Merge pull request #239 from PieterBecking/feature/camera-tracking-drone

Feature/camera tracking drone

examples/drone/interactive_drone.py

@@ -91,14 +91,37 @@ def update_thrust(self):
         return self.rpms
 
 
+def update_camera(scene, drone):
+    """Updates the camera position to follow the drone"""
+    if not scene.viewer:
+        return
+
+    drone_pos = drone.get_pos()
+
+    # Camera position relative to drone
+    offset_x = 0.0  # centered horizontally
+    offset_y = -4.0  # 4 units behind (in Y axis)
+    offset_z = 2.0  # 2 units above
+
+    camera_pos = (float(drone_pos[0] + offset_x), float(drone_pos[1] + offset_y), float(drone_pos[2] + offset_z))
+
+    # Update camera position and look target
+    scene.viewer.set_camera_pose(pos=camera_pos, lookat=tuple(float(x) for x in drone_pos))
+
+
 def run_sim(scene, drone, controller):
     while controller.running:
         try:
             # Update drone with current RPMs
             rpms = controller.update_thrust()
             drone.set_propellels_rpm(rpms)
+
             # Update physics
             scene.step()
+
+            # Update camera position to follow drone
+            update_camera(scene, drone)
+
             time.sleep(1 / 60)  # Limit simulation rate
         except Exception as e:
             print(f"Error in simulation loop: {e}")
@@ -116,9 +139,9 @@ def main():
     # Initialize Genesis
     gs.init(backend=gs.cpu)
 
-    # Create scene with enhanced camera view
+    # Create scene with initial camera view
     viewer_options = gs.options.ViewerOptions(
-        camera_pos=(4.0, 0.0, 2.0),
+        camera_pos=(0.0, -4.0, 2.0),  # Now behind the drone (negative Y)
         camera_lookat=(0.0, 0.0, 0.5),
         camera_fov=45,
         max_FPS=60,