Replace mjs_deleteBody with mjs_delete.

PiperOrigin-RevId: 639058333
Change-Id: I9ac9ca8c6b8c0219f0130cd65dc83602f1829684

src/user/user_api.cc

@@ -118,7 +118,7 @@ int mjs_detachBody(mjSpec* s, mjsBody* b) {
   mjCModel* model = static_cast<mjCModel*>(s->element);
   mjCBody* body = static_cast<mjCBody*>(b->element);
   *model -= *body;
-  mjs_deleteBody(b);
+  mjs_delete(b->element);
   return 0;
 }
 
@@ -140,10 +140,10 @@ void mjs_deleteSpec(mjSpec* s) {
 
 
 
-// delete body
+// delete object, it will call the appropriate destructor since ~mjCBase is virtual
-void mjs_deleteBody(mjsBody* b) {
+void mjs_delete(mjElement* element) {
-  mjCBody* body = static_cast<mjCBody*>(b->element);
+  mjCBase* object = static_cast<mjCBase*>(element);
-  delete body;
+  delete object;
 }
 
 

src/user/user_api.h

@@ -810,8 +810,8 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
 // Add frame to body.
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
-// Delete body. TODO: make this a general mjs_deleteElement function
+// Delete object corresponding to the given element.
-MJAPI void mjs_deleteBody(mjsBody* b);
+MJAPI void mjs_delete(mjElement* element);
 
 
 //---------------------------------- Add non-tree elements -----------------------------------------

src/user/user_objects.h

@@ -208,10 +208,11 @@ class mjCBase : public mjCBase_ {
   mjCFrame* frame;                // pointer to frame transformation
   mjCModel* model;                // pointer to model that created object
 
+  virtual ~mjCBase() = default;   // destructor
+
  protected:
   mjCBase();                                 // constructor
   mjCBase(const mjCBase& other);             // copy constructor
-  virtual ~mjCBase() = default;              // destructor
 };