def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
mjlib.mjv_updateCameraPose(byref(self.cam), width * 1.0 / height)
def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
mjlib.mjv_updateCameraPose(byref(self.cam), width * 1.0 / height)
def render(self):
rect = self.get_rect()
arr = (ctypes.c_double * 3)(0, 0, 0)
mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects),
byref(self.vopt), mjCAT_ALL, 0, None, None,
ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))
mjlib.mjv_updateCameraPose(byref(self.cam),
rect.width * 1.0 / rect.height)
mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt),
byref(self.cam.pose), byref(self.con))
def render(self):
rect = self.get_rect()
arr = (ctypes.c_double * 3)(0, 0, 0)
mjlib.mjv_makeGeoms(
self.model.ptr, self.data.ptr, byref(self.objects),
byref(self.vopt), mjCAT_ALL, 0, None, None,
ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))
mjlib.mjv_updateCameraPose(
byref(self.cam), rect.width * 1.0 / rect.height)
mjlib.mjr_render(0, rect, byref(self.objects), byref(
self.ropt), byref(self.cam.pose), byref(self.con))