Add support for user-defined figures in the MuJoCo viewer.

PiperOrigin-RevId: 726983516 Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
2025-02-14 10:44:50 -08:00
parent 6f0bd0a5f8
commit 37d7591ce0
5 changed files with 72 additions and 19 deletions
@@ -252,6 +252,7 @@ class Simulate {
  // additional user-defined visualization geoms (used in passive mode)
  mjvScene* user_scn = nullptr;
  mjtByte user_scn_flags_prev_[mjNRNDFLAG];
+  std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;

  // OpenGL rendering and UI
  int refresh_rate = 60;