Migrate filament header documentation to docs.
PiperOrigin-RevId: 948294877 Change-Id: I6e110bbdc4d2e329a243f1b96d560698174de26b
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Haroon Qureshi
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Copybara-Service
Copybara-Service
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@@ -22,21 +22,22 @@ Parser
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Compiler
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The compiler is written in C++. It takes an mjCModel C++ object constructed by the parser, and converts it into an
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mjModel C structure used at runtime.
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Abstract visualizer
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The abstract visualizer is written in C. It generates a list of abstract geometric entities representing the
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simulation state, with all information needed for actual rendering. It also provides abstract mouse hooks for camera
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and perturbation control.
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OpenGL renderer
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The renderer is written in C and is based on fixed-function OpenGL. It does not have all the features of
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state-of-the-art rendering engines (and can be replaced with such an engine if desired) but nevertheless it provides
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efficient and informative 3D rendering.
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Thread
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The threading framework is written in C++ and exposed in C. It provides a thread pool interface
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to process tasks asynchronously. To enable use in MuJoCo, call ``mju_threadpool``.
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Rendering
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There are two rendering libraries provided by MuJoCo. The :ref:`classic rendering<OpenGLrendering>` library is
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written in C and uses OpenGL 1.5. It provides a simple and efficient way to visualize MuJoCo models. The
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:ref:`filament rendering<FilamentRendering>` library is written in C++ and uses the externally-devloped Filament
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rendering engine. It provides more modern and feature-rich real-time rendering capabilities.
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Abstract visualizer
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The abstract visualizer is written in C. It generates a list of abstract geometric entities representing the
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simulation state, with all information needed for rendering with the Classic renderer. It also provides abstract
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mouse hooks for camera and perturbation control.
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UI framework
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The UI framework is written in C. UI elements are rendered in OpenGL. It has its own event
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mechanism and abstract hooks for keyboard and mouse input. The code samples use it with GLFW, but it can also be used
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with other window libraries.
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The UI framework is written in C and is designed to work with the :ref:`classic OpenGL renderer<OpenGLrendering>`.
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UI elements are rendered in OpenGL. It has its own event mechanism and abstract hooks for keyboard and mouse input.
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The code samples use it with GLFW, but it can also be used with other window libraries.
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.. _inStart:
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@@ -236,14 +237,16 @@ to which the symbol belongs. First we list the prefixes corresponding to type de
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Primitive type, for example :ref:`mjtNum` and :ref:`mjtGeom`. Most types in this family are enums.
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``mjf``
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Callback function type, for example :ref:`mjfGeneric`.
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``mjs``
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Data structure related to :doc:`procedural model editing <modeledit>`, for example :ref:`mjsJoint`.
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``mjv``
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Data structure related to abstract visualization, for example :ref:`mjvCamera`.
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``mjrf``
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Data structure related to filament rendering, for example :ref:`mjrfContext`.
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``mjr``
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Data structure related to OpenGL rendering, for example :ref:`mjrContext`.
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``mjui``
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Data structure related to UI framework, for example :ref:`mjuiSection`.
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``mjs``
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Data structure related to :doc:`procedural model editing <modeledit>`, for example :ref:`mjsJoint`.
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Next we list the prefixes corresponding to function definitions. Note that function prefixes always end with underscore.
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@@ -256,6 +259,8 @@ Next we list the prefixes corresponding to function definitions. Note that funct
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in the sense that they do not have mjModel and mjData pointers as their arguments.
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``mjv_``
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Function related to abstract visualization, for example :ref:`mjv_updateScene`.
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``mjrf_``
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Function related to filament rendering, for example :ref:`mjrf_render`.
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``mjr_``
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Function related to OpenGL rendering, for example :ref:`mjr_render`.
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``mjui_``
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@@ -268,23 +273,6 @@ Next we list the prefixes corresponding to function definitions. Note that funct
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``mjs_``
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Functions for :doc:`procedural model editing <modeledit>`, for example :ref:`mjs_addJoint`.
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.. _inOpenGL:
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Using OpenGL
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~~~~~~~~~~~~
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The use of MuJoCo's native OpenGL renderer will be explained in :ref:`Rendering`. For rendering, MuJoCo uses OpenGL 1.5
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in the compatibility profile with the ``ARB_framebuffer_object`` and ``ARB_vertex_buffer_object`` extensions. OpenGL
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symbols are loaded via `GLAD <https://github.com/Dav1dde/glad>`_ the first time the :ref:`mjr_makeContext` function
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is called. This means that the MuJoCo library itself does not have an explicit dependency on OpenGL and can be used
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on systems without OpenGL support, as long as ``mjr_`` functions are not called.
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Applications that use MuJoCo's built-in rendering functionalities are responsible for linking against an appropriate
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OpenGL context creation library and for ensuring that there is an OpenGL context that is made current on the running
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thread. On Windows and macOS, there is a canonical OpenGL library provided by the operating system. On Linux, MuJoCo
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currently supports GLX for rendering to an X11 window, OSMesa for headless software rendering, and EGL for hardware
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accelerated headless rendering.
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.. toctree::
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:hidden:
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@@ -3,6 +3,13 @@
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Visualization
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-------------
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.. admonition:: MuJoCo Studio
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:class: note
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We are actively developing a new visualizer platform called
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`MuJoCo Studio <https://github.com/google-deepmind/mujoco/blob/main/src/experimental/studio>`__. We will update this
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section once it becomes more established.
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MuJoCo has a native 3D visualizer. Its use is illustrated in the :ref:`simulate.cc <saSimulate>` code sample and in
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the simpler :ref:`basic.cc <saBasic>` code sample. While it is not a full-featured rendering engine, it is a
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convenient, efficient and reasonably good-looking visualizer that facilitates research and development. It renders not
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@@ -303,6 +310,23 @@ OpenGL Rendering
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This stage takes the mjvScene data structure populated in the abstract visualization stage, and renders it. It also
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provides basic 2D drawing and framebuffer access, so that most applications would not need to call OpenGL directly.
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.. _reOpenGL:
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Using OpenGL
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'''''''''''''
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MuJoCo uses OpenGL 1.5 in the compatibility profile with the ``ARB_framebuffer_object`` and ``ARB_vertex_buffer_object``
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extensions. OpenGL symbols are loaded via `GLAD <https://github.com/Dav1dde/glad>`_ the first time the
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:ref:`mjr_makeContext` function is called. This means that the MuJoCo library itself does not have an explicit
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dependency on OpenGL and can be used on systems without OpenGL support, as long as ``mjr_`` functions are not called.
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Applications that use MuJoCo's built-in rendering functionalities are responsible for linking against an appropriate
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OpenGL context creation library and for ensuring that there is an OpenGL context that is made current on the running
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thread. On Windows and macOS, there is a canonical OpenGL library provided by the operating system. On Linux, MuJoCo
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currently supports GLX for rendering to an X11 window, OSMesa for headless software rendering, and EGL for hardware
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accelerated headless rendering.
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.. _reContext:
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Context and GPU resources
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@@ -462,3 +486,21 @@ We also provide the functions :ref:`mjr_finish` and :ref:`mjr_getError` for expl
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for OpenGL error checking. They simply call glFinish and glGetError internally. This together with the basic 2d
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drawing functions above is meant to provide enough functionality so that most users will not need to write OpenGL
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code. Of course we cannot achieve this in all cases, short of providing wrappers for all of OpenGL.
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.. _FilamentRendering:
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Filament Rendering
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~~~~~~~~~~~~~~~~~~
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MuJoCo also provides a `Filament <https://github.com/google/filament>`_ based renderer for 3D visualization of its
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simulations.
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Filament is a real-time physically based rendering (PBR) engine developed by Google. It is designed to be as small as
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possible and as efficient as possible, while still providing high-quality results. It works across all major platforms
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(Linux, Windows, macOS, Android, iOS, Web) and supports OpenGL, Vulkan, and Metal.
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MuJoCo's current integration with the Filament renderer is done by setting `MUJOCO_USE_FILAMENT` to 1 in the CMake Build
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configuration. This effectively replaces the OpenGL-based `mjr` function implementations with Filament-based ones. It
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also makes the underlying Filament `mjrf` :ref:`types <tyFilamentRenderStructure>` and
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:ref:`functions <FilamentRenderingApi>` available for use.
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