Add tree element support to mjs_firstElement() and mjs_nextElement().

PiperOrigin-RevId: 671003046 Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
2024-09-04 09:45:35 -07:00
parent d3dfa6f970
commit ae4987026c
4 changed files with 79 additions and 24 deletions
@@ -892,6 +892,14 @@ mjsElement* mjCModel::NextObject(mjsElement* object, mjtObj type) {
  }

  switch (type) {
+    case mjOBJ_BODY:
+    case mjOBJ_SITE:
+    case mjOBJ_GEOM:
+    case mjOBJ_JOINT:
+    case mjOBJ_CAMERA:
+    case mjOBJ_LIGHT:
+    case mjOBJ_FRAME:
+      return bodies_[0]->NextChild(object, type, /*recursive=*/true);
    case mjOBJ_ACTUATOR:
      return GetNext(actuators_, object);
    case mjOBJ_SENSOR: