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Store a copy of the attached specs in the destination spec.

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PiperOrigin-RevId: 689013340
Change-Id: I2cb7a1f3850f0e3592834b355d35dcc2cd8f150f
This commit is contained in:
Alessio Quaglino
2024-10-23 10:18:05 -07:00
committed by Copybara-Service
parent d17d9e835c
commit ed7655cf97
2 changed files with 24 additions and 3 deletions
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src/user/user_objects.cc
+12
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@@ -845,6 +845,12 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
// attach frame to body
mjCBody& mjCBody::operator+=(const mjCFrame& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
model->AppendSpec(mj_copySpec(&other.model->spec));
}
// create a copy of the subtree that contains the frame
mjCBody* subtree = other.body;
other.model->prefix = other.prefix;
other.model->suffix = other.suffix;
@@ -1805,6 +1811,12 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
// attach body to frame
mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
model->AppendSpec(mj_copySpec(&other.model->spec));
}
// apply namespace and store keyframes in the source model
other.model->prefix = other.prefix;
other.model->suffix = other.suffix;
other.model->StoreKeyframes(model);