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Use body center-of-mass (subtree_com) instead of lookat point for tracking cameras.

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PiperOrigin-RevId: 948850032
Change-Id: I439946ac1ea7f8556c3132540d82f633a7c4a5f5
This commit is contained in:
Haroon Qureshi
2026-07-16 02:39:13 -07:00
committed by Copybara-Service
parent 3b63fbc6ba
commit eeda4d0984
1 changed files with 11 additions and 1 deletions
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src/engine/engine_vis_visualize.c
+11 -1
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@@ -469,13 +469,23 @@ void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum
right[2] = 0;
}
if (headpos) {
mju_addScl3(headpos, cam->lookat, forward, -cam->distance);
if (cam->type == mjCAMERA_TRACKING && cam->trackbodyid >= 0) {
if (!d) {
mjERROR("data pointer is NULL");
}
mju_addScl3(headpos, d->subtree_com + 3*cam->trackbodyid, forward, -cam->distance);
} else {
mju_addScl3(headpos, cam->lookat, forward, -cam->distance);
}
}
break;
}
case mjCAMERA_FIXED: {
const int cid = cam->fixedcamid;
if (!d) {
mjERROR("data pointer is NULL");
}
const mjtNum* mat = d->cam_xmat + 9*cid;
if (forward) {
forward[0] = -mat[2];