Store the status of the scene in the scene itself.

PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06

doc/includes/references.h

@@ -2948,6 +2948,7 @@ struct mjvScene_ {                // abstract scene passed to OpenGL renderer
   // framing
   int      framewidth;            // frame pixel width; 0: disable framing
   float    framergb[3];           // frame color
+  int      status;                // status; 0: ok, 1: geoms exhausted
 };
 typedef struct mjvScene_ mjvScene;
 struct mjvFigure_ {               // abstract 2D figure passed to OpenGL renderer

include/mujoco/mjvisualize.h

@@ -354,6 +354,7 @@ struct mjvScene_ {                // abstract scene passed to OpenGL renderer
   // framing
   int      framewidth;            // frame pixel width; 0: disable framing
   float    framergb[3];           // frame color
+  int      status;                // status; 0: ok, 1: geoms exhausted
 };
 typedef struct mjvScene_ mjvScene;
 

python/mujoco/introspect/structs.py

@@ -7139,6 +7139,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='frame color',
              ),
+             StructFieldDecl(
+                 name='status',
+                 type=ValueType(name='int'),
+                 doc='status; 0: ok, 1: geoms exhausted',
+             ),
          ),
      )),
     ('mjvFigure',

python/mujoco/structs.cc

@@ -1196,6 +1196,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(scale);
   X(stereo);
   X(framewidth);
+  X(status);
 #undef X
 
 #define X(var) DefinePyArray(mjvScene, #var, &MjvSceneWrapper::var)

src/engine/engine_vis_visualize.c

@@ -73,9 +73,9 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
 
 
 // returns 1 if there are no more geoms available in the scene, 0 otherwise
-static inline int geomsExhausted(mjData* d, mjvScene* scn) {
+static inline int geomsExhausted(mjvScene* scn) {
   if ( scn->ngeom>=scn->maxgeom ) {
-    mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
+    scn->status = 1;
     return 1;
   }
   return 0;
@@ -203,7 +203,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
 
     // contact point
     if (flags[mjVIS_CONTACTPOINT]) {
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -288,7 +288,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
 
       // draw the three axes (separate geoms)
       for (int j=0; j < 3; j++) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -369,7 +369,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
         }
 
         // one-directional arrow for friction and world, symmetric otherwise
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -759,7 +759,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       (category & catmask)) {
     for (int i=0; i < m->nflex; i++) {
       if (vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[i]))]) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -808,7 +808,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   if (vopt->flags[mjVIS_SKIN] && (category & catmask)) {
     for (int i=0; i < m->nskin; i++) {
       if (vopt->skingroup[mjMAX(0, mjMIN(mjNGROUP-1, m->skin_group[i]))]) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -890,7 +890,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         rgba = m->vis.rgba.bvactive;
       }
 
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -925,7 +925,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
             rgba = m->vis.rgba.bvactive;
           }
 
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -958,7 +958,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           for (int k=0; k < 2; k++) {
             if (scn->ngeom >= scn->maxgeom) break;
             if (i == 0) {
-              if (geomsExhausted(d, scn)) {
+              if (geomsExhausted(scn)) {
                 return;
               }
 
@@ -967,7 +967,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
               releaseGeom(&thisgeom, scn);
             }
             if (j == 0) {
-              if (geomsExhausted(d, scn)) {
+              if (geomsExhausted(scn)) {
                 return;
               }
 
@@ -976,7 +976,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
               releaseGeom(&thisgeom, scn);
             }
             if (k == 0) {
-              if (geomsExhausted(d, scn)) {
+              if (geomsExhausted(scn)) {
                 return;
               }
 
@@ -1033,7 +1033,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         mju_mulMatVec3(pos, xmat, center);
         mju_addTo3(pos, xpos);
 
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1057,7 +1057,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       for (int b = 0; b < m->mesh_octnum[meshid]; b++) {
         int i = b + m->mesh_octadr[meshid];
 
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1118,7 +1118,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         float* mesh_vert = m->mesh_vert + 3*m->mesh_vertadr[mesh_id];
         int* face = m->mesh_face + 3*m->mesh_faceadr[mesh_id];
         for (int i=0; i < m->mesh_facenum[mesh_id]; i++) {
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           } else {
             // triangle in global frame
@@ -1169,7 +1169,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
     for (int i=1; i < m->nbody; i++) {
       // skip if mass too small or if this body is static and static bodies are masked
       if (m->body_mass[i] > mjMINVAL && (bodycategory(m, i) & catmask)) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1228,7 +1228,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
     int i = pert->select;
 
     if ((pert->active | pert->active2) & mjPERT_TRANSLATE) {
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -1253,7 +1253,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       releaseGeom(&thisgeom, scn);
 
       // add small sphere at end-effector
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -1269,7 +1269,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
     }
 
     if ((pert->active | pert->active2) & mjPERT_ROTATE) {
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -1327,7 +1327,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
       // draw the three axes (separate geoms)
       for (int j=0; j < 3; j++) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1366,7 +1366,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
     mju_mulMatVec3(selpos, d->xmat+9*pert->select, pert->localpos);
     mju_addTo3(selpos, d->xpos+3*pert->select);
 
-    if (geomsExhausted(d, scn)) {
+    if (geomsExhausted(scn)) {
       return;
     }
 
@@ -1396,7 +1396,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         if (bodycategory(m, i) & ~catmask) {
           continue;
         }
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1425,7 +1425,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         sz[1] = m->vis.scale.jointlength * scl;
         sz[0] = m->vis.scale.jointwidth * scl;
 
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1568,7 +1568,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         if (m->actuator_trntype[i] == mjTRN_JOINT ||
             m->actuator_trntype[i] == mjTRN_JOINTINPARENT ||
             m->actuator_trntype[i] == mjTRN_SITE) {
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -1631,7 +1631,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
             // add inflated geom if it is a regular primitive
             if (geomtype != mjGEOM_PLANE && geomtype != mjGEOM_HFIELD &&
                 geomtype != mjGEOM_MESH  && geomtype != mjGEOM_SDF) {
-              if (geomsExhausted(d, scn)) {
+              if (geomsExhausted(scn)) {
                 return;
               }
 
@@ -1658,7 +1658,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         else if (m->actuator_trntype[i] == mjTRN_TENDON && d->ten_wrapnum[j]) {
           for (int k=d->ten_wrapadr[j]; k < d->ten_wrapadr[j]+d->ten_wrapnum[j]-1; k++) {
             if (d->wrap_obj[k] != -2 && d->wrap_obj[k+1] != -2) {
-              if (geomsExhausted(d, scn)) {
+              if (geomsExhausted(scn)) {
                 return;
               }
 
@@ -1705,7 +1705,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       if (m->body_dofnum[weld_id]) {
         int islandid = d->dof_island[m->body_dofadr[weld_id]];
         if (islandid > -1) {
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -1743,7 +1743,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
     int geomgroup = mjMAX(0, mjMIN(mjNGROUP-1, m->geom_group[i]));
 
     if (vopt->geomgroup[geomgroup]) {
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -1869,7 +1869,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       sz[0] = m->vis.scale.framewidth * scl;
       sz[1] = m->vis.scale.framelength * scl;
       for (int j=0; j < 3; j++) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -1911,7 +1911,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
     // show if group enabled
     if (vopt->sitegroup[mjMAX(0, mjMIN(mjNGROUP-1, m->site_group[i]))]) {
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -1952,7 +1952,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       sz[0] = m->vis.scale.framewidth * scl;
       sz[1] = m->vis.scale.framelength * scl;
       for (int j=0; j < 3; j++) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2041,21 +2041,21 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
         // triangulation and wireframe of the frustum
         for (int e=0; e < 4; e++) {
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
           thisgeom = acquireGeom(scn, i, category, objtype);
           makeTriangle(thisgeom, vnear[e], vfar[e], vnear[(e+1)%4], rgba);
           releaseGeom(&thisgeom, scn);
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
           thisgeom = acquireGeom(scn, i, category, objtype);
           makeTriangle(thisgeom, vfar[e], vfar[(e+1)%4], vnear[(e+1)%4], rgba);
           releaseGeom(&thisgeom, scn);
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -2063,7 +2063,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           mjv_connector(thisgeom, mjGEOM_LINE, 3, vnear[e], vnear[(e+1)%4]);
           f2f(thisgeom->rgba, rgba, 4);
           releaseGeom(&thisgeom, scn);
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -2071,7 +2071,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           mjv_connector(thisgeom, mjGEOM_LINE, 3, vfar[e], vfar[(e+1)%4]);
           f2f(thisgeom->rgba, rgba, 4);
           releaseGeom(&thisgeom, scn);
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -2082,7 +2082,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         }
       }
 
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -2104,7 +2104,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
       releaseGeom(&thisgeom, scn);
 
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -2140,7 +2140,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       sz[0] = m->vis.scale.framewidth * scl;
       sz[1] = m->vis.scale.framelength * scl;
       for (int j=0; j < 3; j++) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2182,7 +2182,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       // make light position: offset backward, to avoid casting shadow
       mju_addScl3(vec, d->light_xpos+3*i, d->light_xdir+3*i, -scl * m->vis.scale.light -0.0001);
 
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -2215,7 +2215,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       sz[0] = m->vis.scale.framewidth * scl;
       sz[1] = m->vis.scale.framelength * scl;
       for (int j=0; j < 3; j++) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2290,7 +2290,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         if (!draw_catenary) {
           for (int j=d->ten_wrapadr[i]; j < d->ten_wrapadr[i]+d->ten_wrapnum[i]-1; j++) {
             if (d->wrap_obj[j] != -2 && d->wrap_obj[j+1] != -2) {
-              if (geomsExhausted(d, scn)) {
+              if (geomsExhausted(scn)) {
                 return;
               }
 
@@ -2378,7 +2378,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
           // draw npoints-1 segments
           for (int j=0; j < npoints-1; j++) {
-            if (geomsExhausted(d, scn)) {
+            if (geomsExhausted(scn)) {
               return;
             }
 
@@ -2434,7 +2434,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         mju_addTo3(end, d->site_xpos+3*k);
 
         // render slider
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2448,7 +2448,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         releaseGeom(&thisgeom, scn);
 
         // render crank
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2471,7 +2471,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   if (vopt->flags[mjVIS_COM] && (category & catmask)) {
     for (int i=1; i < m->nbody; i++) {
       if (m->body_rootid[i] == i) {
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2500,7 +2500,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       cur = d->xipos+3*i;
       if (m->body_jntnum[i]) {
         for (int j=m->body_jntadr[i]+m->body_jntnum[i]-1; j >= m->body_jntadr[i]; j--) {
-          if (geomsExhausted(d, scn)) {
+          if (geomsExhausted(scn)) {
             return;
           }
 
@@ -2517,7 +2517,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       }
 
       // connect first joint (or com) to parent com
-      if (geomsExhausted(d, scn)) {
+      if (geomsExhausted(scn)) {
         return;
       }
 
@@ -2545,7 +2545,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         }
 
         // make ray
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2567,7 +2567,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         }
 
         // make ray
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2593,7 +2593,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         // map force to spatial vector in world frame
         mju_scl3(vec, xfrc, m->vis.map.force/m->stat.meanmass);
 
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2637,7 +2637,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         // construct geom
         sz[0] = scl * m->vis.scale.constraint;
 
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -2648,7 +2648,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         }
         releaseGeom(&thisgeom, scn);
 
-        if (geomsExhausted(d, scn)) {
+        if (geomsExhausted(scn)) {
           return;
         }
 
@@ -3282,6 +3282,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
                      const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
   // clear geoms
   scn->ngeom = 0;
+  scn->status = 0;
 
   // trigger plugin visualization hooks
   if (m->nplugin) {
@@ -3318,6 +3319,10 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
   if (opt->flags[mjVIS_SKIN]) {
     mjv_updateActiveSkin(m, d, scn, opt);
   }
+
+  if (scn->status) {
+    mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
+  }
 }
 
 

test/engine/engine_vis_visualize_test.cc

@@ -67,6 +67,7 @@ TEST_F(MjvSceneTest, UpdateScene) {
   }
 
   mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
+  EXPECT_EQ(scn_.status, 0);
   EXPECT_GT(scn_.ngeom, 0);
   EXPECT_GT(scn_.nlight, 0);
   if (model->nskin) EXPECT_GT(scn_.nskin, 0);
@@ -98,6 +99,7 @@ TEST_F(MjvSceneTest, UpdateSceneGeomsExhausted) {
   // clear handlers to avoid test failure; we are explicitly expecting a warning
   mju_clearHandlers();
   mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
+  EXPECT_EQ(scn_.status, 1);
   EXPECT_EQ(scn_.ngeom, maxgeoms);
   EXPECT_EQ(data->warning[mjWARN_VGEOMFULL].number, 1);
 

unity/Runtime/Bindings/MjBindings.cs

@@ -6286,6 +6286,7 @@ public unsafe struct mjvScene_ {
   public fixed byte flags[10];
   public int framewidth;
   public fixed float framergb[3];
+  public int status;
 }
 
 [StructLayout(LayoutKind.Sequential)]