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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_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);