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

Add control values to keyframes.

Browse Source 
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.

PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
This commit is contained in:
Yuval Tassa
2022-07-05 01:07:07 -07:00
committed by Copybara-Service
parent 5ba880506c
commit 09a5efc09e
15 changed files with 161 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sample/simulate.cc
+2
View File
@@ -1442,6 +1442,7 @@ void uiEvent(mjuiState* state) {
mju_copy(d->act, m->key_act+i*m->na, m->na);
mju_copy(d->mocap_pos, m->key_mpos+i*3*m->nmocap, 3*m->nmocap);
mju_copy(d->mocap_quat, m->key_mquat+i*4*m->nmocap, 4*m->nmocap);
mju_copy(d->ctrl, m->key_ctrl+i*m->nu, m->nu);
mj_forward(m, d);
profilerupdate();
sensorupdate();
@@ -1456,6 +1457,7 @@ void uiEvent(mjuiState* state) {
mju_copy(m->key_act+i*m->na, d->act, m->na);
mju_copy(m->key_mpos+i*3*m->nmocap, d->mocap_pos, 3*m->nmocap);
mju_copy(m->key_mquat+i*4*m->nmocap, d->mocap_quat, 4*m->nmocap);
mju_copy(m->key_ctrl+i*m->nu, d->ctrl, m->nu);
break;
}
}