Remove Sync and Scene functions from Renderer.

PiperOrigin-RevId: 828481721
Change-Id: Id0399139653b0ec27f0d365437e62cadefadfe6c

src/experimental/toolbox/renderer.cc

@@ -49,16 +49,14 @@ void Renderer::Deinit() {
   initialized_ = false;
 }
 
-void Renderer::Sync(const mjModel* model, mjData* data,
-                    const mjvPerturb* perturb, mjvCamera* camera,
-                    const mjvOption* vis_option) {
-  mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
-                  &scene_);
-}
-
 void Renderer::Render(const mjModel* model, mjData* data,
                       const mjvPerturb* perturb, mjvCamera* camera,
                       const mjvOption* vis_option, int width, int height) {
+  if (initialized_) {
+    mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
+                    &scene_);
+  }
+
   mjrRect main_viewport = {0, 0, width, height};
   mjr_render(main_viewport, data ? &scene_ : nullptr, &render_context_);
 

src/experimental/toolbox/renderer.h

@@ -42,10 +42,6 @@ class Renderer {
   // Initializes the renderer with the given mjModel.
   void Init(const mjModel* model);
 
-  // Updates the render scene with the current simulation state.
-  void Sync(const mjModel* model, mjData* data, const mjvPerturb* perturb,
-            mjvCamera* camera, const mjvOption* vis_option);
-
   // Renders the simulation state into the active window. Also renders the imgui
   // state, but that is obtained directly from the ImGui library.
   void Render(const mjModel* model, mjData* data, const mjvPerturb* perturb,
@@ -59,9 +55,6 @@ class Renderer {
   mjtByte GetFlag(mjtRndFlag flag) const { return scene_.flags[flag];}
   void SetFlag(mjtRndFlag flag, mjtByte value) { scene_.flags[flag] = value; }
 
-  // Returns the mjvScene used by the renderer.
-  mjvScene& GetScene() { return scene_; }
-
   // Returns the current, average frame rate.
   double GetFrameRate() const { return fps_; }