Improve behaviour of set-pose mouse interactions with free and mocap bodies.

PiperOrigin-RevId: 506051745 Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
2023-01-31 10:56:26 -08:00
parent f1af86cf82
commit 7feecf6e94
6 changed files with 30 additions and 15 deletions
@@ -154,8 +154,9 @@ struct mjvPerturb_ {              // object selection and perturbation
  int      skinselect;            // selected skin id; negative: none
  int      active;                // perturbation bitmask (mjtPertBit)
  int      active2;               // secondary perturbation bitmask (mjtPertBit)
-  mjtNum   refpos[3];             // desired position for selected object
-  mjtNum   refquat[4];            // desired orientation for selected object
+  mjtNum   refpos[3];             // reference position for selected object
+  mjtNum   refquat[4];            // reference orientation for selected object
+  mjtNum   reflocalpos[3];        // reference selection point in object coordinates
  mjtNum   localpos[3];           // selection point in object coordinates
  mjtNum   scale;                 // relative mouse motion-to-space scaling (set by initPerturb)
 };