Haroon Qureshi
6f5a7576f9
Also: - update the namespace to `toolbox` (instead of `filament`) - Add copyright notices to all files PiperOrigin-RevId: 808474353 Change-Id: Id1fe86c5d183c8e91bec8509b6c0830b5fe84c1c
63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
// Copyright 2025 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_EXPERIMENTAL_TOOLBOX_INTERACTION_H_
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#define MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_INTERACTION_H_
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#include "experimental/toolbox/physics.h"
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#include "experimental/toolbox/renderer.h"
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#include "experimental/toolbox/window.h"
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#include <mujoco/mujoco.h>
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namespace mujoco::toolbox {
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// The result of a pick operation.
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struct PickResult {
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mjtNum point[3]; // World coordinates
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int body = -1;
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int geom = -1;
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int flex = -1;
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int skin = -1;
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};
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// Returns information about the object (if any) under the mouse cursor.
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PickResult Pick(float x, float y, Window* window, Renderer* renderer,
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Physics* physics, const mjvOption& vis_options);
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// Updates the camera according to the requested index using this convention:
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//
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// 0 : selects the free camera (not defined in the model)
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// 1 : selects the tracking camera (also not defined in the model)
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// 2+ : selects a camera in the model; e.g. index 2 => model.cam[0];
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//
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// The function returns the index of the used camera following the same
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// convention. Note the returned index may differ from the request if the
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// request was invalid (index was out of range or tracking camera was not
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// available).
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int SetCamera(const mjModel& model, mjvCamera& camera, int request_idx);
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// Handles canonical mouse events.
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void HandleMouseEvents(Window* window, Renderer* renderer, Physics* physics,
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mjvPerturb& perturb, mjvOption& vis_options,
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mjvCamera& camera, int& camera_idx);
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// Handles canonical keyboard events.
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void HandleKeyboardEvents(Window* window, Renderer* renderer, Physics* physics,
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mjvPerturb& perturb, mjvOption& vis_options,
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mjvCamera& camera, int& camera_idx);
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} // namespace mujoco::toolbox
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#endif // MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_INTERACTION_H_
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