Add body/simple attribute to control simple body optimization.

PiperOrigin-RevId: 942164766 Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
2026-07-03 09:08:42 -07:00
parent 4ecfe5c1f3
commit 5618666a7d
19 changed files with 205 additions and 10 deletions
@@ -5593,6 +5593,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
    .property("plugin", &MjsBody::plugin, reference())
    .property("pos", &MjsBody::pos)
    .property("quat", &MjsBody::quat)
+    .property("simple", &MjsBody::simple, &MjsBody::set_simple, reference())
    .property("sleep", &MjsBody::sleep, &MjsBody::set_sleep, reference())
    .property("userdata", &MjsBody::userdata, reference());
  emscripten::class_<MjsCamera>("MjsCamera")
@@ -6087,6 +6087,12 @@ struct MjsBody {
  void set_sleep(mjtSleepPolicy value) {
    ptr_->sleep = value;
  }
+  mjtByte simple() const {
+    return ptr_->simple;
+  }
+  void set_simple(mjtByte value) {
+    ptr_->simple = value;
+  }
  mjDoubleVec &userdata() const {
    return *(ptr_->userdata);
  }