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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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src/engine/engine_io.c
+2
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@@ -152,6 +152,8 @@ void mj_defaultVisual(mjVisual* vis) {
// global
vis->global.fovy = 45;
vis->global.ipd = 0.068;
vis->global.azimuth = 90;
vis->global.elevation = -45;
vis->global.linewidth = 1.0;
vis->global.glow = 0.3;
vis->global.offwidth = 640;
src/engine/engine_vis_init.c
+17
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@@ -241,6 +241,23 @@ void mjv_defaultCamera(mjvCamera* cam) {
// set default free camera
void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam) {
memset(cam, 0, sizeof(mjvCamera));
cam->type = mjCAMERA_FREE;
cam->fixedcamid = -1;
cam->trackbodyid = -1;
cam->lookat[0] = m->stat.center[0];
cam->lookat[1] = m->stat.center[1];
cam->lookat[2] = m->stat.center[2];
cam->distance = 1.5 * m->stat.extent;
cam->azimuth = m->vis.global.azimuth;
cam->elevation = m->vis.global.elevation;
}
// set default perturbation
void mjv_defaultPerturb(mjvPerturb* pert) {
memset(pert, 0, sizeof(mjvPerturb));
src/engine/engine_vis_init.h
+3
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@@ -43,6 +43,9 @@ MJAPI void mjv_freeScene(mjvScene* scn);
// set default visualization options
MJAPI void mjv_defaultOption(mjvOption* vopt);
// set default free camera
MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
// set default camera
MJAPI void mjv_defaultCamera(mjvCamera* cam);
src/xml/xml_native_reader.cc
+4 -1
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@@ -75,7 +75,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"visual", "*", "0"},
{"<"},
{"global", "?", "6", "fovy", "ipd", "linewidth", "glow", "offwidth", "offheight"},
{"global", "?", "8", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow", "offwidth",
"offheight"},
{"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks",
"numquads"},
{"headlight", "?", "4", "ambient", "diffuse", "specular", "active"},
@@ -2034,6 +2035,8 @@ void mjXReader::Visual(XMLElement* section) {
if (name=="global") {
ReadAttr(elem, "fovy", 1, &vis->global.fovy, text);
ReadAttr(elem, "ipd", 1, &vis->global.ipd, text);
ReadAttr(elem, "azimuth", 1, &vis->global.azimuth, text);
ReadAttr(elem, "elevation", 1, &vis->global.elevation, text);
ReadAttr(elem, "linewidth", 1, &vis->global.linewidth, text);
ReadAttr(elem, "glow", 1, &vis->global.glow, text);
ReadAttrInt(elem, "offwidth", &vis->global.offwidth);
src/xml/xml_native_writer.cc
+2
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@@ -796,6 +796,8 @@ void mjXWriter::Visual(XMLElement* root) {
elem = InsertEnd(section, "global");
WriteAttr(elem, "fovy", 1, &vis->global.fovy, &visdef.global.fovy);
WriteAttr(elem, "ipd", 1, &vis->global.ipd, &visdef.global.ipd);
WriteAttr(elem, "azimuth", 1, &vis->global.azimuth, &visdef.global.azimuth);
WriteAttr(elem, "elevation", 1, &vis->global.elevation, &visdef.global.elevation);
WriteAttr(elem, "linewidth", 1, &vis->global.linewidth, &visdef.global.linewidth);
WriteAttr(elem, "glow", 1, &vis->global.glow, &visdef.global.glow);
WriteAttrInt(elem, "offwidth", vis->global.offwidth, visdef.global.offwidth);