Add mjs_bodyToFrame() to convert a body to a frame.

Also add test for attaching the world body. PiperOrigin-RevId: 685603933 Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
2024-10-14 00:38:26 -07:00
parent 52a0149cd1
commit 766cd20273
12 changed files with 169 additions and 6 deletions
@@ -3628,6 +3628,7 @@ void mjs_setDefault(mjsElement* element, mjsDefault* def);
 void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
                                   const mjsOrientation* orientation);
+mjsFrame* mjs_bodyToFrame(mjsBody** body);
 void mjs_defaultSpec(mjSpec* spec);
 void mjs_defaultOrientation(mjsOrientation* orient);
 void mjs_defaultBody(mjsBody* body);