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Refactor frustum drawing to use a local makeTriangle function.

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PiperOrigin-RevId: 668168658
Change-Id: I0ee9038c36eb28e2c4a0a8c94bea7430f68c6b77
This commit is contained in:
Yuval Tassa
2024-08-27 15:41:36 -07:00
committed by Copybara-Service
parent ddb29e9293
commit 72a0ab145d
2 changed files with 17 additions and 12 deletions
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src/engine/engine_vis_visualize.c
+16 -12
View File
@@ -96,6 +96,20 @@ static void islandColor(float rgba[4], int islanddofadr) {
rgba[3] = 1;
}
// make a triangle in thisgeom at coordinates v0, v1, v2 with a given color
static void makeTriangle(mjvGeom* thisgeom, const mjtNum v0[3], const mjtNum v1[3],
const mjtNum v2[3], const float rgba[4]) {
mjtNum e1[3] = {v1[0] - v0[0], v1[1] - v0[1], v1[2] - v0[2]};
mjtNum e2[3] = {v2[0] - v0[0], v2[1] - v0[1], v2[2] - v0[2]};
mjtNum normal[3];
mju_cross(normal, e1, e2);
mjtNum lengths[3] = {mju_normalize3(e1), mju_normalize3(e2), mju_normalize3(normal)};
mjtNum xmat[9] = {e1[0], e2[0], normal[0],
e1[1], e2[1], normal[1],
e1[2], e2[2], normal[2]};
mjv_initGeom(thisgeom, mjGEOM_TRIANGLE, lengths, v0, xmat, rgba);
}
// add contact-related geoms in mjvObject
static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
const mjvOption* vopt, mjvScene* scn) {
@@ -1553,20 +1567,10 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// triangulation and wireframe of the frustum
for (int e=0; e < 4; e++) {
START
mju_sub3(x, vfar[e], vnear[e]);
mju_sub3(y, vnear[(e+1)%4], vnear[e]);
mju_cross(z, x, y);
mjtNum tri1[3] = {mju_normalize3(x), mju_normalize3(y), mju_normalize3(z)};
mjtNum xmat1[9] = {x[0], y[0], z[0], x[1], y[1], z[1], x[2], y[2], z[2]};
mjv_initGeom(thisgeom, mjGEOM_TRIANGLE, tri1, vnear[e], xmat1, rgba);
makeTriangle(thisgeom, vnear[e], vfar[e], vnear[(e+1)%4], rgba);
FINISH
START
mju_sub3(y, vnear[(e+1)%4], vfar[e]);
mju_sub3(x, vfar[(e+1)%4], vfar[e]);
mju_cross(z, x, y);
mjtNum tri2[3] = {mju_normalize3(x), mju_normalize3(y), mju_normalize3(z)};
mjtNum xmat2[9] = {x[0], y[0], z[0], x[1], y[1], z[1], x[2], y[2], z[2]};
mjv_initGeom(thisgeom, mjGEOM_TRIANGLE, tri2, vfar[e], xmat2, rgba);
makeTriangle(thisgeom, vfar[e], vfar[(e+1)%4], vnear[(e+1)%4], rgba);
FINISH
START
mjv_connector(thisgeom, mjGEOM_LINE, 3, vnear[e], vnear[(e+1)%4]);
test/engine/testdata/vis_visualize/frustum.xml
Vendored
+1
View File
@@ -11,6 +11,7 @@
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
<texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
</asset>
<worldbody>