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Adds rendering of ball and free joints actuators using an inflated joint geometry.

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PiperOrigin-RevId: 453939612
Change-Id: I621f91d242b2974e6ae6acf239cdcb10efcb2629
This commit is contained in:
Alessio Quaglino
2022-06-09 09:09:22 -07:00
committed by Copybara-Service
parent e050f36b5a
commit 6ead14614f
2 changed files with 65 additions and 34 deletions
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src/engine/engine_vis_visualize.c
+36 -34
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@@ -835,48 +835,50 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
int j = m->actuator_trnid[2*i];
// slide and hinge joint actuators
if ((m->actuator_trntype[i]==mjTRN_JOINT || m->actuator_trntype[i]==mjTRN_JOINTINPARENT) &&
(m->jnt_type[j]==mjJNT_HINGE || m->jnt_type[j]==mjJNT_SLIDE)) {
// set length(1) and width(0) of the connectors
sz[1] = m->vis.scale.actuatorlength * scl;
sz[0] = m->vis.scale.actuatorwidth * scl;
if (m->actuator_trntype[i]==mjTRN_JOINT ||
m->actuator_trntype[i]==mjTRN_JOINTINPARENT ||
m->actuator_trntype[i]==mjTRN_SITE) {
START
// make geom
mjv_makeConnector(thisgeom,
m->jnt_type[j]==mjJNT_SLIDE ? mjGEOM_ARROW : mjGEOM_ARROW1, sz[0],
d->xanchor[3*j+0],
d->xanchor[3*j+1],
d->xanchor[3*j+2],
d->xanchor[3*j+0] + sz[1]*d->xaxis[3*j+0],
d->xanchor[3*j+1] + sz[1]*d->xaxis[3*j+1],
d->xanchor[3*j+2] + sz[1]*d->xaxis[3*j+2]);
// site actuators
if (m->actuator_trntype[i]==mjTRN_SITE) {
// set size of the geometry
mju_scl3(sz, m->site_size+3*j, 1.1);
// set interpolated color
f2f(thisgeom->rgba, rgba, 4);
// make geom
mjv_initGeom(thisgeom,
m->site_type[j], sz,
d->site_xpos + 3*j,
d->site_xmat + 9*j,
thisgeom->rgba);
} else if (m->jnt_type[j]==mjJNT_HINGE || m->jnt_type[j]==mjJNT_SLIDE) {
// set length(1) and width(0) of the connectors
sz[1] = m->vis.scale.actuatorlength * scl;
sz[0] = m->vis.scale.actuatorwidth * scl;
// vopt->label
if (vopt->label==mjLABEL_ACTUATOR) {
makeLabel(m, mjOBJ_ACTUATOR, i, thisgeom->label);
// make geom
mjv_makeConnector(thisgeom,
m->jnt_type[j]==mjJNT_SLIDE ? mjGEOM_ARROW : mjGEOM_ARROW1, sz[0],
d->xanchor[3*j+0],
d->xanchor[3*j+1],
d->xanchor[3*j+2],
d->xanchor[3*j+0] + sz[1]*d->xaxis[3*j+0],
d->xanchor[3*j+1] + sz[1]*d->xaxis[3*j+1],
d->xanchor[3*j+2] + sz[1]*d->xaxis[3*j+2]);
}
FINISH
}
// ball or free joint
else if (m->jnt_type[j]==mjJNT_BALL || m->jnt_type[j]==mjJNT_FREE) {
sz[0] = sz[1] = sz[2] = m->vis.scale.jointlength * scl * 0.33;
// site actuators
if (m->actuator_trntype[i]==mjTRN_SITE) {
// actuator size is site size scaled by 1.1
mju_scl3(sz, m->site_size+3*j, 1.1);
START
// make geom overlapping the actuated site
mjv_initGeom(thisgeom,
m->site_type[j], sz,
d->site_xpos + 3*j,
d->site_xmat + 9*j,
thisgeom->rgba);
// make geom
mjv_initGeom(thisgeom,
m->jnt_type[j]==mjJNT_BALL ? mjGEOM_SPHERE : mjGEOM_BOX, sz,
d->xanchor + 3*j,
d->xmat + 9*m->jnt_bodyid[j],
thisgeom->rgba);
}
// set interpolated color
f2f(thisgeom->rgba, rgba, 4);