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Add optional azimuth and elevation to initial free camera.

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- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.

PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
This commit is contained in:
Yuval Tassa
2022-08-05 01:03:08 -07:00
committed by Copybara-Service
parent 5ee184ddaa
commit b966a37855
15 changed files with 92 additions and 19 deletions
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include/mujoco/mujoco.h
+3
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@@ -492,6 +492,9 @@ MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* ver
// Set default camera.
MJAPI void mjv_defaultCamera(mjvCamera* cam);
// Set default free camera.
MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
// Set default perturbation.
MJAPI void mjv_defaultPerturb(mjvPerturb* pert);