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Allow to attach an entire mjSpec in mjs_attach.

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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
This commit is contained in:
Alessio Quaglino
2025-04-01 09:50:42 -07:00
committed by Copybara-Service
parent e5912c3ce4
commit b839fe79e1
4 changed files with 63 additions and 42 deletions
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src/user/user_api.cc
+44 -1
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@@ -119,6 +119,18 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
}
// set frame for all elements of a body
static void SetFrame(mjsBody* body, mjtObj objtype, mjsFrame* frame) {
mjsElement* el = mjs_firstChild(body, objtype, 0);
while (el) {
if (frame->element != el && mjs_getFrame(el) == nullptr) {
mjs_setFrame(el, frame);
}
el = mjs_nextChild(body, el, 0);
}
}
// attach body to a frame of the parent
static mjsElement* attachBody(mjCFrame* parent, const mjCBody* child,
@@ -207,13 +219,44 @@ mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
return nullptr;
}
mjCModel* model = static_cast<mjCModel*>(mjs_getSpec(parent)->element);
if (child->elemtype == mjOBJ_MODEL) {
mjCModel* child_model = static_cast<mjCModel*>((mjsElement*)child);
mjsBody* worldbody = mjs_findBody(&child_model->spec, "world");
if (!worldbody) {
model->SetError(mjCError(0, "Child does not have a world body."));
return nullptr;
}
mjsFrame* worldframe = mjs_addFrame(worldbody, nullptr);
SetFrame(worldbody, mjOBJ_BODY, worldframe);
SetFrame(worldbody, mjOBJ_SITE, worldframe);
SetFrame(worldbody, mjOBJ_FRAME, worldframe);
SetFrame(worldbody, mjOBJ_JOINT, worldframe);
SetFrame(worldbody, mjOBJ_GEOM, worldframe);
SetFrame(worldbody, mjOBJ_LIGHT, worldframe);
SetFrame(worldbody, mjOBJ_CAMERA, worldframe);
child = worldframe->element;
}
switch (parent->elemtype) {
case mjOBJ_FRAME:
if (child->elemtype == mjOBJ_BODY) {
return attachBody(static_cast<mjCFrame*>(parent),
static_cast<const mjCBody*>(child), prefix, suffix);
} else if (child->elemtype == mjOBJ_FRAME) {
mjsBody* parent_body = mjs_getParent(parent);
if (!parent_body) {
model->SetError(mjCError(0, "Frame does not have a parent body."));
return nullptr;
}
mjCFrame* frame = static_cast<mjCFrame*>(parent);
mjsElement* attached_frame =
attachFrame(static_cast<mjCBody*>(parent_body->element),
static_cast<const mjCFrame*>(child), prefix, suffix);
if (mjs_setFrame(attached_frame, &frame->spec)) {
return nullptr;
}
return attached_frame;
} else {
model->SetError(mjCError(0, "child element is not a body"));
model->SetError(mjCError(0, "child element is not a body or frame"));
return nullptr;
}
case mjOBJ_BODY: