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
@@ -1625,6 +1625,8 @@ MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
                                         const mjsOrientation* orientation);

+// Transform body into a frame.
+MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);

 //---------------------------------- Element initialization  ---------------------------------------