Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
81 lines
3.1 KiB
C
81 lines
3.1 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_VISUALIZE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_VIS_VISUALIZE_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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// set (type, size, pos, mat) connector-type geom between given points
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// assume that mjv_initGeom was already called to set all other properties
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MJAPI void mjv_connector(mjvGeom* geom, int type, mjtNum width,
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const mjtNum from[3], const mjtNum to[3]);
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// initialize given fields when not NULL, set the rest to their default values
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MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
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const mjtNum* pos, const mjtNum* mat, const float* rgba);
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// update entire scene
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MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
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const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
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// add geoms from selected categories to existing scene
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MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
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const mjvPerturb* pert, int catmask, mjvScene* scn);
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// make list of lights only
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MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
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// update camera only
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MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
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// update visible flexes only
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MJAPI void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
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// update skins only
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MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
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// update visible skins only
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MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn,
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const mjvOption* opt);
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// computes the camera position, forward, up, and right vectors
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// Nullable: headpos, forward, up, right
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void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
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const mjData* d, const mjvCamera* cam);
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// computes the camera frustums, i.e. vertical, horizontal, and clip planes
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// Nullable: zver, zhor, zclip
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void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjModel* m,
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const mjvCamera* cam);
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int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
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mjtNum* catenary, int ncatenary);
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// convert HSV to RGB
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void hsv2rgb(float *RGB, float H, float S, float V);
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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_VISUALIZE_H_
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