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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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src/user/user_api.cc
+26 -9
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@@ -29,6 +29,7 @@
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_cache.h"
#include "user/user_util.h"
namespace {
@@ -160,6 +161,29 @@ mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
// attach child body to a parent site
mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
if (!parent) {
mju_error("parent site is null");
return nullptr;
}
mjCSite* site = static_cast<mjCSite*>(parent->element);
mjCBody* body = site->Body();
mjCFrame* frame = body->AddFrame(site->frame);
frame->spec.pos[0] = site->spec.pos[0];
frame->spec.pos[1] = site->spec.pos[1];
frame->spec.pos[2] = site->spec.pos[2];
frame->spec.quat[0] = site->spec.quat[0];
frame->spec.quat[1] = site->spec.quat[1];
frame->spec.quat[2] = site->spec.quat[2];
frame->spec.quat[3] = site->spec.quat[3];
frame->SetParent(body);
return mjs_attachBody(&frame->spec, child, prefix, suffix);
}
// get error message from model
const char* mjs_getError(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
@@ -521,15 +545,8 @@ mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* p
// get spec from body
mjSpec* mjs_getSpec(mjsBody* body) {
return &(static_cast<mjCBody*>(body->element)->model->spec);
}
// get spec from frame
mjSpec* mjs_getSpecFromFrame(mjsFrame* frame) {
return &(static_cast<mjCFrame*>(frame->element)->model->spec);
mjSpec* mjs_getSpec(mjsElement* element) {
return &(static_cast<mjCBase*>(element)->model->spec);
}