Make mjv_cameraFrame and mjv_cameraFrustum public.

PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079

doc/APIreference/functions.rst

@@ -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

doc/includes/references.h

@@ -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);

include/mujoco/mujoco.h

@@ -772,6 +772,16 @@ MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, m
 // Update skins.
 MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 
+// Compute camera position and forward, up, and right vectors.
+// Nullable: headpos, forward, up, right
+MJAPI void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
+                           const mjData* d, const mjvCamera* cam);
+
+// Compute camera frustum: vertical, horizontal, and clip planes.
+// Nullable: zver, zhor, zclip
+MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
+                             const mjvCamera* cam);
+
 
 //---------------------------------- OpenGL rendering ----------------------------------------------
 

python/mujoco/functions.cc

@@ -740,6 +740,8 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mjv_makeLights>(pymodule);
   Def<traits::mjv_updateCamera>(pymodule);
   Def<traits::mjv_updateSkin>(pymodule);
+  Def<traits::mjv_cameraFrame>(pymodule);
+  Def<traits::mjv_cameraFrustum>(pymodule);
 
   // UI framework
   // Skipped: entire section (can add this if there's demand)

python/mujoco/introspect/functions.py

@@ -4929,6 +4929,102 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Update skins.',
      )),
+    ('mjv_cameraFrame',
+     FunctionDecl(
+         name='mjv_cameraFrame',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='headpos',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum'),
+                     extents=(3,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='forward',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum'),
+                     extents=(3,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='up',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum'),
+                     extents=(3,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='right',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum'),
+                     extents=(3,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='cam',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjvCamera', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Compute camera position and forward, up, and right vectors.',
+     )),
+    ('mjv_cameraFrustum',
+     FunctionDecl(
+         name='mjv_cameraFrustum',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='zver',
+                 type=ArrayType(
+                     inner_type=ValueType(name='float'),
+                     extents=(2,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='zhor',
+                 type=ArrayType(
+                     inner_type=ValueType(name='float'),
+                     extents=(2,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='zclip',
+                 type=ArrayType(
+                     inner_type=ValueType(name='float'),
+                     extents=(2,),
+                 ),
+                 nullable=True,
+             ),
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='cam',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjvCamera', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Compute camera frustum: vertical, horizontal, and clip planes.',
+     )),
     ('mjr_defaultContext',
      FunctionDecl(
          name='mjr_defaultContext',

src/engine/engine_vis_visualize.h

@@ -58,14 +58,12 @@ MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn
                                 const mjvOption* opt);
 
 // computes the camera position, forward, up, and right vectors
-// Nullable: headpos, forward, up, right
+MJAPI void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
-void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
+                           const mjData* d, const mjvCamera* cam);
-                     const mjData* d, const mjvCamera* cam);
 
 // computes the camera frustums, i.e. vertical, horizontal, and clip planes
-// Nullable: zver, zhor, zclip
+MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
-void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
+                             const mjvCamera* cam);
-                       const mjvCamera* cam);
 
 int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
                  mjtNum* catenary, int ncatenary);

unity/Runtime/Bindings/MjBindings.cs

@@ -6885,6 +6885,12 @@ public static unsafe extern void mjv_updateCamera(mjModel_* m, mjData_* d, mjvCa
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_updateSkin(mjModel_* m, mjData_* d, mjvScene_* scn);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mjv_cameraFrame(double* headpos, double* forward, double* up, double* right, mjData_* d, mjvCamera_* cam);
+
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mjv_cameraFrustum(float* zver, float* zhor, float* zclip, mjModel_* m, mjvCamera_* cam);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjr_defaultContext(mjrContext_* con);
 

wasm/codegen/generated/bindings.cc

@@ -10580,6 +10580,21 @@ void mjv_updateSkin_wrapper(const MjModel& m, const MjData& d, MjvScene& scn) {
   mjv_updateSkin(m.get(), d.get(), scn.get());
 }
 
+void mjv_cameraFrame_wrapper(const val& headpos, const val& forward, const val& up, const val& right, const MjData& d, const MjvCamera& cam) {
+  UNPACK_VALUE(mjtNum, headpos);
+  UNPACK_VALUE(mjtNum, forward);
+  UNPACK_VALUE(mjtNum, up);
+  UNPACK_VALUE(mjtNum, right);
+  mjv_cameraFrame(headpos_.data(), forward_.data(), up_.data(), right_.data(), d.get(), cam.get());
+}
+
+void mjv_cameraFrustum_wrapper(const val& zver, const val& zhor, const val& zclip, const MjModel& m, const MjvCamera& cam) {
+  UNPACK_VALUE(float, zver);
+  UNPACK_VALUE(float, zhor);
+  UNPACK_VALUE(float, zclip);
+  mjv_cameraFrustum(zver_.data(), zhor_.data(), zclip_.data(), m.get(), cam.get());
+}
+
 void mju_writeLog_wrapper(const String& type, const String& msg) {
   CHECK_VAL(type);
   CHECK_VAL(msg);
@@ -12582,6 +12597,8 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
   function("mjv_makeLights", &mjv_makeLights_wrapper);
   function("mjv_updateCamera", &mjv_updateCamera_wrapper);
   function("mjv_updateSkin", &mjv_updateSkin_wrapper);
+  function("mjv_cameraFrame", &mjv_cameraFrame_wrapper);
+  function("mjv_cameraFrustum", &mjv_cameraFrustum_wrapper);
   function("mju_writeLog", &mju_writeLog_wrapper);
   function("mjs_getError", &mjs_getError_wrapper);
   function("mjs_isWarning", &mjs_isWarning_wrapper);