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Add an "offscreen" mode that allows users to render studio to a texture

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then uses SDL to blit the texture into the window.

PiperOrigin-RevId: 861697047
Change-Id: Ib949b4ade0c79d867ba74ce013bc2b6fa2571f56
This commit is contained in:
Haroon Qureshi
2026-01-27 06:47:22 -08:00
committed by Copybara-Service
parent dce2ed00ea
commit 669e9b7484
6 changed files with 242 additions and 39 deletions
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src/experimental/studio/app.cc
+19 -12
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@@ -46,17 +46,16 @@
namespace mujoco::studio {
static constexpr platform::Window::Config kWindowConfig = {
static constexpr platform::Window::RenderConfig kRenderConfig =
#if defined(__EMSCRIPTEN__)
.render_config = platform::Window::RenderConfig::kFilamentWebGL,
platform::Window::RenderConfig::kFilamentWebGL;
#elif defined(USE_FILAMENT_VULKAN)
.render_config = platform::Window::RenderConfig::kFilamentVulkan,
platform::Window::RenderConfig::kFilamentVulkan;
#elif defined(USE_FILAMENT_OPENGL)
.render_config = platform::Window::RenderConfig::kFilamentOpenGL,
platform::Window::RenderConfig::kFilamentOpenGL;
#elif defined(USE_CLASSIC_OPENGL)
.render_config = platform::Window::RenderConfig::kClassicOpenGL,
platform::Window::RenderConfig::kClassicOpenGL;
#endif
};
static void ToggleFlag(mjtByte& flag) { flag = flag ? 0 : 1; }
@@ -113,10 +112,13 @@ static constexpr std::array<const char*, 31> kPercentRealTime = {
};
// clang-format on
App::App(int width, int height, std::string ini_path)
: ini_path_(std::move(ini_path)) {
window_ = std::make_unique<platform::Window>("MuJoCo Studio", width, height,
kWindowConfig);
App::App(Config config)
: ini_path_(std::move(config.ini_path)) {
platform::Window::Config window_config;
window_config.render_config = kRenderConfig;
window_config.offscreen_mode = config.offscreen_mode;
window_ = std::make_unique<platform::Window>("MuJoCo Studio", config.width,
config.height, window_config);
renderer_ =
std::make_unique<platform::Renderer>(window_->GetNativeWindowHandle());
@@ -428,11 +430,16 @@ void App::Render() {
const float height = window_->GetHeight();
const float scale = window_->GetScale();
if (window_->IsOffscreenMode()) {
pixels_.resize(width * height * 3);
} else {
pixels_.clear();
}
renderer_->Render(model_, data_, &perturb_, &camera_, &vis_options_,
width * scale, height * scale);
width * scale, height * scale, pixels_);
window_->EndFrame();
window_->Present();
window_->Present(pixels_);
if (data_) {
for (int i = 0; i < mjNTIMER; i++) {