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Remove dependency on Window, Physics, and Renderer classes.

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PiperOrigin-RevId: 825137441
Change-Id: I099a518ca9618698401d0330a6ef08278168f88e
This commit is contained in:
Haroon Qureshi
2025-10-28 11:41:28 -07:00
committed by Copybara-Service
parent 4620b9f23a
commit 80eb511620
4 changed files with 35 additions and 38 deletions
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src/experimental/studio/app.cc
+10 -10
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@@ -284,9 +284,9 @@ void App::HandleMouseEvents() {
// Left double click.
if (data && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
toolbox::PickResult picked =
toolbox::Pick(mouse_x, mouse_y, window_.get(), renderer_.get(),
physics_.get(), vis_options_);
toolbox::PickResult picked = toolbox::Pick(
model, data, &camera_, mouse_x, mouse_y, window_->GetAspectRatio(),
&renderer_->GetScene(), &vis_options_);
if (picked.body >= 0) {
perturb_.select = picked.body;
perturb_.flexselect = picked.flex;
@@ -305,9 +305,9 @@ void App::HandleMouseEvents() {
// Right double click.
if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right)) {
toolbox::PickResult picked =
toolbox::Pick(mouse_x, mouse_y, window_.get(), renderer_.get(),
physics_.get(), vis_options_);
toolbox::PickResult picked = toolbox::Pick(
model, data, &camera_, mouse_x, mouse_y, window_->GetAspectRatio(),
&renderer_->GetScene(), &vis_options_);
mju_copy3(camera_.lookat, picked.point);
if (picked.body > 0 && io.KeyCtrl) {
camera_.type = mjCAMERA_TRACKING;
@@ -457,11 +457,11 @@ void App::HandleKeyboardEvents() {
// Camera shortcuts.
if (model) {
if (ImGui_IsChordJustPressed(ImGuiKey_Escape)) {
ui_.camera_idx = toolbox::SetCamera(*model, camera_, 0);
ui_.camera_idx = toolbox::SetCamera(model, &camera_, 0);
} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftBracket)) {
ui_.camera_idx = toolbox::SetCamera(*model, camera_,ui_.camera_idx - 1);
ui_.camera_idx = toolbox::SetCamera(model, &camera_,ui_.camera_idx - 1);
} else if (ImGui_IsChordJustPressed(ImGuiKey_RightBracket)) {
ui_.camera_idx = toolbox::SetCamera(*model, camera_, ui_.camera_idx + 1);
ui_.camera_idx = toolbox::SetCamera(model, &camera_, ui_.camera_idx + 1);
}
}
@@ -570,7 +570,7 @@ void App::SaveSettings() {
void App::SetCamera(int idx) {
if (Model()) {
ui_.camera_idx = ::mujoco::toolbox::SetCamera(*Model(), camera_, idx);
ui_.camera_idx = ::mujoco::toolbox::SetCamera(Model(), &camera_, idx);
}
}