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

PiperOrigin-RevId: 542343761 Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
2023-06-21 13:18:33 -07:00
parent 74747e2ae6
commit c50c92ccc8
9 changed files with 142 additions and 105 deletions
@@ -603,10 +603,17 @@ MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
 // 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.
 MJAPI void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
                             mjtNum a0, mjtNum a1, mjtNum a2,
                             mjtNum b0, mjtNum b1, mjtNum b2);

+// 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.
+MJAPI void mjv_connector(mjvGeom* geom, int type, mjtNum width,
+                         const mjtNum from[3], const mjtNum to[3]);
+
 // Set default abstract scene.
 MJAPI void mjv_defaultScene(mjvScene* scn);