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Add visualisation groups to skins.

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PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
This commit is contained in:
Alessio Quaglino
2022-07-01 04:56:46 -07:00
committed by Copybara-Service
parent 040deb161f
commit 2d0995b47c
19 changed files with 256 additions and 115 deletions
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include/mujoco/mjmodel.h
+1
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@@ -732,6 +732,7 @@ struct mjModel_ {
// skins
int* skin_matid; // skin material id; -1: none (nskin x 1)
int* skin_group; // group for visibility (nskin x 1)
float* skin_rgba; // skin rgba (nskin x 4)
float* skin_inflate; // inflate skin in normal direction (nskin x 1)
int* skin_vertadr; // first vertex address (nskin x 1)
include/mujoco/mjvisualize.h
+10 -9
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@@ -18,7 +18,7 @@
#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h>
#define mjNGROUP 6 // number of geom, site, joint groups with visflags
#define mjNGROUP 6 // number of geom, site, joint, skin groups with visflags
#define mjMAXLIGHT 100 // maximum number of lights in a scene
#define mjMAXOVERLAY 500 // maximum number of characters in overlay text
#define mjMAXLINE 100 // maximum number of lines per plot
@@ -250,15 +250,16 @@ typedef struct mjvLight_ mjvLight;
//---------------------------------- mjvOption -----------------------------------------------------
struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
};
typedef struct mjvOption_ mjvOption;
include/mujoco/mjxmacro.h
+1
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@@ -267,6 +267,7 @@
X( int, mesh_face, nmeshface, 3 ) \
X( int, mesh_graph, nmeshgraph, 1 ) \
X( int, skin_matid, nskin, 1 ) \
X( int, skin_group, nskin, 1 ) \
X( float, skin_rgba, nskin, 4 ) \
X( float, skin_inflate, nskin, 1 ) \
X( int, skin_vertadr, nskin, 1 ) \