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Combine all mjs_attach functions into one.

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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
This commit is contained in:
Alessio Quaglino
2025-04-01 08:04:58 -07:00
committed by Copybara-Service
parent 08d22baea1
commit a02a27d4a4
13 changed files with 202 additions and 319 deletions
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include/mujoco/mujoco.h
+3 -15
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@@ -1414,21 +1414,9 @@ MJAPI void mju_taskJoin(mjTask* task);
//---------------------------------- Attachment ----------------------------------------------------
// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Attach child body to a parent site, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent site, return the attached frame if success or NULL otherwise.
MJAPI mjsFrame* mjs_attachFrameToSite(mjsSite* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Attach child to a parent, return the attached element if success or NULL otherwise.
MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
// Delete body and descendants from mjSpec, remove all references, return 0 on success.
MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);