Yuval Tassa
b966a37855
- Add `azimuth` and `elevation` to `visual.global`. - Add `mjv_defaultFreeCamera`. - Use `mjv_defaultFreeCamera` in `simulate`. PiperOrigin-RevId: 465505244 Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
66 lines
1.8 KiB
C
66 lines
1.8 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjvisualize.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// strings
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MJAPI extern const char* mjLABELSTRING[mjNLABEL];
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MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
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MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
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MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
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// set default scene
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MJAPI void mjv_defaultScene(mjvScene* scn);
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// allocate and init abstract scene
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MJAPI void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
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// free abstract scene
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MJAPI void mjv_freeScene(mjvScene* scn);
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// set default visualization options
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MJAPI void mjv_defaultOption(mjvOption* vopt);
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// set default free camera
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MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
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// set default camera
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MJAPI void mjv_defaultCamera(mjvCamera* cam);
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// set default perturbation
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MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
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// set default figure
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MJAPI void mjv_defaultFigure(mjvFigure* fig);
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// compute rbound for mjvGeom
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float mjv_rbound(const mjvGeom* geom);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
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