close #8

Author: madhephaestus

src/main/java/org/mujoco/xml/BodyarchType.java

@@ -10,6 +10,8 @@
 
 import java.beans.PropertyChangeListener;
 import java.beans.VetoableChangeListener;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
 import java.math.BigDecimal;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -24,6 +26,8 @@
 import javax.xml.bind.annotation.XmlElementRefs;
 import javax.xml.bind.annotation.XmlElements;
 import javax.xml.bind.annotation.XmlType;
+import javax.xml.namespace.QName;
+
 import com.kscs.util.jaxb.BoundList;
 import com.kscs.util.jaxb.BoundListProxy;
 import com.kscs.util.jaxb.Buildable;
@@ -362,12 +366,52 @@ protected<_P extends BodyarchType >_P init(final _P _product) {
             if (this.inertialOrJointOrFreejoint!= null) {
                 final List<JAXBElement<?>> inertialOrJointOrFreejoint = new ArrayList<JAXBElement<?>>(this.inertialOrJointOrFreejoint.size());
                 for (Buildable _item: this.inertialOrJointOrFreejoint) {
-                    inertialOrJointOrFreejoint.add(((JAXBElement<?> ) _item.build()));
+                		try {
+							inertialOrJointOrFreejoint.add(buildRecoursive(_item));
+						} catch (NoSuchMethodException | SecurityException | IllegalAccessException
+								| IllegalArgumentException | InvocationTargetException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
                 }
                 _product.inertialOrJointOrFreejoint = inertialOrJointOrFreejoint;
             }
             return super.init(_product);
         }
+        private JAXBElement<?> buildRecoursive(Object o) throws NoSuchMethodException, SecurityException, IllegalAccessException, IllegalArgumentException, InvocationTargetException{
+            Class<? extends Object> class1 = o.getClass();
+            System.out.println("Class "+class1);
+			Method setNameMethod = class1.getMethod("build");
+        	Object product = setNameMethod.invoke(o);
+        	if(JAXBElement.class.isInstance(product))
+        		return (JAXBElement<?>)product;
+        	if (product==null)
+        		throw new NullPointerException();
+        	if(BodyarchType.class.isInstance(product)) {
+        		BodyarchType  bat = (BodyarchType)product;
+                JAXBElement<BodyarchType> element =new JAXBElement<BodyarchType>(new QName("body"),BodyarchType.class,bat);
+        		return element;
+        	}
+        	return buildRecoursive(product);
+        }	
+        
+        /**
+         * Returns a new builder to build an additional value of the "body" property.
+         * Use {@link org.mujoco.xml.BodyarchType.Builder#end()} to return to the current builder.
+         * 
+         * @return
+         *     a new builder to build an additional value of the "body" property.
+         *     Use {@link org.mujoco.xml.BodyarchType.Builder#end()} to return to the current builder.
+         */
+        public BodyarchType.Builder<? extends BodyType.Builder<_B>> addBody() {
+            if (this.inertialOrJointOrFreejoint == null) {
+                this.inertialOrJointOrFreejoint = new ArrayList<Buildable>();
+            }
+            final BodyarchType.Builder<BodyType.Builder<_B>> body_Builder = new BodyarchType.Builder<BodyType.Builder<_B>>(this, null, false);
+            //System.out.println("Builder type is "+body_Builder.getClass());
+            this.inertialOrJointOrFreejoint.add(body_Builder);
+            return body_Builder;
+        }
 
         /**
          * Adds the given items to the value of "inertialOrJointOrFreejoint"

src/main/java/org/mujoco/xml/Mujoco.java

@@ -13758,11 +13758,12 @@ public Mujoco.Worldbody.Builder<_B> addBody(BodyarchType... body_) {
              *     a new builder to build an additional value of the "body" property.
              *     Use {@link org.mujoco.xml.BodyarchType.Builder#end()} to return to the current builder.
              */
-            public BodyarchType.Builder<? extends Mujoco.Worldbody.Builder<_B>> addBody() {
+            public org.mujoco.xml.BodyarchType.Builder<? extends org.mujoco.xml.Mujoco.Worldbody.Builder<_B>> addBody() {
                 if (this.geomOrSiteOrCamera == null) {
                     this.geomOrSiteOrCamera = new ArrayList<Buildable>();
                 }
-                final BodyarchType.Builder<Mujoco.Worldbody.Builder<_B>> body_Builder = new BodyarchType.Builder<Mujoco.Worldbody.Builder<_B>>(this, null, false);
+                final org.mujoco.xml.BodyarchType.Builder<org.mujoco.xml.Mujoco.Worldbody.Builder<_B>> body_Builder = new org.mujoco.xml.BodyarchType.Builder<org.mujoco.xml.Mujoco.Worldbody.Builder<_B>>(this, null, false);
+                System.out.println("Builder type is "+body_Builder.getClass());
                 this.geomOrSiteOrCamera.add(body_Builder);
                 return body_Builder;
             }

src/test/java/mujoco/java/XMLtest.java

@@ -35,7 +35,11 @@ public void marshal() throws JAXBException {
 		topbody.withPos("0 0 1.282");
 
 		//topbody.addBody();
-		//topbody.addBody().withName("Head");
+		topbody.addBody().withName("Head").withPos("0 0 2.2")
+		.addBody()
+			.withName("mowhawk")
+			.withPos("0 0 1.2")
+		;
 
 
 		//topbody.addBody(topbody.ge);