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Refactor camera orthographic attribute to projection enum.

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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
This commit is contained in:
Yuval Tassa
2025-12-20 03:27:42 -08:00
committed by Copybara-Service
parent 44c8ef890d
commit b8a4ac5d48
20 changed files with 102 additions and 44 deletions
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wasm/codegen/generated/bindings.cc
+11 -8
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@@ -3129,11 +3129,11 @@ struct MjsCamera {
*(ptr_->targetbody) = value;
}
}
int orthographic() const {
return ptr_->orthographic;
mjtProjection proj() const {
return ptr_->proj;
}
void set_orthographic(int value) {
ptr_->orthographic = value;
void set_proj(mjtProjection value) {
ptr_->proj = value;
}
double fovy() const {
return ptr_->fovy;
@@ -4162,8 +4162,8 @@ struct MjModel {
emscripten::val cam_mat0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 9, ptr_->cam_mat0));
}
emscripten::val cam_orthographic() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_orthographic));
emscripten::val cam_projection() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_projection));
}
emscripten::val cam_fovy() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_fovy));
@@ -10503,6 +10503,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjPLUGIN_SENSOR", mjPLUGIN_SENSOR)
.value("mjPLUGIN_PASSIVE", mjPLUGIN_PASSIVE)
.value("mjPLUGIN_SDF", mjPLUGIN_SDF);
enum_<mjtProjection>("mjtProjection")
.value("mjPROJ_PERSPECTIVE", mjPROJ_PERSPECTIVE)
.value("mjPROJ_ORTHOGRAPHIC", mjPROJ_ORTHOGRAPHIC);
enum_<mjtRndFlag>("mjtRndFlag")
.value("mjRND_SHADOW", mjRND_SHADOW)
.value("mjRND_WIREFRAME", mjRND_WIREFRAME)
@@ -11032,10 +11035,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("cam_ipd", &MjModel::cam_ipd)
.property("cam_mat0", &MjModel::cam_mat0)
.property("cam_mode", &MjModel::cam_mode)
.property("cam_orthographic", &MjModel::cam_orthographic)
.property("cam_pos", &MjModel::cam_pos)
.property("cam_pos0", &MjModel::cam_pos0)
.property("cam_poscom0", &MjModel::cam_poscom0)
.property("cam_projection", &MjModel::cam_projection)
.property("cam_quat", &MjModel::cam_quat)
.property("cam_resolution", &MjModel::cam_resolution)
.property("cam_sensorsize", &MjModel::cam_sensorsize)
@@ -11733,10 +11736,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("intrinsic", &MjsCamera::intrinsic)
.property("ipd", &MjsCamera::ipd, &MjsCamera::set_ipd, reference())
.property("mode", &MjsCamera::mode, &MjsCamera::set_mode, reference())
.property("orthographic", &MjsCamera::orthographic, &MjsCamera::set_orthographic, reference())
.property("pos", &MjsCamera::pos)
.property("principal_length", &MjsCamera::principal_length)
.property("principal_pixel", &MjsCamera::principal_pixel)
.property("proj", &MjsCamera::proj, &MjsCamera::set_proj, reference())
.property("quat", &MjsCamera::quat)
.property("resolution", &MjsCamera::resolution)
.property("sensor_size", &MjsCamera::sensor_size)