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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_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));