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Add equivalent inertia ellipsoid visualization.

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PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
This commit is contained in:
Kevin Zakka
2023-03-24 08:46:58 -07:00
committed by Copybara-Service
parent 2a471d1e11
commit 3f14d97f6b
13 changed files with 60 additions and 17 deletions
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doc/XMLreference.rst
+6
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@@ -898,6 +898,12 @@ is effectively a miscellaneous subsection.
:at:`offheight`: :at-val:`int, "480"`
This attribute specifies the height in pixels of the OpenGL off-screen rendering buffer.
.. _visual-global-ellipsoidinertia:
:at:`ellipsoidinertia`: :at-val:`[false, true], "false"`
This attribute specifies how the equivalent inertia is visualized. "false":
use box, "true": use ellipsoid.
.. _visual-quality:
doc/XMLschema.rst
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@@ -104,6 +104,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | :ref:`realtime<visual-global-realtime>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`quality | ? | :class: mjcf-attributes |
doc/changelog.rst
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@@ -5,6 +5,15 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
.. image:: images/changelog/ellipsoidinertia.gif
:align: right
:width: 320px
- Added :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` to visualize equivalent inertias with ellipsoids instead of the default boxes.
Bug fixes
^^^^^^^^^
doc/images/changelog/ellipsoidinertia.gif
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doc/includes/references.h
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@@ -654,6 +654,7 @@ struct mjVisual_ { // visualization options
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int treedepth; // depth of the bounding volume hierarchy
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
} global;
struct { // rendering quality