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Add "cameraid" attribute to visual/global specifying the default camera to use at model load.

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PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
This commit is contained in:
Yuval Tassa
2025-06-20 11:39:59 -07:00
committed by Copybara-Service
parent 7dc7a349c5
commit 14dc7c2a60
15 changed files with 58 additions and 16 deletions
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simulate/main.cc
+1 -1
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@@ -353,7 +353,7 @@ void PhysicsLoop(mj::Simulate& sim) {
// requested slow-down factor
double slowdown = 100 / sim.percentRealTime[sim.real_time_index];
// misalignment condition: distance from target sim time is bigger than syncmisalign
// misalignment condition: distance from target sim time is bigger than syncMisalign
bool misaligned =
std::abs(Seconds(elapsedCPU).count()/slowdown - elapsedSim) > syncMisalign;
simulate/simulate.cc
+10 -2
View File
@@ -1178,8 +1178,16 @@ void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// align and scale view
void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
// use default free camera parameters
mjv_defaultFreeCamera(m, &sim->cam);
// if the id is valid, use the initial fixed camera
if (m->vis.global.cameraid >= 0 && m->vis.global.cameraid < m->ncam) {
sim->cam.fixedcamid = m->vis.global.cameraid;
sim->cam.type = mjCAMERA_FIXED;
}
// otherwise use default free camera
else {
mjv_defaultFreeCamera(m, &sim->cam);
}
}