Don't smooth tracking camera motion

yuvaltassa · copybara-github · commit 7eab0117f761 · 2025-09-17T05:25:17.000-07:00
PiperOrigin-RevId: 808110613
Change-Id: Ib8631e5ace6db7c7bb780f26b79a72e26e72f451
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
@@ -2516,10 +2516,7 @@ void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScen
       mjERROR("track body id is outside valid range");
     }
 
-    // smooth tracking of subtree com
-    mjtNum move[3];
-    mju_sub3(move, d->subtree_com + 3*cam->trackbodyid, cam->lookat);
-    mju_addToScl3(cam->lookat, move, 0.2);  // constant ???
+    mju_copy3(cam->lookat, d->subtree_com + 3*bid);
   }
 
   // get camera frame

Original file line number	Diff line number	Diff line change
`@@ -2516,10 +2516,7 @@ void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScen`
`2516`	`2516`	`mjERROR("track body id is outside valid range");`
`2517`	`2517`	`}`
`2518`	`2518`
`2519`		`- // smooth tracking of subtree com`
`2520`		`- mjtNum move[3];`
`2521`		`- mju_sub3(move, d->subtree_com + 3*cam->trackbodyid, cam->lookat);`
`2522`		`- mju_addToScl3(cam->lookat, move, 0.2); // constant ???`
	`2519`	`+ mju_copy3(cam->lookat, d->subtree_com + 3*bid);`
`2523`	`2520`	`}`
`2524`	`2521`
`2525`	`2522`	`// get camera frame`