Alessio Quaglino
5a70ad08ab
PiperOrigin-RevId: 572830650 Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
75 lines
2.9 KiB
C
75 lines
2.9 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_makeConnector(mjvGeom* geom, int type, mjtNum width,
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mjtNum a0, mjtNum a1, mjtNum a2,
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mjtNum b0, mjtNum b1, mjtNum b2);
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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, mjData* d, mjvScene* scn);
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// update camera only
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MJAPI void mjv_updateCamera(const mjModel* m, 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, mjData* d, mjvScene* scn);
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// update visible skins only
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MJAPI void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
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#define mjNCATENARY 31
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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[3*mjNCATENARY]);
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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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