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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.h
+7 -6
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@@ -71,11 +71,15 @@ MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
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);
@@ -186,10 +190,7 @@ MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
//---------------------------------- Find/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 spec (model asset) by name.
MJAPI mjSpec* mjs_findSpec(mjSpec* spec, const char* name);