chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjs_attachFrameToSite.

Browse Source 
This is required in preparation of changing the spec.attach behavior in the Python bindings.

PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
This commit is contained in:
Alessio Quaglino
2025-02-25 03:20:06 -08:00
committed by Copybara-Service
parent 6b11f2b88e
commit ce82b63155
7 changed files with 147 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_api.cc
+29
View File
@@ -190,6 +190,35 @@ mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
// attach child frame to a parent site
mjsFrame* mjs_attachFrameToSite(mjsSite* parent, const mjsFrame* child,
const char* prefix, const char* suffix) {
if (!parent) {
mju_error("parent site is null");
return nullptr;
}
mjSpec* spec = mjs_getSpec(parent->element);
mjCSite* site = static_cast<mjCSite*>(parent->element);
mjCBody* body = site->Body();
mjCFrame* frame = body->AddFrame(site->frame);
frame->SetParent(body);
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];
mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
spec->compiler.eulerseq, &site->spec.alt);
mjsFrame* attached_frame = mjs_attachFrame(&body->spec, child, prefix, suffix);
mjs_setFrame(attached_frame->element, &frame->spec);
return attached_frame;
}
// get error message from model
const char* mjs_getError(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);