chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Replace mjv_sceneState and related code with mjv_copy{Model,Data}

Browse Source 
PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
This commit is contained in:
Yuval Tassa
2025-05-19 09:50:49 -07:00
committed by Copybara-Service
parent 8268c6d1ff
commit ced630181d
17 changed files with 357 additions and 3793 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mujoco.h
-29
View File
@@ -625,20 +625,10 @@ MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum fo
MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
// Move camera with mouse given a scene state; action is mjtMouse.
MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
// Move perturb object with mouse; action is mjtMouse.
MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
// Move perturb object with mouse given a scene state; action is mjtMouse.
MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvPerturb* pert);
// Move model with mouse; action is mjtMouse.
MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjtNum roomup[3], mjvScene* scn);
@@ -695,28 +685,9 @@ MJAPI void mjv_freeScene(mjvScene* scn);
MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
// Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask,
mjvScene* scn);
// Copy mjModel, skip large arrays not required for abstract visualization.
MJAPI void mjv_copyModel(mjModel* dest, const mjModel* src);
// Set default scene state.
MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);
// Allocate resources and initialize a scene state object.
MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
mjvSceneState* scnstate, int maxgeom);
// Free scene state.
MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
// Update a scene state from model and data.
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate);
// Add geoms from selected categories.
MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, int catmask, mjvScene* scn);