Yuval Tassa
a2a1ac9fc2
PiperOrigin-RevId: 526047180 Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
64 lines
2.5 KiB
C
64 lines
2.5 KiB
C
// Copyright 2023 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_STATE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_VIS_STATE_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/mjtnum.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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// set default scene state
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MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);
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// allocate and init scene state
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MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
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mjvSceneState* scnstate, int maxgeom);
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// free scene state
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MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
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// shallow copy scene state into model and data for use with mjv functions
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void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData* d);
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// update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings
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MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
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const mjvPerturb* pert, mjvCamera* cam, int catmask,
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mjvScene* scn);
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// update a scene state from model and data
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MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
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mjvSceneState* scnstate);
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// move camera with mouse given a scene state; action is mjtMouse
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MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
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mjtNum reldx, mjtNum reldy,
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const mjvScene* scn, mjvCamera* cam);
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// move perturb object with mouse given a scene state; action is mjtMouse
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MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
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mjtNum reldx, mjtNum reldy,
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const mjvScene* scn, mjvPerturb* pert);
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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_STATE_H_
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