Add mjv_camera2GLCamera to mujoco.h.

PiperOrigin-RevId: 956698065
Change-Id: I36856d7142bb5e798c5a90c19609288ddd7c4aac

doc/APIreference/functions.rst

@@ -2623,6 +2623,15 @@ Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
 
 Return the average of two OpenGL cameras.
 
+.. _mjv_camera2GLCamera:
+
+`mjv_camera2GLCamera <#mjv_camera2GLCamera>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_camera2GLCamera
+
+Converts a mjvCamera to a mjvGLCamera.
+
 .. _mjv_select:
 
 `mjv_select <#mjv_select>`__

doc/includes/references.h

@@ -3696,6 +3696,8 @@ void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
                           int flg_paused);
 void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
 mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
+mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
+                                const mjvCamera* mjv_camera);
 int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
                mjtNum aspectratio, mjtNum relx, mjtNum rely,
                const mjvScene* scn, mjtNum selpnt[3],

include/mujoco/mujoco.h

@@ -788,6 +788,10 @@ MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb*
 // Return the average of two OpenGL cameras.
 MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
 
+// Converts a mjvCamera to a mjvGLCamera.
+MJAPI mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
+                                      const mjvCamera* mjv_camera);
+
 // Select geom, flex or skin with mouse; return bodyid; -1: none selected.
 // Nullable: geomid, flexid, skinid
 MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,

python/mujoco/functions.cc

@@ -854,6 +854,7 @@ PYBIND11_MODULE(_functions, pymodule, pybind11::mod_gil_not_used()) {
   Def<traits::mjv_applyPerturbPose>(pymodule);
   Def<traits::mjv_applyPerturbForce>(pymodule);
   // Skipped: mjv_averageCamera (defined in structs.cc due to the return type)
+  // Skipped: mjv_camera2GLCamera (defined in structs.cc due to the return type)
   Def<traits::mjv_select>(pymodule);
 
   // Visualization

python/mujoco/introspect/functions.py

@@ -4972,6 +4972,32 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Return the average of two OpenGL cameras.',
      )),
+    ('mjv_camera2GLCamera',
+     FunctionDecl(
+         name='mjv_camera2GLCamera',
+         return_type=ValueType(name='mjvGLCamera'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='model',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='data',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='mjv_camera',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjvCamera', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Converts a mjvCamera to a mjvGLCamera.',
+     )),
     ('mjv_select',
      FunctionDecl(
          name='mjv_select',

python/mujoco/structs.cc

@@ -1421,9 +1421,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 
   mjvFigure.def_readonly("linename", &MjvFigureWrapper::linename);
 
-  // mjv_averageCamera returns an mjvGLCamera and we need to call the wrapper's
+  // mjv_averageCamera and mjv_camera2GLCamera both return an mjvGLCamera.
-  // constructor on the return value. Defining the binding for this function
+  // We need to call the wrapper's constructor on the return value. Defining the
-  // in this file to avoid symbol dependency across modules.
+  // binding for these functions in this file to avoid symbol dependency across
+  // modules.
   m.def(
       "mjv_averageCamera",
       [](const MjvGLCameraWrapper& cam1, const MjvGLCameraWrapper& cam2) {
@@ -1435,6 +1436,19 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       py::arg("cam1"), py::arg("cam2"),
       py::doc(python_traits::mjv_averageCamera::doc));
 
+  m.def(
+      "mjv_camera2GLCamera",
+      [](const MjModelWrapper& m, const MjDataWrapper& d,
+         const MjvCameraWrapper& cam) {
+        return MjvGLCameraWrapper([&m, &d, &cam]() {
+          py::gil_scoped_release no_gil;
+          return InterceptMjErrors(mjv_camera2GLCamera)(m.get(), d.get(),
+                                                        cam.get());
+        }());
+      },
+      py::arg("m"), py::arg("d"), py::arg("cam"),
+      py::doc(python_traits::mjv_camera2GLCamera::doc));
+
   m.def("_recompile_spec_addr", [](uintptr_t spec_addr, const MjModelWrapper& m,
                                    const MjDataWrapper& d) {
     return RecompileSpec(reinterpret_cast<raw::MjSpec*>(spec_addr), m, d);

unity/Runtime/Bindings/MjBindings.cs

@@ -7225,6 +7225,9 @@ public static unsafe extern void mjv_applyPerturbForce(mjModel_* m, mjData_* d,
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern mjvGLCamera_ mjv_averageCamera(mjvGLCamera_* cam1, mjvGLCamera_* cam2);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern mjvGLCamera_ mjv_camera2GLCamera(mjModel_* model, mjData_* data, mjvCamera_* mjv_camera);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern int mjv_select(mjModel_* m, mjData_* d, mjvOption_* vopt, double aspectratio, double relx, double rely, mjvScene_* scn, double* selpnt, int* geomid, int* flexid, int* skinid);
 

wasm/codegen/generated/bindings.cc

@@ -3732,6 +3732,12 @@ void mjv_applyPerturbPose_wrapper(const MjModel& m, MjData& d, const MjvPerturb&
   mjv_applyPerturbPose(m.get(), d.get(), pert.get(), flg_paused);
 }
 
+MjvGLCamera mjv_camera2GLCamera_wrapper(const MjModel& model, const MjData& data, const MjvCamera& mjv_camera) {
+  MjvGLCamera result;
+  *result.get() = mjv_camera2GLCamera(model.get(), data.get(), mjv_camera.get());
+  return result;
+}
+
 void mjv_cameraFrame_wrapper(const val& headpos, const val& forward, const val& up, const val& right, const MjData& d, const MjvCamera& cam) {
   UNPACK_NULLABLE_VALUE(mjtNum, headpos);
   UNPACK_NULLABLE_VALUE(mjtNum, forward);
@@ -6629,6 +6635,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   function("mjv_alignToCamera", &mjv_alignToCamera_wrapper);
   function("mjv_applyPerturbForce", &mjv_applyPerturbForce_wrapper);
   function("mjv_applyPerturbPose", &mjv_applyPerturbPose_wrapper);
+  function("mjv_camera2GLCamera", &mjv_camera2GLCamera_wrapper);
   function("mjv_cameraFrame", &mjv_cameraFrame_wrapper);
   function("mjv_cameraFrustum", &mjv_cameraFrustum_wrapper);
   function("mjv_cameraInModel", &mjv_cameraInModel_wrapper);