Alessio Quaglino
5a70ad08ab
PiperOrigin-RevId: 572830650 Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
86 lines
3.7 KiB
C
86 lines
3.7 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_INTERACT_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_VIS_INTERACT_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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// transform pose from room to model space
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MJAPI void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
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const mjtNum* roomquat, const mjvScene* scn);
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// transform pose from model to room space
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MJAPI void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
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const mjtNum* modelquat, const mjvScene* scn);
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// get camera info in model space: average left and right OpenGL cameras
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MJAPI void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up,
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const mjvScene* scn);
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// get camera info in room space: average left and right OpenGL cameras
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MJAPI void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up,
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const mjvScene* scn);
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// get frustum height at unit distance from camera; average left and right OpenGL cameras
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MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
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// rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
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MJAPI void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward);
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// move camera with mouse; action is mjtMouse
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MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
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const mjvScene* scn, mjvCamera* cam);
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// move perturb object with mouse; action is mjtMouse
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MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
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mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
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// move model with mouse; action is mjtMouse
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MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
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const mjtNum roomup[3], mjvScene* scn);
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// copy perturb pos,quat from selected body; set scale perturbation
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MJAPI void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
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// set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise
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// d->qpos written only if flg_paused and subtree root for selected body has free joint
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MJAPI void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
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int flg_paused);
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// set perturb force,torque in d->xfrc_applied, if selected body is dynamic
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MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
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// return the average of two OpenGL cameras
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MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
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// Select geom, flex or skin with mouse, return bodyid; -1: none selected.
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MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
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mjtNum aspectratio, mjtNum relx, mjtNum rely,
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const mjvScene* scn, mjtNum selpnt[3],
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int geomid[1], int flexid[1], int skinid[1]);
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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_INTERACT_H_
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