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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/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);