Added optional childclass in addBody()

ee25d70c · Rainer Kartmann · c2311ae5 · ee25d70c · ee25d70c
Commit ee25d70c authored 6 years ago by Rainer Kartmann
--- a/VirtualRobot/MJCF/elements/body.cpp
+++ b/VirtualRobot/MJCF/elements/body.cpp
@@ -145,7 +145,7 @@ Body Worldbody::addMocapBody(const std::string& name, float geomSize)
    return mocap;
 }

-Body Worldbody::addBody(const std::string& name)
+Body Worldbody::addBody(const std::string& name, const std::string& childClass)
 {
    Body body = addChild<Body>();

@@ -153,6 +153,10 @@ Body Worldbody::addBody(const std::string& name)
    {
        body.name = name;
    }
+    if (!childClass.empty())
+    {
+        body.childclass = childClass;
+    }

    return body;
 }
--- a/VirtualRobot/MJCF/elements/body.h
+++ b/VirtualRobot/MJCF/elements/body.h
@@ -222,7 +222,7 @@ struct Worldbody : public Element<Worldbody>
    mjcf_ElementDerivedConstructors(Worldbody)
    
    /// Add a body element.
-    Body addBody(const std::string& name = "");
+    Body addBody(const std::string& name = "", const std::string& childClass = "");
    
    /// Add a mocap body with the given name to the worldbody.
    Body addMocapBody(const std::string& name, float geomSize);