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Add target relative mouse motion actions.

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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
This commit is contained in:
Haroon Qureshi
2025-09-02 03:38:45 -07:00
committed by Copybara-Service
parent ee777f74d3
commit 8d884585dd
5 changed files with 58 additions and 3 deletions
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src/engine/engine_vis_interact.c
+48 -1
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@@ -294,12 +294,14 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
break;
case mjMOUSE_MOVE_V:
case mjMOUSE_MOVE_V_REL:
vec[0] = dx;
vec[1] = 0;
vec[2] = -dy;
break;
case mjMOUSE_MOVE_H:
case mjMOUSE_MOVE_H_REL:
vec[0] = dx;
vec[1] = -dy;
vec[2] = 0;
@@ -321,7 +323,7 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
// move camera with mouse; action is mjtMouse
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam) {
mjtNum headpos[3], forward[3];
mjtNum headpos[3], forward[3], up[3], right[3];
mjtNum vec[3], dif[3], scl;
// fixed camera: nothing to do
@@ -363,6 +365,25 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
cam->distance -= mju_log(1 + cam->distance/m->stat.extent/3) * reldy * 9 * m->stat.extent;
break;
case mjMOUSE_MOVE_V_REL:
case mjMOUSE_MOVE_H_REL:
// do not move lookat point of tracking camera
if (cam->type == mjCAMERA_TRACKING) {
return;
}
mjv_cameraInModel(headpos, forward, up, scn);
mju_cross(right, forward, up);
// y-axis movement moves forward/backward (ie. camera dolly) on horizontal plane or up/down
// (ie. camera pedestal) on vertical plane
mju_addToScl3(cam->lookat, (action == mjMOUSE_MOVE_V_REL) ? up : forward, reldy);
// x-axis movement strafes left/right (ie. camera truck)
mju_addToScl3(cam->lookat, right, reldx);
break;
default:
mjERROR("unexpected action %d", action);
}
@@ -393,7 +414,12 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
// move perturb object with mouse; action is mjtMouse
void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert) {
const mjtNum xaxis[3] = {1, 0, 0};
const mjtNum yaxis[3] = {0, 1, 0};
const mjtNum zaxis[3] = {0, 0, 1};
int sel = pert->select;
const mjtNum* xmat = d->xmat+9*sel;
mjtNum forward[3], vec[3], scl, q1[4], xiquat[4];
// get camera info and align
@@ -404,10 +430,29 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
switch ((mjtMouse) action) {
case mjMOUSE_MOVE_V:
case mjMOUSE_MOVE_H:
// move along world-space horizontal/vertical planes relative to camera
mju_addToScl3(pert->refpos, vec, pert->scale);
mju_addToScl3(pert->refselpos, vec, pert->scale);
break;
case mjMOUSE_MOVE_V_REL:
case mjMOUSE_MOVE_H_REL:
// move along object's local coordinate frame
if (action == mjMOUSE_MOVE_H_REL) {
mju_mulMatVec3(vec, xmat, xaxis);
mju_addToScl3(pert->refpos, vec, pert->scale * reldy);
mju_addToScl3(pert->refselpos, vec, pert->scale * reldy);
} else {
mju_mulMatVec3(vec, xmat, zaxis);
mju_addToScl3(pert->refpos, vec, pert->scale * reldy);
mju_addToScl3(pert->refselpos, vec, pert->scale * reldy);
}
mju_mulMatVec3(vec, xmat, yaxis);
mju_addToScl3(pert->refpos, vec, pert->scale * reldx);
mju_addToScl3(pert->refselpos, vec, pert->scale * reldx);
break;
case mjMOUSE_ROTATE_V:
case mjMOUSE_ROTATE_H:
// normalize vector, get length
@@ -506,12 +551,14 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
break;
case mjMOUSE_MOVE_V:
case mjMOUSE_MOVE_V_REL:
for (int i=0; i < 3; i++) {
scn->translate[i] += (float)(roomright[i]*reldx - roomup[i]*reldy) * m->stat.extent;
}
break;
case mjMOUSE_MOVE_H:
case mjMOUSE_MOVE_H_REL:
for (int i=0; i < 3; i++) {
scn->translate[i] += (float)(roomright[i]*reldx - roomforward[i]*reldy) * m->stat.extent;
}