Merge pull request #3340 from devshahofficial:devshahofficial/mjr-renderer-info

PiperOrigin-RevId: 948183711
Change-Id: I28b256eca22e86ec0ba05a4fa26458d678aca130

doc/APIreference/APItypes.rst

@@ -1286,6 +1286,16 @@ This structure specifies the attributes for a single vertex.
 
 
 
+.. _mjrRendererInfo:
+
+mjrRendererInfo
+~~~~~~~~~~~~~~~
+
+This structure contains information about the available renderer and its current context.
+
+.. mujoco-include:: mjrRendererInfo
+
+
 .. _mjrContext:
 
 mjrContext

doc/APIreference/functions.rst

@@ -2797,6 +2797,24 @@ of how to use these functions.
 
 Set default mjrContext.
 
+.. _mjr_defaultRendererInfo:
+
+`mjr_defaultRendererInfo <#mjr_defaultRendererInfo>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjr_defaultRendererInfo
+
+Set default mjrRendererInfo.
+
+.. _mjr_getRendererInfo:
+
+`mjr_getRendererInfo <#mjr_getRendererInfo>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjr_getRendererInfo
+
+Get active renderer information.
+
 .. _mjr_makeContext:
 
 `mjr_makeContext <#mjr_makeContext>`__

doc/includes/references.h

@@ -1378,6 +1378,10 @@ typedef struct mjrRect_ {         // OpenGL rectangle
   int width;                      // width (usually buffer width)
   int height;                     // height (usually buffer height)
 } mjrRect;
+typedef struct mjrRendererInfo_ {  // active renderer identity
+  const char* renderer;            // renderer family: classic, filament, noop
+  const char* backend;             // graphics backend: opengl, vulkan; empty if uninitialized
+} mjrRendererInfo;
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
   const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
@@ -3471,6 +3475,8 @@ void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum
 void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
                        const mjvCamera* cam);
 void mjr_defaultContext(mjrContext* con);
+void mjr_defaultRendererInfo(mjrRendererInfo* info);
+void mjr_getRendererInfo(mjrRendererInfo* info);
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 void mjr_changeFont(int fontscale, mjrContext* con);
 void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);

include/mujoco/mjrender.h

@@ -117,6 +117,12 @@ typedef struct mjrRect_ {         // OpenGL rectangle
 } mjrRect;
 
 
+typedef struct mjrRendererInfo_ {  // active renderer identity
+  const char* renderer;            // renderer family: classic, filament, noop
+  const char* backend;             // graphics backend: opengl, vulkan; empty if uninitialized
+} mjrRendererInfo;
+
+
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
   const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]

include/mujoco/mjrfilament.h

@@ -104,6 +104,9 @@ mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
 // Destroys the filament rendering context.
 void mjrf_destroyContext(mjrfContext* ctx);
 
+// Gets active renderer information for the given filament context.
+void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info);
+
 typedef enum mjrDrawMode_ {           // how to draw objects in the scene
   mjDRAW_MODE_DEFAULT,                // default colors and lighting
   mjDRAW_MODE_DEFAULT_NO_TEXTURES,    // default, but without textures

include/mujoco/mujoco.h

@@ -855,6 +855,12 @@ MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  cons
 // Set default mjrContext.
 MJAPI void mjr_defaultContext(mjrContext* con);
 
+// Set default mjrRendererInfo.
+MJAPI void mjr_defaultRendererInfo(mjrRendererInfo* info);
+
+// Get active renderer information.
+MJAPI void mjr_getRendererInfo(mjrRendererInfo* info);
+
 // Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
 MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 

python/mujoco/introspect/functions.py

@@ -5480,6 +5480,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Set default mjrContext.',
      )),
+    ('mjr_defaultRendererInfo',
+     FunctionDecl(
+         name='mjr_defaultRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Set default mjrRendererInfo.',
+     )),
+    ('mjr_getRendererInfo',
+     FunctionDecl(
+         name='mjr_getRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Get active renderer information.',
+     )),
     ('mjr_makeContext',
      FunctionDecl(
          name='mjr_makeContext',

python/mujoco/introspect/structs.py

@@ -11005,6 +11005,27 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
+    ('mjrRendererInfo',
+     StructDecl(
+         name='mjrRendererInfo',
+         declname='struct mjrRendererInfo_',
+         fields=(
+             StructFieldDecl(
+                 name='renderer',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='renderer family: classic, filament, noop',
+             ),
+             StructFieldDecl(
+                 name='backend',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='graphics backend: opengl, vulkan; empty if uninitialized',
+             ),
+         ),
+     )),
     ('mjrVertexAttribute',
      StructDecl(
          name='mjrVertexAttribute',

python/mujoco/raw.h

@@ -79,6 +79,7 @@ using MjLogMessage = ::mjLogMessage;
 
 // From mjrender.h
 using MjrRect = ::mjrRect;
+using MjrRendererInfo = ::mjrRendererInfo;
 using MjrContext = ::mjrContext;
 using MjrVertexAttribute = ::mjrVertexAttribute;
 

python/mujoco/render.cc

@@ -143,7 +143,6 @@ void MjrContextWrapper::Free() {
   // mjr_freeContext is safe to call multiple times.
   InterceptMjErrors(mjr_freeContext)(ptr_);
 }
-
 }  // namespace _impl
 
 namespace {
@@ -241,10 +240,38 @@ PYBIND11_MODULE(_render, pymodule, pybind11::mod_gil_not_used()) {
   X(charWidthBig);
 #undef X
 
+  // ==================== MJRRENDERERINFO ======================================
+  py::class_<raw::MjrRendererInfo> mjrRendererInfo(pymodule, "MjrRendererInfo");
+  mjrRendererInfo.def(py::init([]() {
+    raw::MjrRendererInfo info;
+    mjr_defaultRendererInfo(&info);
+    return info;
+  }));
+  mjrRendererInfo.def("__copy__", [](const raw::MjrRendererInfo& other) {
+    return raw::MjrRendererInfo(other);
+  });
+  mjrRendererInfo.def("__deepcopy__",
+                      [](const raw::MjrRendererInfo& other, py::dict) {
+                        return raw::MjrRendererInfo(other);
+  });
+  DefineStructFunctions(mjrRendererInfo);
+  mjrRendererInfo.def_property_readonly("renderer",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.renderer ? info.renderer
+                                                               : "";
+                                        });
+  mjrRendererInfo.def_property_readonly("backend",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.backend ? info.backend
+                                                              : "";
+                                        });
+
   using EigenUnsignedCharVectorX = Eigen::Vector<unsigned char, Eigen::Dynamic>;
   using EigenFloatVectorX = Eigen::Vector<float, Eigen::Dynamic>;
 
   // Skipped: mjr_defaultContext (have MjrContext.__init__)
+  Def<traits::mjr_defaultRendererInfo>(pymodule);
+  Def<traits::mjr_getRendererInfo>(pymodule);
   // Skipped: mjr_makeContext (have MjrContext.__init__)
   Def<traits::mjr_changeFont>(pymodule);
   Def<traits::mjr_addAux>(pymodule);

python/mujoco/renderer_test.py

@@ -28,6 +28,13 @@ import numpy as np
 )
 class MuJoCoRendererTest(parameterized.TestCase):
 
+  def test_renderer_info_binding(self):
+    info = mujoco.MjrRendererInfo()
+    mujoco.mjr_getRendererInfo(info)
+
+    self.assertIn(info.renderer, ('classic', 'filament', 'noop'))
+    self.assertIn(info.backend, ('', 'opengl', 'vulkan', 'unknown'))
+
   def test_renderer_unknown_camera_name(self):
     xml = """
 <mujoco>

src/experimental/filament/mjr_compat.cc

@@ -57,6 +57,8 @@ class CompatContext {
     scene_bridge_->UploadHeightField(model, id);
   }
 
+  mjrfContext* Context() const { return context_.get(); }
+
  private:
   mjrDrawMode draw_mode_ = mjDRAW_MODE_DEFAULT;
   UniquePtr<mjrfContext> context_{nullptr, nullptr};
@@ -189,6 +191,19 @@ void mjr_defaultContext(mjrContext* con) {
   memset(con, 0, sizeof(mjrContext));
 }
 
+void mjr_defaultRendererInfo(mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "filament";
+  info->backend = "";
+}
+
+void mjr_getRendererInfo(mjrRendererInfo* info) {
+  mjr_defaultRendererInfo(info);
+  if (g_context) {
+    mjrf_getRendererInfo(g_context->Context(), info);
+  }
+}
+
 void mjr_makeFilamentContext(const mjModel* m, const mjrfContextConfig* cfg,
                              mjrContext* con) {
   if (g_context != nullptr) {

src/render/classic/render_context.c

@@ -55,6 +55,29 @@ void mjr_defaultContext(mjrContext* con) {
   memset(con, 0, sizeof(mjrContext));
 }
 
+static int context_count = 0;
+
+static int contextHasResources(const mjrContext* con) {
+  return con->ntexture || con->offColor || con->offDepthStencil || con->offFBO ||
+         con->shadowTex || con->shadowFBO || con->rangePlane || con->rangeMesh ||
+         con->rangeHField || con->rangeBuiltin || con->rangeFont || con->nskin;
+}
+
+// set default mjrRendererInfo
+void mjr_defaultRendererInfo(mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "classic";
+  info->backend = "";
+}
+
+// get active renderer information
+void mjr_getRendererInfo(mjrRendererInfo* info) {
+  mjr_defaultRendererInfo(info);
+  if (context_count > 0) {
+    info->backend = "opengl";
+  }
+}
+
 
 
 // allocate lists
@@ -1608,6 +1631,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
     // try to bind window (bind offscreen if no window)
     mjr_setBuffer(mjFB_WINDOW, con);
 
+    context_count++;
     return;
   }
 
@@ -1667,6 +1691,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
 
   // set default depth mapping for mjr_readPixels
   con->readDepthMap = mjDEPTH_ZERONEAR;
+  context_count++;
 }
 
 
@@ -1811,6 +1836,8 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
 
 // free resources in custom OpenGL context
 void mjr_freeContext(mjrContext* con) {
+  int had_resources = contextHasResources(con);
+
   // save flags
   int glInitialized = con->glInitialized;
   int windowAvailable = con->windowAvailable;
@@ -1867,6 +1894,10 @@ void mjr_freeContext(mjrContext* con) {
   con->windowSamples = windowSamples;
   con->windowStereo = windowStereo;
   con->windowDoublebuffer = windowDoublebuffer;
+
+  if (had_resources && context_count > 0) {
+    context_count--;
+  }
 }
 
 

src/render/filament/core/filament_context.cc

@@ -49,6 +49,7 @@ namespace mujoco {
 FilamentContext::FilamentContext(const mjrfContextConfig* config)
     : config_(*config) {
   FilamentPlatformSetup setup = CreateFilamentPlatform(config_);
+  backend_ = setup.backend;
   platform_ = std::move(setup.platform);
 
   filament::Engine::Config engine_config;
@@ -58,7 +59,7 @@ FilamentContext::FilamentContext(const mjrfContextConfig* config)
 
   filament::Engine::Builder engine_builder;
   engine_builder.config(&engine_config);
-  engine_builder.backend(setup.backend);
+  engine_builder.backend(backend_);
   engine_builder.platform(platform_.get());
   engine_builder.feature("backend.disable_parallel_shader_compile",
                          setup.disable_parallel_shader_compile);

src/render/filament/core/filament_context.h

@@ -59,6 +59,8 @@ class FilamentContext : public mjrfContext {
 
   filament::Engine* GetEngine() const { return engine_; }
 
+  filament::Engine::Backend GetBackend() const { return backend_; }
+
   ObjectManager* GetObjectManager() const { return object_manager_.get(); }
 
   MaterialManager* GetMaterialManager() const {
@@ -76,6 +78,7 @@ class FilamentContext : public mjrfContext {
   void ValidateSwapChains(std::span<const mjrfRenderRequest> render_requests);
 
   mjrfContextConfig config_;
+  filament::Engine::Backend backend_;
   filament::Engine* engine_ = nullptr;
   filament::Renderer* renderer_ = nullptr;
   filament::SwapChain* window_swap_chain_ = nullptr;

src/render/filament/mjrfilament.cc

@@ -15,9 +15,9 @@
 #include <mujoco/mjrfilament.h>
 
 #include <array>
-#include <cstdint>
 #include <cstring>
 
+#include <filament/Engine.h>
 #include <math/mat3.h>
 #include <math/vec3.h>
 #include <mujoco/mjmodel.h>
@@ -37,6 +37,17 @@ static void setf(float (&arr)[N], const std::array<float, N>& values) {
   }
 }
 
+static const char* BackendName(filament::Engine::Backend backend) {
+  switch (backend) {
+    case filament::Engine::Backend::OPENGL:
+      return "opengl";
+    case filament::Engine::Backend::VULKAN:
+      return "vulkan";
+    default:
+      return "unknown";
+  }
+}
+
 extern "C" {
 
 void mjrf_defaultContextConfig(mjrfContextConfig* config) {
@@ -124,6 +135,12 @@ void mjrf_destroyContext(mjrfContext* ctx) {
   delete mujoco::FilamentContext::downcast(ctx);
 }
 
+void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "filament";
+  info->backend = ctx ? BackendName(mujoco::FilamentContext::downcast(ctx)->GetBackend()) : "";
+}
+
 mjrfTexture* mjrf_createTexture(mjrfContext* ctx,
                                 const mjrfTextureConfig* config) {
   return new mujoco::Texture(

src/render/noop/render_noop.c

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <mujoco/mujoco.h>
+#include <string.h>
 
 // This library implements the entirety of mujoco's mjr API as fast-fail stubs.
 // You can link this library with your application (instead of standard renderer
@@ -22,6 +23,14 @@
 void mjr_defaultContext(mjrContext* con) {
   mju_error("mjr_defaultContext not implemented.");
 }
+void mjr_defaultRendererInfo(mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "noop";
+  info->backend = "";
+}
+void mjr_getRendererInfo(mjrRendererInfo* info) {
+  mjr_defaultRendererInfo(info);
+}
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
   mju_error("mjr_makeContext not implemented.");
 }

unity/Runtime/Bindings/MjBindings.cs

@@ -6182,6 +6182,12 @@ public unsafe struct mjrRect_ {
   public int height;
 }
 
+[StructLayout(LayoutKind.Sequential)]
+public unsafe struct mjrRendererInfo_ {
+  public char* renderer;
+  public char* backend;
+}
+
 [StructLayout(LayoutKind.Sequential)]
 public unsafe struct mjrVertexAttribute_ {
   public void* bytes;
@@ -7215,6 +7221,12 @@ public static unsafe extern void mjv_cameraFrustum(float* zver, float* zhor, flo
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjr_defaultContext(mjrContext_* con);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mjr_defaultRendererInfo(mjrRendererInfo_* info);
+
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mjr_getRendererInfo(mjrRendererInfo_* info);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjr_makeContext(mjModel_* m, mjrContext_* con, int fontscale);
 

wasm/codegen/generators/constants.py

@@ -218,6 +218,7 @@ SKIPPED_STRUCTS: tuple[str, ...] = (
     "mjUI",
     "mjVFS",
     "mjrContext",
+    "mjrRendererInfo",
     "mjrRect",
     "mjrVertexAttribute",
     "mjuiDef",