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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/main.cc
+21 -3
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@@ -26,12 +26,13 @@
#include <absl/flags/flag.h>
#include <mujoco/mujoco.h>
#include "experimental/platform/graphics_mode.h"
#include "experimental/studio/app.h"
ABSL_FLAG(int, window_width, 1400, "Window width");
ABSL_FLAG(int, window_height, 720, "Window height");
ABSL_FLAG(std::string, model_file, "", "MuJoCo model file.");
ABSL_FLAG(bool, offscreen_mode, false, "Offscreen mode");
ABSL_FLAG(std::string, gfx, "", "Graphics API");
std::string Resolve(std::string_view path) {
std::string_view subpath = path.substr(path.find(':') + 1);
@@ -99,14 +100,31 @@ int main(int argc, char** argv, char** envp) {
resource_provider.prefix = "filament";
mjp_registerResourceProvider(&resource_provider);
std::string gfx = absl::GetFlag(FLAGS_gfx);
mujoco::platform::GraphicsMode gfx_mode =
mujoco::platform::GraphicsMode::FilamentVulkan;
if (gfx == "classic") {
gfx_mode = mujoco::platform::GraphicsMode::ClassicOpenGl;
} else if (gfx == "classic_headless") {
gfx_mode = mujoco::platform::GraphicsMode::ClassicOpenGlHeadless;
} else if (gfx == "opengl") {
gfx_mode = mujoco::platform::GraphicsMode::FilamentOpenGl;
} else if (gfx == "opengl_headless") {
gfx_mode = mujoco::platform::GraphicsMode::FilamentOpenGlHeadless;
} else if (gfx == "vulkan" || gfx.empty()) {
gfx_mode = mujoco::platform::GraphicsMode::FilamentVulkan;
} else {
mju_error("Unsupported graphics API: %s", gfx.c_str());
}
const int width = absl::GetFlag(FLAGS_window_width);
const int height = absl::GetFlag(FLAGS_window_height);
const bool offscreen_mode = absl::GetFlag(FLAGS_offscreen_mode);
mujoco::studio::App app({
.width = width,
.height = height,
.ini_path = ini_path,
.offscreen_mode = offscreen_mode,
.gfx_mode = gfx_mode,
});
// If the model file is not specified, try to load it from the first argument