Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
74 lines
2.4 KiB
C
74 lines
2.4 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 THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_UTIL_
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#define THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_UTIL_
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#include <mujoco/mjexport.h>
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#include <mujoco/mjrender.h>
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#if defined(__cplusplus)
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extern "C" {
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#endif
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// compute normal vector to given triangle, return length
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void mjr_makeNormal(float* normal, const float* p1, const float* p2, const float* p3);
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// set 4 floats
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void mjr_setf4(float* vec, float f0, float f1, float f2, float f3);
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// set 3 floats
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void mjr_setf3(float* vec, float f0, float f1, float f2);
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// multiply 4-by-4 matrices, column-major
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void mjr_mulMat44(float* res, const float* A, const float* B);
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// get row from 4-by-4 matrix, column-major
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void mjr_getrow4(float* res, const float* A, int r);
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// compute 3D vector cross-product a = b x c
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void mjr_crossVec(float* a, const float* b, const float* c);
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// normalize 3D vector
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void mjr_normalizeVec(float* v);
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// construct orthogonal vector (for up-direction)
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void mjr_orthoVec(float* res, const float* v);
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// compute dot-product
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float mjr_dotVec(const float* a, const float* b);
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// multiply 4x4 matrix by vector; column-major (OpenGL format)
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void mjr_multiply4(float* res, const float* mat, const float* vec);
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// gluLookAt replacement, with forward instead of center
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void mjr_lookAt(const float* eye, const float* forward, const float* up);
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// gluPerspective replacement
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void mjr_perspective(float fovy, float aspect, float znear, float zfar);
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// set reflection matrix
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void mjr_reflect(const float* pos, const float* mat);
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// set transformation matrix
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void mjr_transform(const float* translate, const float* rotate, float scale);
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// Find first rectangle containing mouse, -1: not found.
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MJAPI int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
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#if defined(__cplusplus)
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}
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#endif
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#endif // THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_UTIL_
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