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Merge renderer+offscreen mode into unified graphics mode.

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Allow Studio app to switch between graphics modes dynamically.

PiperOrigin-RevId: 878396966
Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
This commit is contained in:
Haroon Qureshi
2026-03-04 03:19:20 -08:00
committed by Copybara-Service
parent 8ab791fdf7
commit 73f73d94f7
11 changed files with 304 additions and 166 deletions
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src/experimental/studio/app.cc
+67 -12
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@@ -25,6 +25,7 @@
#include <filesystem>
#include <functional>
#include <memory>
#include <optional>
#include <span>
#include <string>
#include <string_view>
@@ -35,6 +36,7 @@
#include <implot.h>
#include <mujoco/mujoco.h>
#include "experimental/platform/file_dialog.h"
#include "experimental/platform/graphics_mode.h"
#include "experimental/platform/gui.h"
#include "experimental/platform/gui_spec.h"
#include "experimental/platform/helpers.h"
@@ -111,14 +113,9 @@ static constexpr std::array<const char*, 31> kPercentRealTime = {
};
// clang-format on
App::App(Config config) : ini_path_(std::move(config.ini_path)) {
platform::Window::Config window_config;
window_config.renderer_backend = platform::Renderer::GetBackend();
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());
App::App(Config config)
: ini_path_(std::move(config.ini_path)), gfx_mode_(config.gfx_mode) {
SwitchGraphicsMode(config.width, config.height, config.gfx_mode);
ImPlot::CreateContext();
mjv_defaultPerturb(&perturb_);
@@ -128,6 +125,20 @@ App::App(Config config) : ini_path_(std::move(config.ini_path)) {
profiler_.Clear();
}
void App::SwitchGraphicsMode(int width, int height,
platform::GraphicsMode mode) {
renderer_.reset();
window_.reset();
gfx_mode_ = mode;
platform::Window::Config window_config;
window_config.gfx_mode = gfx_mode_;
window_ = std::make_unique<platform::Window>("MuJoCo Studio", width, height,
window_config);
renderer_ = std::make_unique<platform::Renderer>(
window_->GetNativeWindowHandle(), gfx_mode_);
}
void App::ClearModel() {
model_holder_.reset();
window_->SetTitle("MuJoCo Studio");
@@ -361,8 +372,7 @@ void App::Render() {
const float width = window_->GetWidth();
const float height = window_->GetHeight();
const float scale = window_->GetScale();
if (window_->IsOffscreenMode()) {
if (IsHeadless(window_->GetGraphicsMode())) {
pixels_.resize(width * height * 3);
} else {
pixels_.clear();
@@ -615,14 +625,14 @@ void App::HandleKeyboardEvents() {
return;
}
constexpr auto ImGuiMode_CtrlShift = ImGuiMod_Ctrl | ImGuiMod_Shift;
constexpr auto ImGuiMod_CtrlShift = ImGuiMod_Ctrl | ImGuiMod_Shift;
bool is_freecam_wasd = ui_.camera_idx == platform::kFreeCameraIdx;
// Menu shortcuts.
if (ImGui_IsChordJustPressed(ImGuiKey_O | ImGuiMod_Ctrl)) {
tmp_.file_dialog = UiTempState::FileDialog_Load;
} else if (ImGui_IsChordJustPressed(ImGuiKey_S | ImGuiMode_CtrlShift)) {
} else if (ImGui_IsChordJustPressed(ImGuiKey_S | ImGuiMod_CtrlShift)) {
tmp_.file_dialog = UiTempState::FileDialog_SaveMjb;
} else if (ImGui_IsChordJustPressed(ImGuiKey_S | ImGuiMod_Ctrl)) {
tmp_.file_dialog = UiTempState::FileDialog_SaveXml;
@@ -1898,6 +1908,51 @@ void App::MainMenuGui() {
if (ImGui::MenuItem("Picture-in-Picture")) {
tmp_.picture_in_picture = !tmp_.picture_in_picture;
}
ImGui::Separator();
if (ImGui::BeginMenu("Graphics Mode (Experimental)")) {
std::optional<platform::GraphicsMode> mode;
if (ImGui::MenuItem(
"Classic OpenGL", nullptr,
gfx_mode_ == platform::GraphicsMode::ClassicOpenGl)) {
mode = platform::GraphicsMode::ClassicOpenGl;
}
if (ImGui::MenuItem(
"Classic OpenGL Headless", nullptr,
gfx_mode_ == platform::GraphicsMode::ClassicOpenGlHeadless)) {
mode = platform::GraphicsMode::ClassicOpenGlHeadless;
}
if (ImGui::MenuItem(
"Filament OpenGL", nullptr,
gfx_mode_ == platform::GraphicsMode::FilamentOpenGl)) {
mode = platform::GraphicsMode::FilamentOpenGl;
}
if (ImGui::MenuItem(
"Filament OpenGL Headless", nullptr,
gfx_mode_ == platform::GraphicsMode::FilamentOpenGlHeadless)) {
mode = platform::GraphicsMode::FilamentOpenGlHeadless;
}
if (ImGui::MenuItem(
"Filament Vulkan", nullptr,
gfx_mode_ == platform::GraphicsMode::FilamentVulkan)) {
mode = platform::GraphicsMode::FilamentVulkan;
}
if (mode.has_value()) {
spec_op_ = [=, this]() {
const int width = window_->GetWidth();
const int height = window_->GetHeight();
SwitchGraphicsMode(width, height, *mode);
// TODO: figure out why ImGui doesn't work unless we do this twice.
if (IsClassic(*mode)) {
SwitchGraphicsMode(width, height, *mode);
}
renderer_->Init(model());
};
}
ImGui::EndMenu();
}
ImGui::EndMenu();
}