Remove dependency on Window, Physics, and Renderer classes.

PiperOrigin-RevId: 825137441
Change-Id: I099a518ca9618698401d0330a6ef08278168f88e

src/experimental/toolbox/interaction.cc

@@ -13,45 +13,39 @@
 // limitations under the License.
 
 #include "experimental/toolbox/interaction.h"
+
 #include <algorithm>
 
-#include "experimental/toolbox/physics.h"
-#include "experimental/toolbox/renderer.h"
-#include "experimental/toolbox/window.h"
 #include <mujoco/mujoco.h>
 
 namespace mujoco::toolbox {
 
-PickResult Pick(float x, float y, Window* window, Renderer* renderer,
-                Physics* physics, const mjvOption& vis_options) {
-  const float w = static_cast<float>(window->GetWidth());
-  const float h = static_cast<float>(window->GetHeight());
-  const float aspect_ratio = w / h;
-
+PickResult Pick(const mjModel* m, const mjData* d, const mjvCamera* camera,
+                float x, float y, float aspect_ratio, const mjvScene* scene,
+                const mjvOption* vis_options) {
   PickResult result;
   result.body =
-      mjv_select(physics->GetModel(), physics->GetData(), &vis_options,
-                 aspect_ratio, x, 1.0f - y, &renderer->GetScene(), result.point,
-                 &result.geom, &result.flex, &result.skin);
+      mjv_select(m, d, vis_options, aspect_ratio, x, 1.0f - y, scene,
+                 result.point, &result.geom, &result.flex, &result.skin);
   return result;
 }
 
-int SetCamera(const mjModel& model, mjvCamera& camera, int request_idx) {
+int SetCamera(const mjModel* m, mjvCamera* camera, int request_idx) {
   // 0 = free, 1 = tracking, 2+ = fixed
-  int camera_idx = std::clamp(request_idx, 0, std::max(model.ncam + 1, 0));
+  int camera_idx = std::clamp(request_idx, 0, std::max(m->ncam + 1, 0));
   if (camera_idx == 0) {
-    camera.type = mjCAMERA_FREE;
+    camera->type = mjCAMERA_FREE;
   } else if (camera_idx == 1) {
-    if (camera.trackbodyid >= 0) {
-      camera.type = mjCAMERA_TRACKING;
-      camera.fixedcamid = -1;
+    if (camera->trackbodyid >= 0) {
+      camera->type = mjCAMERA_TRACKING;
+      camera->fixedcamid = -1;
     } else {
-      camera.type = mjCAMERA_FREE;
+      camera->type = mjCAMERA_FREE;
       camera_idx = 0;
     }
   } else {
-    camera.type = mjCAMERA_FIXED;
-    camera.fixedcamid = camera_idx - 2;
+    camera->type = mjCAMERA_FIXED;
+    camera->fixedcamid = camera_idx - 2;
   }
 
   return camera_idx;

src/experimental/toolbox/interaction.h

@@ -15,9 +15,6 @@
 #ifndef MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_INTERACTION_H_
 #define MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_INTERACTION_H_
 
-#include "experimental/toolbox/physics.h"
-#include "experimental/toolbox/renderer.h"
-#include "experimental/toolbox/window.h"
 #include <mujoco/mujoco.h>
 
 namespace mujoco::toolbox {
@@ -32,8 +29,9 @@ struct PickResult {
 };
 
 // Returns information about the object (if any) under the mouse cursor.
-PickResult Pick(float x, float y, Window* window, Renderer* renderer,
-                Physics* physics, const mjvOption& vis_options);
+PickResult Pick(const mjModel* m, const mjData* d, const mjvCamera* camera,
+                float x, float y, float aspect_ratio, const mjvScene* scene,
+                const mjvOption* vis_options);
 
 // Updates the camera according to the requested index using this convention:
 //
@@ -45,7 +43,7 @@ PickResult Pick(float x, float y, Window* window, Renderer* renderer,
 // convention. Note the returned index may differ from the request if the
 // request was invalid (index was out of range or tracking camera was not
 // available).
-int SetCamera(const mjModel& model, mjvCamera& camera, int request_idx);
+int SetCamera(const mjModel* model, mjvCamera* camera, int request_idx);
 
 }  // namespace mujoco::toolbox
 

src/experimental/toolbox/window.h

@@ -68,10 +68,15 @@ class Window {
   // Sets the title of the window.
   void SetTitle(std::string_view title);
 
-  // Returns the current size of the window.
+  // Returns information related to the current size of the window.
   int GetWidth() const { return width_; }
   int GetHeight() const { return height_; }
   float GetScale() const { return scale_; }
+  float GetAspectRatio() const {
+    return height_ > 0
+               ? static_cast<float>(width_) / static_cast<float>(height_)
+               : 1.0f;
+  }
 
   // Returns the path to a file that was dropped on the window. Once called,
   // the value will be cleared until the next time a file is dropped.