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

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PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
This commit is contained in:
Yuval Tassa
2023-01-31 10:56:26 -08:00
committed by Copybara-Service
parent f1af86cf82
commit 7feecf6e94
6 changed files with 30 additions and 15 deletions
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src/engine/engine_vis_visualize.c
+2 -2
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@@ -575,7 +575,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
sz[0] = scl * m->vis.scale.constraint;
mjv_makeConnector(thisgeom, mjGEOM_CAPSULE, sz[0],
selpos[0], selpos[1], selpos[2],
pert->refpos[0], pert->refpos[1], pert->refpos[2]);
pert->reflocalpos[0], pert->reflocalpos[1], pert->reflocalpos[2]);
// prepare color
mixcolor(rgba, m->vis.rgba.constraint,
@@ -593,7 +593,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
sz[0] = 2*sz[0];
sz[1] = sz[2] = sz[0];
mju_quat2Mat(mat, pert->refquat);
mjv_initGeom(thisgeom, mjGEOM_SPHERE, sz, pert->refpos, mat, rgba);
mjv_initGeom(thisgeom, mjGEOM_SPHERE, sz, pert->reflocalpos, mat, rgba);
FINISH
}