Class FreeCameraController

dm_control/viewer/viewer.py:340–457

Implements the free camera behavior.

class FreeCameraController:
  """Implements the free camera behavior."""

  def __init__(self, viewport, camera, pointer, selection_service, **unused):
    """Instance initializer.

    Args:
      viewport: Instance of mujoco_viewer.Viewport.
      camera: Instance of mujoco_viewer.SceneCamera.
      pointer: A pointer that moves around the screen and is used to point at
        bodies. Implements a single attribute - 'position' - that returns a
        2-component vector of pointer's screen space position.
      selection_service: An instance of a class implementing a
        'selected_body_id' property.
      **unused: Other optional parameters not used by this class.
    """
    del unused  # Unused.
    self._viewport = viewport
    self._camera = camera
    self._pointer = pointer
    self._selection_service = selection_service
    self._active = True
    self._tracked_body_idx = -1
    self._action = util.AtomicAction()

  def activate(self):
    """Activates the controller."""
    self._active = True
    self._update_camera_mode()

  def deactivate(self):
    """Deactivates the controller."""
    self._active = False
    self._action = util.AtomicAction()

  def set_pan_vertical_mode(self, enable):
    """Starts/ends the camera panning action along the vertical plane.

    Args:
      enable: A boolean flag, True to start the action, False to end it.
    """
    if self._active:
      if enable:
        self._action.begin(mujoco.mjtMouse.mjMOUSE_MOVE_V)
      else:
        self._action.end(mujoco.mjtMouse.mjMOUSE_MOVE_V)

  def set_pan_horizontal_mode(self, enable):
    """Starts/ends the camera panning action along the horizontal plane.

    Args:
      enable: A boolean flag, True to start the action, False to end it.
    """
    if self._active:
      if enable:
        self._action.begin(mujoco.mjtMouse.mjMOUSE_MOVE_H)
      else:
        self._action.end(mujoco.mjtMouse.mjMOUSE_MOVE_H)