Specify camera parameters using standard robotics conventions.

PiperOrigin-RevId: 569147555 Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:18:36 -07:00
parent ca60de79c8
commit 36d2ffe4f2
28 changed files with 528 additions and 40 deletions
@@ -199,6 +199,7 @@ struct mjvGLCamera_ {             // OpenGL camera

  // camera projection
  float    frustum_center;        // hor. center (left,right set to match aspect)
+  float    frustum_width;         // width (not used for rendering)
  float    frustum_bottom;        // bottom
  float    frustum_top;           // top
  float    frustum_near;          // near
@@ -454,6 +455,7 @@ struct mjvSceneState_ {

    mjtNum* cam_fovy;
    mjtNum* cam_ipd;
+    float* cam_sensorsize;

    mjtByte* light_directional;
    mjtByte* light_castshadow;