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Misc cleanup to addFrameGeoms.

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PiperOrigin-RevId: 814582959
Change-Id: I2546bf1c13334628d379ad24737de095085e1b1f
This commit is contained in:
Haroon Qureshi
2025-10-03 01:13:44 -07:00
committed by Copybara-Service
parent 8eacacfd13
commit 493d73062c
1 changed files with 10 additions and 9 deletions
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src/engine/engine_vis_visualize.c
+10 -9
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@@ -354,7 +354,8 @@ static void markselected(const mjVisual* vis, mjvGeom* geom) {
// draw 3 cylinders representing a "frame" decor element // draw 3 cylinders representing a "frame" decor element
void addFrameGeoms(mjvScene* scn, int i, mjtNum* pos, mjtNum* rot, float length, float width) { void addFrame(mjvScene* scn, int objid, const mjtNum pos[3], const mjtNum rot[9], float length,
float width) {
// draw separate geoms for each axis // draw separate geoms for each axis
for (int j=0; j < 3; j++) { for (int j=0; j < 3; j++) {
mjtNum axis[3]; mjtNum axis[3];
@@ -363,13 +364,13 @@ void addFrameGeoms(mjvScene* scn, int i, mjtNum* pos, mjtNum* rot, float length,
} }
mjtNum vec[3]; mjtNum vec[3];
mju_mulMatVec(vec, rot, axis, 3, 3); mju_mulMatVec3(vec, rot, axis);
// create a cylinder // create a cylinder
mjtNum to[3]; mjtNum to[3];
mju_add3(to, pos, vec); mju_add3(to, pos, vec);
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN); mjvGeom* thisgeom = acquireGeom(scn, objid, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) { if (!thisgeom) {
return; return;
} }
@@ -634,7 +635,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
// set length and width of axis cylinders using half regular frame scaling // set length and width of axis cylinders using half regular frame scaling
framelength = m->vis.scale.framelength * scl / 2; framelength = m->vis.scale.framelength * scl / 2;
framewidth = m->vis.scale.framewidth * scl / 2; framewidth = m->vis.scale.framewidth * scl / 2;
addFrameGeoms(scn, i, con->pos, mat, framelength, framewidth); addFrame(scn, i, con->pos, mat, framelength, framewidth);
} }
// nothing else to do for excluded contacts // nothing else to do for excluded contacts
@@ -974,7 +975,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
objtype = mjOBJ_UNKNOWN; objtype = mjOBJ_UNKNOWN;
sz[0] = m->vis.scale.framewidth * scl; sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl; sz[1] = m->vis.scale.framelength * scl;
addFrameGeoms(scn, i, d->geom_xpos+3*i, d->geom_xmat+9*i, sz[1], sz[0]); addFrame(scn, i, d->geom_xpos+3*i, d->geom_xmat+9*i, sz[1], sz[0]);
} }
} }
@@ -1030,7 +1031,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
objtype = mjOBJ_UNKNOWN; objtype = mjOBJ_UNKNOWN;
sz[0] = m->vis.scale.framewidth * scl; sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl; sz[1] = m->vis.scale.framelength * scl;
addFrameGeoms(scn, i, d->site_xpos+3*i, d->site_xmat+9*i, sz[1], sz[0]); addFrame(scn, i, d->site_xpos+3*i, d->site_xmat+9*i, sz[1], sz[0]);
} }
} }
@@ -1719,7 +1720,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjtNum* xmat = vopt->flags[mjVIS_INERTIA] ? d->ximat+9*i : d->xmat+9*i; mjtNum* xmat = vopt->flags[mjVIS_INERTIA] ? d->ximat+9*i : d->xmat+9*i;
mjtNum* xpos = vopt->flags[mjVIS_INERTIA] ? d->xipos+3*i : d->xpos+3*i; mjtNum* xpos = vopt->flags[mjVIS_INERTIA] ? d->xipos+3*i : d->xpos+3*i;
addFrameGeoms(scn, i, xpos, xmat, sz[1], sz[0]); addFrame(scn, i, xpos, xmat, sz[1], sz[0]);
} }
} }
@@ -2240,7 +2241,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
objtype = mjOBJ_UNKNOWN; objtype = mjOBJ_UNKNOWN;
sz[0] = m->vis.scale.framewidth * scl; sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl; sz[1] = m->vis.scale.framelength * scl;
addFrameGeoms(scn, i, d->cam_xpos+3*i, d->cam_xmat+9*i, sz[1], sz[0]); addFrame(scn, i, d->cam_xpos+3*i, d->cam_xmat+9*i, sz[1], sz[0]);
} }
} }
@@ -2287,7 +2288,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
objtype = mjOBJ_UNKNOWN; objtype = mjOBJ_UNKNOWN;
sz[0] = m->vis.scale.framewidth * scl; sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl; sz[1] = m->vis.scale.framelength * scl;
addFrameGeoms(scn, i, d->light_xpos+3*i, mat, sz[1], sz[0]); addFrame(scn, i, d->light_xpos+3*i, mat, sz[1], sz[0]);
} }
} }