Make mjv_cameraFrame and mjv_cameraFrustum public.

PiperOrigin-RevId: 832187804 Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:02:05 -08:00
parent 86ac3a5e28
commit 6c15c711ee
8 changed files with 161 additions and 6 deletions
@@ -2340,6 +2340,28 @@ Update camera.

 Update skins.

+.. _mjv_cameraFrame:
+
+`mjv_cameraFrame <#mjv_cameraFrame>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_cameraFrame
+
+Compute camera position and forward, up, and right vectors.
+
+*Nullable:* ``headpos``, ``forward``, ``up``, ``right``
+
+.. _mjv_cameraFrustum:
+
+`mjv_cameraFrustum <#mjv_cameraFrustum>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_cameraFrustum
+
+Compute camera frustum: vertical, horizontal, and clip planes.
+
+*Nullable:* ``zver``, ``zhor``, ``zclip``
+
 .. _OpenGLrendering:

 OpenGL rendering
@@ -3290,6 +3290,10 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
 void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
 void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
 void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
+void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
+                     const mjData* d, const mjvCamera* cam);
+void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
+                       const mjvCamera* cam);
 void mjr_defaultContext(mjrContext* con);
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 void mjr_changeFont(int fontscale, mjrContext* con);