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Allow user-defined visualization geoms to be added to the passive viewer.

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Fixes #1023, #1082

PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
This commit is contained in:
Saran Tunyasuvunakool
2023-10-10 10:51:29 -07:00
committed by Copybara-Service
parent 1bd6c94e6d
commit 2e15574b58
13 changed files with 112 additions and 56 deletions
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simulate/simulate.cc
+21 -6
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@@ -1737,16 +1737,15 @@ namespace mujoco {
namespace mju = ::mujoco::sample_util;
Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
mjvScene* scn, mjvCamera* cam,
mjvOption* opt, mjvPerturb* pert,
mjvCamera* cam, mjvOption* opt, mjvPerturb* pert,
bool is_passive)
: is_passive_(is_passive),
scn(*scn),
cam(*cam),
opt(*opt),
pert(*pert),
platform_ui(std::move(platform_ui)),
uistate(this->platform_ui->state()) {
mjv_defaultScene(&scn);
mjv_defaultSceneState(&scnstate_);
}
@@ -2011,6 +2010,23 @@ void Simulate::Sync() {
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
// append geoms from user_scn to scnstate_ scratch space
if (user_scn) {
int ngeom = user_scn->ngeom;
int maxgeom = scnstate_.scratch.maxgeom - scnstate_.scratch.ngeom;
if (ngeom > maxgeom) {
mj_warning(d_, mjWARN_VGEOMFULL, scnstate_.scratch.maxgeom);
ngeom = maxgeom;
}
if (ngeom > 0) {
std::memcpy(scnstate_.scratch.geoms + scnstate_.scratch.ngeom,
user_scn->geoms,
sizeof(mjvGeom) * ngeom);
scnstate_.scratch.ngeom += ngeom;
}
}
mjopt_prev_ = scnstate_.model.opt;
warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
}
@@ -2172,9 +2188,8 @@ void Simulate::LoadOnRenderThread() {
}
// re-create scene and context
if (!this->is_passive_) {
mjv_makeScene(this->m_, &this->scn, kMaxGeom);
} else {
mjv_makeScene(this->m_, &this->scn, kMaxGeom);
if (this->is_passive_) {
mjopt_prev_ = m_->opt;
opt_prev_ = opt;
cam_prev_ = cam;