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Add mjmJoint, mjmCamera, and mjmLight to C API.

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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
This commit is contained in:
Alessio Quaglino
2024-02-09 04:44:04 -08:00
committed by Copybara-Service
parent e77c3cb258
commit e3cbad280c
12 changed files with 506 additions and 282 deletions
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src/user/user_init.cc
+49 -1
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@@ -38,8 +38,23 @@ void mjm_defaultBody(mjmBody& body) {
}
// default joint attributes
void mjm_defaultJoint(mjmJoint& joint) {
memset(&joint, 0, sizeof(mjmJoint));
joint.type = mjJNT_HINGE;
joint.axis[2] = 1;
joint.limited = 2;
joint.actfrclimited = 2;
mj_defaultSolRefImp(joint.solref_limit, joint.solimp_limit);
mj_defaultSolRefImp(joint.solref_friction, joint.solimp_friction);
joint.urdfeffort = -1;
}
// default geom attributes
MJAPI void mjm_defaultGeom(mjmGeom& geom) {
void mjm_defaultGeom(mjmGeom& geom) {
memset(&geom, 0, sizeof(mjmGeom));
// set non-zero defaults
@@ -83,3 +98,36 @@ void mjm_defaultSite(mjmSite& site) {
site.rgba[0] = site.rgba[1] = site.rgba[2] = 0.5f;
site.rgba[3] = 1.0f;
}
// default cam attributes
void mjm_defaultCamera(mjmCamera& cam) {
memset(&cam, 0, sizeof(mjmCamera));
cam.mode = mjCAMLIGHT_FIXED;
cam.quat[0] = 1;
cam.fovy = 45;
cam.ipd = 0.068;
cam.resolution[0] = cam.resolution[1] = 1;
cam.alt.axisangle[0] = cam.alt.xyaxes[0] = cam.alt.zaxis[0] = cam.alt.euler[0] = mjNAN;
}
// default light attributes
void mjm_defaultLight(mjmLight& light) {
memset(&light, 0, sizeof(mjmLight));
light.mode = mjCAMLIGHT_FIXED;
light.directional = 0;
light.castshadow = 1;
light.active = 1;
light.dir[2] = -1;
light.attenuation[0] = 1;
light.cutoff = 45;
light.exponent = 10;
light.ambient[0] = light.ambient[1] = light.ambient[2] = 0;
light.diffuse[0] = light.diffuse[1] = light.diffuse[2] = 0.7;
light.specular[0] = light.specular[1] = light.specular[2] = 0.3;
}