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Add pan/tilt motions to mjv_moveCamera.

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PiperOrigin-RevId: 948308546
Change-Id: I2724b889759e652ed50d03bf97f3c7125cd0eb56
This commit is contained in:
Haroon Qureshi
2026-07-15 06:49:46 -07:00
committed by Copybara-Service
parent 1e85ce176f
commit 52317058ba
6 changed files with 44 additions and 15 deletions
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doc/includes/references.h
+9 -7
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@@ -3025,13 +3025,15 @@ typedef enum mjtCatBit_ { // bitflags for mjvGeom category
} mjtCatBit;
typedef enum mjtMouse_ { // mouse interaction mode
mjMOUSE_NONE = 0, // no action
mjMOUSE_ROTATE_V, // rotate, vertical plane
mjMOUSE_ROTATE_H, // rotate, horizontal plane
mjMOUSE_MOVE_V, // move, vertical plane
mjMOUSE_MOVE_H, // move, horizontal plane
mjMOUSE_ZOOM, // zoom
mjMOUSE_MOVE_V_REL, // move, vertical plane, relative to target
mjMOUSE_MOVE_H_REL, // move, horizontal plane, relative to target
mjMOUSE_ROTATE_V, // rotate (orbit) vertically
mjMOUSE_ROTATE_H, // rotate (orbit) horizontally
mjMOUSE_MOVE_V, // move along vertical plane
mjMOUSE_MOVE_H, // move along horizontal plane
mjMOUSE_ZOOM, // zoom (towards/away from lookat point)
mjMOUSE_MOVE_V_REL, // move (truck, pedestal), vertical plane rel. to target
mjMOUSE_MOVE_H_REL, // move (truck, dolly), horizontal plane rel. to target
mjMOUSE_TURN_V, // turn (tilt) vertically
mjMOUSE_TURN_H, // turn (pan) horizontally
} mjtMouse;
typedef enum mjtPertBit_ { // mouse perturbations
mjPERT_TRANSLATE = 1, // translation
include/mujoco/mjvisualize.h
+9 -7
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@@ -40,13 +40,15 @@ typedef enum mjtCatBit_ { // bitflags for mjvGeom category
typedef enum mjtMouse_ { // mouse interaction mode
mjMOUSE_NONE = 0, // no action
mjMOUSE_ROTATE_V, // rotate, vertical plane
mjMOUSE_ROTATE_H, // rotate, horizontal plane
mjMOUSE_MOVE_V, // move, vertical plane
mjMOUSE_MOVE_H, // move, horizontal plane
mjMOUSE_ZOOM, // zoom
mjMOUSE_MOVE_V_REL, // move, vertical plane, relative to target
mjMOUSE_MOVE_H_REL, // move, horizontal plane, relative to target
mjMOUSE_ROTATE_V, // rotate (orbit) vertically
mjMOUSE_ROTATE_H, // rotate (orbit) horizontally
mjMOUSE_MOVE_V, // move along vertical plane
mjMOUSE_MOVE_H, // move along horizontal plane
mjMOUSE_ZOOM, // zoom (towards/away from lookat point)
mjMOUSE_MOVE_V_REL, // move (truck, pedestal), vertical plane rel. to target
mjMOUSE_MOVE_H_REL, // move (truck, dolly), horizontal plane rel. to target
mjMOUSE_TURN_V, // turn (tilt) vertically
mjMOUSE_TURN_H, // turn (pan) horizontally
} mjtMouse;
python/mujoco/introspect/enums.py
+2
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@@ -782,6 +782,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjMOUSE_ZOOM', 5),
('mjMOUSE_MOVE_V_REL', 6),
('mjMOUSE_MOVE_H_REL', 7),
('mjMOUSE_TURN_V', 8),
('mjMOUSE_TURN_H', 9),
]),
)),
('mjtPertBit',
src/engine/engine_vis_interact.c
+19
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@@ -366,6 +366,25 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mj
mju_addToScl3(cam->lookat, vec, -scl);
break;
case mjMOUSE_TURN_V:
case mjMOUSE_TURN_H:
if (cam->type == mjCAMERA_TRACKING) {
return;
}
mjv_cameraFrame(headpos, forward, NULL, NULL, NULL, cam);
if (action == mjMOUSE_TURN_H) {
cam->azimuth -= reldx * 180.0;
}
if (action == mjMOUSE_TURN_V) {
cam->elevation -= reldy * 180.0;
}
mjv_cameraFrame(NULL, forward, NULL, NULL, NULL, cam);
// move lookat point so that camera faces new direction
mju_addScl3(cam->lookat, headpos, forward, cam->distance);
break;
case mjMOUSE_ZOOM:
cam->distance -= mju_log(1 + cam->distance/m->stat.extent/3) * reldy * 9 * m->stat.extent;
break;
unity/Runtime/Bindings/MjBindings.cs
+2
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@@ -616,6 +616,8 @@ public enum mjtMouse : int{
mjMOUSE_ZOOM = 5,
mjMOUSE_MOVE_V_REL = 6,
mjMOUSE_MOVE_H_REL = 7,
mjMOUSE_TURN_V = 8,
mjMOUSE_TURN_H = 9,
}
public enum mjtPertBit : int{
mjPERT_TRANSLATE = 1,
wasm/codegen/generated/bindings.cc
+3 -1
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@@ -4198,7 +4198,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjMOUSE_MOVE_H", mjMOUSE_MOVE_H)
.value("mjMOUSE_ZOOM", mjMOUSE_ZOOM)
.value("mjMOUSE_MOVE_V_REL", mjMOUSE_MOVE_V_REL)
.value("mjMOUSE_MOVE_H_REL", mjMOUSE_MOVE_H_REL);
.value("mjMOUSE_MOVE_H_REL", mjMOUSE_MOVE_H_REL)
.value("mjMOUSE_TURN_V", mjMOUSE_TURN_V)
.value("mjMOUSE_TURN_H", mjMOUSE_TURN_H);
enum_<mjtObj>("mjtObj")
.value("mjOBJ_UNKNOWN", mjOBJ_UNKNOWN)
.value("mjOBJ_BODY", mjOBJ_BODY)