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Remove deprecated mjv_makeConnector function.

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PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
This commit is contained in:
Yuval Tassa
2024-10-28 04:50:41 -07:00
committed by Copybara-Service
parent 3c21abc0e5
commit d8494fef3b
11 changed files with 17 additions and 103 deletions
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src/engine/engine_vis_visualize.c
+10 -16
View File
@@ -346,10 +346,9 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
// set (type, size, pos, mat) connector-type geom between given points
// assume that mjv_initGeom was already called to set all other properties
void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
mjtNum a0, mjtNum a1, mjtNum a2,
mjtNum b0, mjtNum b1, mjtNum b2) {
mjtNum quat[4], mat[9], dif[3] = {b0-a0, b1-a1, b2-a2};
void mjv_connector(mjvGeom* geom, int type, mjtNum width,
const mjtNum from[3], const mjtNum to[3]) {
mjtNum quat[4], mat[9], dif[3] = {to[0]-from[0], to[1]-from[1], to[2]-from[2]};
// require connector-compatible type
if (type != mjGEOM_CAPSULE && type != mjGEOM_CYLINDER &&
@@ -367,17 +366,17 @@ void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
// cylinder and capsule are centered, and size[0] is "radius"
if (type == mjGEOM_CAPSULE || type == mjGEOM_CYLINDER) {
geom->pos[0] = 0.5*(a0 + b0);
geom->pos[1] = 0.5*(a1 + b1);
geom->pos[2] = 0.5*(a2 + b2);
geom->pos[0] = 0.5*(from[0] + to[0]);
geom->pos[1] = 0.5*(from[1] + to[1]);
geom->pos[2] = 0.5*(from[2] + to[2]);
geom->size[2] *= 0.5;
}
// arrow is not centered
else {
geom->pos[0] = a0;
geom->pos[1] = a1;
geom->pos[2] = a2;
geom->pos[0] = from[0];
geom->pos[1] = from[1];
geom->pos[2] = from[2];
}
// set mat to minimal rotation aligning b-a with z axis
@@ -386,12 +385,7 @@ void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
mju_n2f(geom->mat, mat, 9);
}
// set (type, size, pos, mat) connector-type geom between given points
// assume that mjv_initGeom was already called to set all other properties
void mjv_connector(mjvGeom* geom, int type, mjtNum width,
const mjtNum from[3], const mjtNum to[3]) {
mjv_makeConnector(geom, type, width, from[0], from[1], from[2], to[0], to[1], to[2]);
}
// initialize given fields when not NULL, set the rest to their default values
void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
src/engine/engine_vis_visualize.h
-6
View File
@@ -24,12 +24,6 @@
extern "C" {
#endif
// 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_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,