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

Remove unneeded mjvScene argument from mjv_moveCamera.

Browse Source 
PiperOrigin-RevId: 948204736
Change-Id: Ic9b116ce439b3153764af67c449a824aec1994dc
This commit is contained in:
Haroon Qureshi
2026-07-15 02:25:31 -07:00
committed by Copybara-Service
parent 6c78c8664e
commit fa36015bae
10 changed files with 32 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_vis_interact.c
+20 -5
View File
@@ -28,6 +28,7 @@
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "engine/engine_util_spatial.h"
#include "engine/engine_vis_visualize.h"
// transform pose from room to model space
void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
@@ -247,6 +248,20 @@ mjtNum mjv_frustumHeight(const mjvScene* scn) {
}
static mjtNum cameraFrustumHeight(const mjModel* m, const mjvCamera* cam) {
float zclip[2] = {0, 0}, zver[2] = {0, 0};
mjv_cameraFrustum(zver, NULL, zclip, m, cam);
if (cam->orthographic) {
return (zver[1] + zver[0]);
} else {
if (zclip[0] < mjMINVAL) {
mjERROR("mjvScene frustum_near too small");
}
return (zver[1] + zver[0]) / zclip[0];
}
}
// rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
mjtNum xaxis[2], yaxis[2];
@@ -311,12 +326,12 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
// move camera with mouse; action is mjtMouse
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam) {
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam) {
mjtNum headpos[3], forward[3], up[3], right[3];
mjtNum vec[3], dif[3], scl;
// fixed camera: nothing to do
// note: mjv_cameraFrame, which we use below, requires mjData for non-fixed camera
if (cam->type == mjCAMERA_FIXED) {
return;
}
@@ -337,12 +352,12 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
}
// get camera info and align
mjv_cameraInModel(headpos, forward, NULL, scn);
mjv_cameraFrame(headpos, forward, NULL, NULL, NULL, cam);
convert2D(vec, action, reldx, reldy, forward);
// compute scaling: rendered lookat displacement = mouse displacement
mju_sub3(dif, cam->lookat, headpos);
scl = mjv_frustumHeight(scn) * mju_dot3(dif, forward);
scl = cameraFrustumHeight(m, cam) * mju_dot3(dif, forward);
// multiply by mystery coefficient TODO: b/346130949
if (cam->orthographic) scl *= 0.15;
@@ -362,7 +377,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
return;
}
mjv_cameraInModel(headpos, forward, up, scn);
mjv_cameraFrame(headpos, forward, up, NULL, NULL, cam);
mju_cross(right, forward, up);
// y-axis movement moves forward/backward (ie. camera dolly) on horizontal plane or up/down
src/engine/engine_vis_interact.h
+2 -2
View File
@@ -19,6 +19,7 @@
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mjtype.h>
#ifdef __cplusplus
extern "C" {
@@ -47,8 +48,7 @@ MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
MJAPI void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward);
// move camera with mouse; action is mjtMouse
MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
// move perturb object with mouse; action is mjtMouse
MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,