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Change mjs_nextChild to be DFS to match XML parsing.

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PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
This commit is contained in:
Alessio Quaglino
2025-07-03 10:05:46 -07:00
committed by Copybara-Service
parent 67f9ffddbd
commit af7d20c035
4 changed files with 49 additions and 43 deletions
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test/user/user_api_test.cc
+5
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@@ -98,6 +98,9 @@ TEST_F(MujocoTest, TreeTraversal) {
mjsBody* body1 = mjs_findBody(spec, "body1");
mjsBody* body2 = mjs_findBody(spec, "body2");
mjsBody* body3 = mjs_findBody(spec, "body3");
mjsElement* b1 = body1->element;
mjsElement* b2 = body2->element;
mjsElement* b3 = body3->element;
mjsElement* site1 = mjs_findElement(spec, mjOBJ_SITE, "site1");
mjsElement* site2 = mjs_findElement(spec, mjOBJ_SITE, "site2");
mjsElement* site3 = mjs_findElement(spec, mjOBJ_SITE, "site3");
@@ -144,6 +147,8 @@ TEST_F(MujocoTest, TreeTraversal) {
EXPECT_EQ(mjs_nextElement(spec, geom3), nullptr);
// text next, recursive
EXPECT_EQ(b2, mjs_nextChild(world, b1, /*recursive=*/true));
EXPECT_EQ(b3, mjs_nextChild(world, b2, /*recursive=*/true));
EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/true));
EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/true));
EXPECT_EQ(site4, mjs_nextChild(body1, site3, /*recursive=*/true));