// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/skin.h>

#include <webots/Skin.hpp>

using namespace std;

using namespace webots;

void Skin::setBoneOrientation(int index, const double *orientation, bool absolute) {

wb_skin_set_bone_orientation(getTag(), index, orientation, absolute);

}

void Skin::setBonePosition(int index, const double *position, bool absolute) {

wb_skin_set_bone_position(getTag(), index, position, absolute);

}

int Skin::getBoneCount() const {

return wb_skin_get_bone_count(getTag());

}

const string Skin::getBoneName(int index) const {

const char *name_str = wb_skin_get_bone_name(getTag(), index);

const string name(name_str);

return name;

}

const double *Skin::getBoneOrientation(int index, bool absolute) const {

return wb_skin_get_bone_orientation(getTag(), index, absolute);

}

const double *Skin::getBonePosition(int index, bool absolute) const {

return wb_skin_get_bone_position(getTag(), index, absolute);

}