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Add mjs_attachToSite for attaching a body to a site.

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PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
This commit is contained in:
Alessio Quaglino
2024-10-10 07:11:16 -07:00
committed by Copybara-Service
parent 694bdebc19
commit cdb167f275
10 changed files with 180 additions and 52 deletions
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include/mujoco/mujoco.h
+5 -4
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@@ -1415,6 +1415,10 @@ MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Attach child body to a parent site, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Detach body from mjSpec, remove all references and delete the body, return 0 on success.
MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
@@ -1524,10 +1528,7 @@ MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
//---------------------------------- Find and get utilities ----------------------------------------
// Get spec from body.
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Get spec from frame.
MJAPI mjSpec* mjs_getSpecFromFrame(mjsFrame* frame);
MJAPI mjSpec* mjs_getSpec(mjsElement* element);
// Find body in spec by name.
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);