def select(self, cursor_position):
"""Returns bodies and geoms visible at given coordinates in the frame.
Args:
cursor_position: A `tuple` containing x and y coordinates, normalized to
between 0 and 1, and where (0, 0) is bottom-left.
Returns:
A `Selected` namedtuple. Fields are None if nothing is selected.
"""
self.update()
aspect_ratio = self._width / self._height
cursor_x, cursor_y = cursor_position
pos = np.empty(3, np.double)
selected_geom = mjlib.mjv_select(
self._physics.model.ptr,
self._physics.data.ptr,
self._scene_option.ptr,
aspect_ratio,
cursor_x,
cursor_y,
self._scene.ptr,
pos)
if selected_geom == -1: # Nothing was selected.
return Selected(body=None, geom=None, world_position=None)
else:
assert 0 <= selected_geom < self._physics.model.ngeom
selected_body = self._physics.model.geom_bodyid[selected_geom]
assert 0 <= selected_body < self._physics.model.nbody
return Selected(
body=selected_body, geom=selected_geom, world_position=pos)
def select(self, cursor_position):
"""Returns bodies and geoms visible at given coordinates in the frame.
Args:
cursor_position: A `tuple` containing x and y coordinates, normalized to
between 0 and 1, and where (0, 0) is bottom-left.
Returns:
A `Selected` namedtuple. Fields are None if nothing is selected.
"""
self.update()
aspect_ratio = self._width / self._height
cursor_x, cursor_y = cursor_position
pos = np.empty(3, np.double)
geom_id_arr = np.intc([-1])
skin_id_arr = np.intc([-1])
body_id = mjlib.mjv_select(
self._physics.model.ptr,
self._physics.data.ptr,
self._scene_option.ptr,
aspect_ratio,
cursor_x,
cursor_y,
self._scene.ptr,
pos,
geom_id_arr,
skin_id_arr)
[geom_id] = geom_id_arr
[skin_id] = skin_id_arr
# Validate IDs
if body_id != -1:
assert 0 <= body_id < self._physics.model.nbody
else:
body_id = None
if geom_id != -1:
assert 0 <= geom_id < self._physics.model.ngeom
else:
geom_id = None
if skin_id != -1:
assert 0 <= skin_id < self._physics.model.nskin
else:
skin_id = None
if all(id_ is None for id_ in (body_id, geom_id, skin_id)):
pos = None
return Selected(
body=body_id, geom=geom_id, skin=skin_id, world_position=pos)
def raycast(self, viewport, screen_pos):
"""Shoots a ray from the specified viewport position into the scene."""
if not self.is_initialized:
return -1, None
viewport_pos = viewport.screen_to_inverse_viewport(screen_pos)
grab_world_pos = np.empty(3, dtype=np.double)
selected_geom_id_arr = np.intc([-1])
selected_skin_id_arr = np.intc([-1])
selected_body_id = mjlib.mjv_select(
self._model.ptr, self._data.ptr, self._options.visualization.ptr,
viewport.aspect_ratio, viewport_pos[0], viewport_pos[1],
self._scene.ptr, grab_world_pos, selected_geom_id_arr,
selected_skin_id_arr)
del selected_geom_id_arr, selected_skin_id_arr # Unused.
if selected_body_id < 0:
selected_body_id = _INVALID_BODY_INDEX
grab_world_pos = None
return selected_body_id, grab_world_pos
def raycast(self, viewport, screen_pos):
"""Shoots a ray from the specified viewport position into the scene."""
if not self.is_initialized:
return -1, None
viewport_pos = viewport.screen_to_inverse_viewport(screen_pos)
grab_world_pos = np.zeros(3)
selected_geom_id = mjlib.mjv_select(self._model.ptr, self._data.ptr,
self._options.visualization.ptr,
viewport.aspect_ratio,
viewport_pos[0], viewport_pos[1],
self._scene.ptr, grab_world_pos)
if selected_geom_id >= 0:
selected_body_id = self._model.geom_bodyid[selected_geom_id]
else:
selected_body_id = _INVALID_BODY_INDEX
grab_world_pos = None
return selected_body_id, grab_world_pos
