Expose function for determining if tendons should be drawn using a catenary.

PiperOrigin-RevId: 931170146 Change-Id: Ia3352a3e2bdc5e4df932e9d476e1e34200b62df1
2026-06-12 08:44:48 -07:00
parent 4bb02e299d
commit 0ea9c7cb3a
2 changed files with 61 additions and 47 deletions
@@ -65,6 +65,10 @@ MJAPI void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], m
 MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
                             const mjvCamera* cam);

+// determines if tendon should be rendered as a catenary curve and, if so, computes its length
+MJAPI int mjv_isCatenary(const mjModel* m, const mjData* d, int i, mjtNum* length);
+
+// computes points along a catenary curve
 int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
                 mjtNum* catenary, int ncatenary);