Remove unneeded mjvScene argument from mjv_moveCamera.

PiperOrigin-RevId: 948204736
Change-Id: Ic9b116ce439b3153764af67c449a824aec1994dc

Author: haroonq

doc/changelog.rst

@@ -45,6 +45,7 @@ General
      negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
    - Changed the default value of :ref:`sleep_tolerance<option-sleep_tolerance>` from 1e-4 to 1e-3 (1mm/sec in SI
      units).
+   - Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
 
 Bug fixes
 ^^^^^^^^^

doc/includes/references.h

@@ -3438,8 +3438,7 @@ void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
                       const mjvScene* scn);
 mjtNum mjv_frustumHeight(const mjvScene* scn);
 void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
-void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                    const mjvScene* scn, mjvCamera* cam);
+void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
 void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
                      mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
 void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,

include/mujoco/mujoco.h

@@ -757,8 +757,7 @@ MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
 MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
 
 // Move camera with mouse; action is mjtMouse.
-MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                          const mjvScene* scn, mjvCamera* cam);
+MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
 
 // Move perturb object with mouse; action is mjtMouse.
 MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,

python/mujoco/introspect/functions.py

@@ -4728,12 +4728,6 @@
                  name='reldy',
                  type=ValueType(name='mjtNum'),
              ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
              FunctionParameterDecl(
                  name='cam',
                  type=PointerType(

sample/basic.cc

@@ -89,14 +89,14 @@ void mouse_move(GLFWwindow* window, double xpos, double ypos) {
   }
 
   // move camera
-  mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
+  mjv_moveCamera(m, action, dx/height, dy/height, &cam);
 }
 
 
 // scroll callback
 void scroll(GLFWwindow* window, double xoffset, double yoffset) {
   // emulate vertical mouse motion = 5% of window height
-  mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
+  mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &cam);
 }
 
 

simulate/simulate.cc

@@ -2033,7 +2033,7 @@ void UiEvent(mjuiState* state) {
   // 3D scroll
   if (state->type==mjEVENT_SCROLL && state->mouserect==3 && model) {
     // emulate vertical mouse motion = 2% of window height
-    mjv_moveCamera(model, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
+    mjv_moveCamera(model, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->cam);
     return;
   }
 
@@ -2092,8 +2092,7 @@ void UiEvent(mjuiState* state) {
       mjv_movePerturb(model, data, action, state->dx / r.height, -state->dy / r.height,
                       &sim->scn, &sim->pert);
     } else {
-      mjv_moveCamera(model, action, state->dx / r.height, -state->dy / r.height,
-                     &sim->scn, &sim->cam);
+      mjv_moveCamera(model, action, state->dx / r.height, -state->dy / r.height, &sim->cam);
     }
     return;
   }

src/engine/engine_vis_interact.c

@@ -28,6 +28,7 @@
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
 #include "engine/engine_util_spatial.h"
+#include "engine/engine_vis_visualize.h"
 
 // transform pose from room to model space
 void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
@@ -247,6 +248,20 @@ mjtNum mjv_frustumHeight(const mjvScene* scn) {
 }
 
 
+static mjtNum cameraFrustumHeight(const mjModel* m, const mjvCamera* cam) {
+  float zclip[2] = {0, 0}, zver[2] = {0, 0};
+  mjv_cameraFrustum(zver, NULL, zclip, m, cam);
+  if (cam->orthographic) {
+    return (zver[1] + zver[0]);
+  } else {
+    if (zclip[0] < mjMINVAL) {
+      mjERROR("mjvScene frustum_near too small");
+    }
+    return (zver[1] + zver[0]) / zclip[0];
+  }
+}
+
+
 // rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
 void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
   mjtNum xaxis[2], yaxis[2];
@@ -311,12 +326,12 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
 
 
 // move camera with mouse; action is mjtMouse
-void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                    const mjvScene* scn, mjvCamera* cam) {
+void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam) {
   mjtNum headpos[3], forward[3], up[3], right[3];
   mjtNum vec[3], dif[3], scl;
 
   // fixed camera: nothing to do
+  // note: mjv_cameraFrame, which we use below, requires mjData for non-fixed camera
   if (cam->type == mjCAMERA_FIXED) {
     return;
   }
@@ -337,12 +352,12 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
     }
 
     // get camera info and align
-    mjv_cameraInModel(headpos, forward, NULL, scn);
+    mjv_cameraFrame(headpos, forward, NULL, NULL, NULL, cam);
     convert2D(vec, action, reldx, reldy, forward);
 
     // compute scaling: rendered lookat displacement = mouse displacement
     mju_sub3(dif, cam->lookat, headpos);
-    scl = mjv_frustumHeight(scn) * mju_dot3(dif, forward);
+    scl = cameraFrustumHeight(m, cam) * mju_dot3(dif, forward);
 
     // multiply by mystery coefficient TODO: b/346130949
     if (cam->orthographic) scl *= 0.15;
@@ -362,7 +377,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
       return;
     }
 
-    mjv_cameraInModel(headpos, forward, up, scn);
+    mjv_cameraFrame(headpos, forward, up, NULL, NULL, cam);
     mju_cross(right, forward, up);
 
     // y-axis movement moves forward/backward (ie. camera dolly) on horizontal plane or up/down

src/engine/engine_vis_interact.h

@@ -19,6 +19,7 @@
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjvisualize.h>
+#include <mujoco/mjtype.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -47,8 +48,7 @@ MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
 MJAPI void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward);
 
 // move camera with mouse; action is mjtMouse
-MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                          const mjvScene* scn, mjvCamera* cam);
+MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
 
 // move perturb object with mouse; action is mjtMouse
 MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,

unity/Runtime/Bindings/MjBindings.cs

@@ -7150,7 +7150,7 @@ public unsafe struct mjuiItemEdit_ {}
 public static unsafe extern void mjv_alignToCamera(double* res, double* vec, double* forward);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
+public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvCamera_* cam);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_movePerturb(mjModel_* m, mjData_* d, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);

wasm/codegen/generated/bindings.cc

@@ -3801,8 +3801,8 @@ void mjv_model2room_wrapper(const val& roompos, const val& roomquat, const Numbe
   mjv_model2room(roompos_.data(), roomquat_.data(), modelpos_.data(), modelquat_.data(), scn.get());
 }
 
-void mjv_moveCamera_wrapper(const MjModel& m, int action, mjtNum reldx, mjtNum reldy, const MjvScene& scn, MjvCamera& cam) {
-  mjv_moveCamera(m.get(), action, reldx, reldy, scn.get(), cam.get());
+void mjv_moveCamera_wrapper(const MjModel& m, int action, mjtNum reldx, mjtNum reldy, MjvCamera& cam) {
+  mjv_moveCamera(m.get(), action, reldx, reldy, cam.get());
 }
 
 void mjv_moveModel_wrapper(const MjModel& m, int action, mjtNum reldx, mjtNum reldy, const NumberArray& roomup, MjvScene& scn) {