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Add mjs_detachBody to C API.

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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
This commit is contained in:
Alessio Quaglino
2024-04-22 01:10:13 -07:00
committed by Copybara-Service
parent 34a61ae42f
commit cc78db41f4
7 changed files with 193 additions and 13 deletions
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src/user/user_api.h
+7 -1
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@@ -762,10 +762,13 @@ MJAPI void mjs_deleteSpec(mjSpec* s);
MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return 0 if success.
// Attach child frame to a parent body, return 0 on success.
MJAPI int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Detach body from mjSpec, remove all references, return 0 on success.
MJAPI int mjs_detachBody(mjSpec* s, const mjsBody* b);
//---------------------------------- Add tree elements ---------------------------------------------
@@ -793,6 +796,9 @@ 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
MJAPI void mjs_deleteBody(mjsBody* b);
//---------------------------------- Add non-tree elements -----------------------------------------