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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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unity/Runtime/Bindings/MujocoBindings.cs
+3
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@@ -3009,6 +3009,9 @@ public static unsafe extern double mju_raySkin(int nface, int nvert, int* face,
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_defaultCamera(mjvCamera_* cam);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_defaultFreeCamera(mjModel_* m, mjvCamera_* cam);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_defaultPerturb(mjvPerturb_* pert);