chenlin/Mujoco_WASM
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Copybara import of the project:

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c9acc0a6f677951db34f2b607bd60fc18a43f72b by Levi Burner <leviburner@gmail.com>:

Fix race condition in Python viewers set_X methods

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b89ab8f7a0f628ee7a02ebfbac2a97f113112076 by Levi Burner <leviburner@gmail.com>:

use std::swap to replace some copying

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02625bed0cffbfc9ea4537f74689f0bbcb8bf44c by Levi Burner <leviburner@gmail.com>:

fix whitespace

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2613 from aftersomemath:simulate-set-race 02625bed0cffbfc9ea4537f74689f0bbcb8bf44c
PiperOrigin-RevId: 766646168
Change-Id: I1e1dc16afbfb1e69fb958d54bd1075cc9aed3569
This commit is contained in:
Levi Burner
2025-06-03 07:00:24 -07:00
committed by Copybara-Service
parent fe81373ffe
commit 3eb31f56cd
3 changed files with 91 additions and 29 deletions
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simulate/simulate.cc
+19 -1
View File
@@ -2632,18 +2632,36 @@ void Simulate::Render() {
}
// user figures
if (this->newfigurerequest.load() == 1) {
this->user_figures_.clear();
std::swap(this->user_figures_, this->user_figures_new_);
int value = 1;
this->newfigurerequest.compare_exchange_strong(value, 0);
}
for (auto& [viewport, figure] : this->user_figures_) {
ShowFigure(this, viewport, &figure);
}
// overlay text
if (this->newtextrequest.load() == 1) {
this->user_texts_.clear();
std::swap(this->user_texts_, this->user_texts_new_);
int value = 1;
this->newtextrequest.compare_exchange_strong(value, 0);
}
for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
ShowOverlayText(this, rect, font, gridpos, text1, text2);
}
// user images
if (this->newimagerequest.load() == 1) {
this->user_images_.clear();
std::swap(this->user_images_, this->user_images_new_);
int value = 1;
this->newimagerequest.compare_exchange_strong(value, 0);
}
for (auto& [viewport, image] : this->user_images_) {
ShowImage(this, viewport, image);
ShowImage(this, viewport, image.get());
}
// finalize
simulate/simulate.h
+7 -1
View File
@@ -206,6 +206,9 @@ class Simulate {
std::atomic_int droploadrequest = 0;
std::atomic_int screenshotrequest = 0;
std::atomic_int uiloadrequest = 0;
std::atomic_int newfigurerequest = 0;
std::atomic_int newtextrequest = 0;
std::atomic_int newimagerequest = 0;
// loadrequest
// 3: display a loading message
@@ -263,8 +266,11 @@ class Simulate {
mjvScene* user_scn = nullptr;
mjtByte user_scn_flags_prev_[mjNRNDFLAG];
std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
std::vector<std::pair<mjrRect, mjvFigure>> user_figures_new_;
std::vector<std::tuple<int, int, std::string, std::string>> user_texts_;
std::vector<std::tuple<mjrRect, unsigned char*>> user_images_;
std::vector<std::tuple<int, int, std::string, std::string>> user_texts_new_;
std::vector<std::tuple<mjrRect, std::unique_ptr<unsigned char[]>>> user_images_;
std::vector<std::tuple<mjrRect, std::unique_ptr<unsigned char[]>>> user_images_new_;
// OpenGL rendering and UI
int refresh_rate = 60;