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Cosmetic documentation improvements

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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
This commit is contained in:
Yuval Tassa
2023-05-07 02:09:30 -07:00
committed by Copybara-Service
parent f204e03575
commit ff1fa84d32
7 changed files with 74 additions and 77 deletions
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doc/programming/visualization.rst
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@@ -163,12 +163,10 @@ Selection
'''''''''
In many applications we need to click on a point and determine the 3D object to which this point/pixel belongs. This is
done with the function :ref:`mjv_select`. Prior to MuJoCo 1.50 this function (called mjr_select) used OpenGL rendering
in a special mode to recover the object identity and 3D position of the clicked point. Now it uses a new collision
detection module that intersects a ray with all geoms in the model. This is actually engine-level functionality and does
not depend on the visualizer (indeed it is also used to simulate :ref:`rangefinder <sensor-rangefinder>` sensors
independent of visualization), but the select function is implemented in the visualizer because it needs information
about the camera and viewport.
done with the function :ref:`mjv_select`, which uses :ref:`ray collisions <Raycollisions>`. Ray collisions functionality
is engine-level and does not depend on the visualizer (indeed it is also used to simulate :ref:`rangefinder
<sensor-rangefinder>` sensors independent of visualization), but the select function is implemented in the visualizer
because it needs information about the camera and viewport.
The function mjv_select returns the index of the geom at the specified window coordinates, or -1 if there is no geom
at those coordinates. The 3D position is also returned. See the code sample :ref:`simulate.cc <saSimulate>` for an