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

Add visualisation groups to skins.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjvisualize.h
+10 -9
View File
@@ -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;