Haroon Qureshi
139a5b6494
PiperOrigin-RevId: 838701951 Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
86 lines
3.2 KiB
C++
86 lines
3.2 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_PLATFORM_INTERACTION_H_
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#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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// The result of a pick operation.
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struct PickResult {
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mjtNum point[3] = {0, 0, 0}; // World coordinates
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mjtNum dist = -1; // Distance from the camera.
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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(const mjModel* m, const mjData* d, const mjvCamera* camera,
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float x, float y, float aspect_ratio,
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const mjvOption* vis_options);
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// Indices for cameras that are not defined in the model.
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static constexpr int kTumbleCameraIdx = -3;
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static constexpr int kFreeCameraIdx = -2;
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static constexpr int kTrackingCameraIdx = -1;
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// Updates the camera according to the requested index.
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//
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// The function returns the new index of the camera which may differ from the
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// request if the request was invalid (e.g. request was out of range).
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int SetCamera(const mjModel* m, mjvCamera* camera, int request_idx);
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// Camera motions are either relative to a target or the camera itself.
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//
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// We use the following camera nomenclature:
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// - Truck: moves the camera left/right along a horizontal plane.
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// - Pedestal: moves the camera up/down along a vertical plane.
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// - Dolly: moves the camera forward/backward along a horizontal plane.
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// - Pan: turns the camera left/right.
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// - Tilt: turns the camera upwards/downwards.
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// - Zoom: moves the camera closer to or away from the target. This is
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// different from dolly in that the movement is relative to the
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// target. (It's also not actually a camera zoom, which is an
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// action of lens of the camera, rather than the camera itself.)
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// - Orbit: moves the camera around the target.
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// - Planer: creates a horizontal or vertical plane based on the cameras
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// position and orientation, then moves the camera along that plane.
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enum class CameraMotion {
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ZOOM,
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ORBIT,
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TRUCK_PEDESTAL,
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TRUCK_DOLLY,
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PAN_TILT,
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PLANAR_MOVE_H,
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PLANAR_MOVE_V,
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};
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void MoveCamera(const mjModel* m, const mjData* d, mjvCamera* cam,
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CameraMotion motion, mjtNum dx, mjtNum dy);
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void InitPerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
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mjvPerturb* pert, mjtPertBit active);
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void MovePerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
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mjvPerturb* pert, mjtMouse action, mjtNum reldx,
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mjtNum reldy);
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} // namespace mujoco::platform
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#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
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