Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.

PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e

doc/APIreference/functions.rst

@@ -1502,6 +1502,18 @@ mjv_makeConnector
 
 .. mujoco-include:: mjv_makeConnector
 
+Set (type, size, pos, mat) for connector-type geom between given points.
+Assume that mjv_initGeom was already called to set all other properties.
+Width of mjGEOM_LINE is denominated in pixels.
+Deprecated: use mjv_connector.
+
+.. _mjv_connector:
+
+mjv_connector
+~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_connector
+
 Set (type, size, pos, mat) for connector-type geom between given points.
 Assume that mjv_initGeom was already called to set all other properties.
 Width of mjGEOM_LINE is denominated in pixels.

doc/changelog.rst

@@ -2,6 +2,16 @@
 Changelog
 =========
 
+Upcoming version (not yet released)
+-----------------------------------
+
+General
+^^^^^^^
+
+- Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
+  "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
+
+
 Version 2.3.6 (June 20, 2023)
 -----------------------------
 

doc/includes/references.h

@@ -2297,6 +2297,8 @@ void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
 void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
                        mjtNum a0, mjtNum a1, mjtNum a2,
                        mjtNum b0, mjtNum b1, mjtNum b2);
+void mjv_connector(mjvGeom* geom, int type, mjtNum width,
+                   const mjtNum from[3], const mjtNum to[3]);
 void mjv_defaultScene(mjvScene* scn);
 void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
 void mjv_freeScene(mjvScene* scn);