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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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src/engine/engine_vis_state.c
+9 -9
View File
@@ -48,19 +48,19 @@ static inline size_t roundUpToCacheLine(size_t n) {
// set default scene
void mjv_defaultSceneState(mjvSceneState* scnstate) {
memset(scnstate, 0, sizeof(mjvSceneState));
mjv_defaultScene(&scnstate->plugincache);
mjv_defaultScene(&scnstate->scratch);
}
// allocate and init scene state
void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnstate, int maxgeom) {
mjv_freeScene(&scnstate->plugincache);
mjv_freeScene(&scnstate->scratch);
mju_free(scnstate->buffer);
#ifdef MEMORY_SANITIZER
__msan_allocated_memory(scnstate, sizeof(mjvSceneState));
mjv_defaultScene(&scnstate->plugincache);
mjv_defaultScene(&scnstate->scratch);
#endif
scnstate->nbuffer = 0;
@@ -144,14 +144,14 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
mjERROR("mjvSceneState buffer is not fully used");
}
mjv_makeScene(m, &scnstate->plugincache, maxgeom);
mjv_makeScene(m, &scnstate->scratch, maxgeom);
}
// free scene state
void mjv_freeSceneState(mjvSceneState* scnstate) {
mjv_freeScene(&scnstate->plugincache);
mjv_freeScene(&scnstate->scratch);
mju_free(scnstate->buffer);
mjv_defaultSceneState(scnstate);
}
@@ -229,14 +229,14 @@ int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt
int warning_start = d.warning[mjWARN_VGEOMFULL].number;
// copy mjvGeoms added by plugins
int nplugingeom = scnstate->plugincache.ngeom;
int nplugingeom = scnstate->scratch.ngeom;
if (nplugingeom > scn->maxgeom) {
mj_warning(&d, mjWARN_VGEOMFULL, scn->maxgeom);
scn->ngeom = scn->maxgeom;
} else {
scn->ngeom = nplugingeom;
}
memcpy(scn->geoms, scnstate->plugincache.geoms, sizeof(mjvGeom) * scn->ngeom);
memcpy(scn->geoms, scnstate->scratch.geoms, sizeof(mjvGeom) * scn->ngeom);
// add all categories
mjv_addGeoms(&m, &d, opt, pert, catmask, scn);
@@ -272,7 +272,7 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
#undef X
// Update plugin visualization cache.
scnstate->plugincache.ngeom = 0;
scnstate->scratch.ngeom = 0;
if (m->nplugin) {
const int nslot = mjp_pluginCount();
// iterate over plugins, call visualize if defined
@@ -283,7 +283,7 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->visualize) {
plugin->visualize(m, d, opt, &scnstate->plugincache, i);
plugin->visualize(m, d, opt, &scnstate->scratch, i);
}
}
}