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
@@ -30,6 +30,11 @@ 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) connector-type geom between given points
+//  assume that mjv_initGeom was already called to set all other properties
+MJAPI void mjv_connector(mjvGeom* geom, int type, mjtNum width,
+                         const mjtNum from[3], const mjtNum to[3]);
+
 // initialize given fields when not NULL, set the rest to their default values
 MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
                        const mjtNum* pos, const mjtNum* mat, const float* rgba);