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
@@ -10327,6 +10327,24 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
         ),
         doc='Resolve alternative orientations to quat, return error if any.',
     )),
+    ('mjs_bodyToFrame',
+     FunctionDecl(
+         name='mjs_bodyToFrame',
+         return_type=PointerType(
+             inner_type=ValueType(name='mjsFrame'),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='body',
+                 type=PointerType(
+                     inner_type=PointerType(
+                         inner_type=ValueType(name='mjsBody'),
+                     ),
+                 ),
+             ),
+         ),
+         doc='Transform body into a frame.',
+     )),
    ('mjs_defaultSpec',
     FunctionDecl(
         name='mjs_defaultSpec',