCFrame* frameC = body->AddFrame(parentframeC);
return &frameC->spec;
}
// Add material to model.
mjmMaterial* mjm_addMaterial(void* model, void* defspec) {
mjCModel* modelC = static_cast<mjCModel*>(model);
mjCDef* def = static_cast<mjCDef*>(defspec);
mjCMaterial* material = modelC->AddMaterial(def);
return &material->spec;
}
@@ -246,8 +260,11 @@ mjmBody* mjm_findChild(mjmBody* bodyspec, const char* name) {
// set frame
void mjm_setFrame(mjElement dest, void* frame) {
mjCFrame* frameC = static_cast<mjCFrame*>(frame);
void mjm_setFrame(mjElement dest, mjmFrame* frame) {
if (!frame) {
return;
}
mjCFrame* frameC = reinterpret_cast<mjCFrame*>(frame->element);
mjCBase* baseC = reinterpret_cast<mjCBase*>(dest);
baseC->SetFrame(frameC);
}