Pass mjvOption to plugin visualize callback.

PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649

doc/includes/references.h

@@ -1244,7 +1244,7 @@ struct mjpPlugin_ {
   void (*advance)(const mjModel* m, mjData* d, int instance);
 
   // called by mjv_updateScene (optional)
-  void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
+  void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
 };
 typedef struct mjpPlugin_ mjpPlugin;
 typedef enum mjtGridPos_ {        // grid position for overlay
@@ -2270,7 +2270,8 @@ void mjv_defaultSceneState(mjvSceneState* scnstate);
 void mjv_makeSceneState(const mjModel* m, const mjData* d,
                         mjvSceneState* scnstate, int maxgeom);
 void mjv_freeSceneState(mjvSceneState* scnstate);
-void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
+void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
+                          mjvSceneState* scnstate);
 void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                   const mjvPerturb* pert, int catmask, mjvScene* scn);
 void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);

include/mujoco/mjplugin.h

@@ -87,7 +87,7 @@ struct mjpPlugin_ {
   void (*advance)(const mjModel* m, mjData* d, int instance);
 
   // called by mjv_updateScene (optional)
-  void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
+  void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
 };
 typedef struct mjpPlugin_ mjpPlugin;
 

include/mujoco/mujoco.h

@@ -632,7 +632,8 @@ MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
 MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
 
 // Update a scene state from model and data.
-MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
+MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
+                                mjvSceneState* scnstate);
 
 // Add geoms from selected categories.
 MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,

introspect/functions.py

@@ -3945,6 +3945,12 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                      inner_type=ValueType(name='mjData'),
                  ),
              ),
+             FunctionParameterDecl(
+                 name='opt',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjvOption', is_const=True),
+                 ),
+             ),
              FunctionParameterDecl(
                  name='scnstate',
                  type=PointerType(

plugin/elasticity/cable.cc

@@ -302,11 +302,11 @@ return 0;
         auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
         elasticity->Compute(m, d, instance);
       };
-  plugin.visualize =
+  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt, mjvScene* scn,
-      +[](const mjModel* m, mjData* d, mjvScene* scn, int instance) {
+                         int instance) {
-        auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
+    auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
-        elasticity->Visualize(m, d, scn, instance);
+    elasticity->Visualize(m, d, scn, instance);
-      };
+  };
 
   mjp_registerPlugin(&plugin);
 }

simulate/simulate.cc

@@ -1798,7 +1798,7 @@ void Simulate::Sync() {
   if (fully_managed_) {
     mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
   } else {
-    mjv_updateSceneState(m_, d_, &scnstate_);
+    mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
     mjopt_prev_ = scnstate_.model.opt;
     warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
   }
@@ -1956,7 +1956,7 @@ void Simulate::LoadOnRenderThread() {
     mjv_updateScene(this->mnew_, this->dnew_,
                     &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
   } else {
-    mjv_updateSceneState(this->mnew_, this->dnew_, &this->scnstate_);
+    mjv_updateSceneState(this->mnew_, this->dnew_, &this->opt, &this->scnstate_);
   }
 
   // set window title to model name

src/engine/engine_vis_state.c

@@ -227,7 +227,8 @@ int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt
 
 
 // update a scene state from model and data
-void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate) {
+void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
+                          mjvSceneState* scnstate) {
   // Check that mjModel sizes haven't changed.
 #define X(var)
 #define XMJV(var)                      \
@@ -250,7 +251,7 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate)
         mju_error("invalid plugin slot: %d", slot);
       }
       if (plugin->visualize) {
-        plugin->visualize(m, d, &scnstate->plugincache, i);
+        plugin->visualize(m, d, opt, &scnstate->plugincache, i);
       }
     }
   }

src/engine/engine_vis_state.h

@@ -43,7 +43,8 @@ MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOptio
                                    mjvScene* scn);
 
 // update a scene state from model and data
-MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
+MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
+                                mjvSceneState* scnstate);
 
 // move camera with mouse given a scene state; action is mjtMouse
 MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,

src/engine/engine_vis_visualize.c

@@ -2071,7 +2071,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
         mju_error("invalid plugin slot: %d", slot);
       }
       if (plugin->visualize) {
-        plugin->visualize(m, d, scn, i);
+        plugin->visualize(m, d, opt, scn, i);
       }
     }
   }

test/engine/engine_vis_state_test.cc

@@ -67,7 +67,7 @@ TEST_F(MjvSceneStateTest, CanUpdateFromState) {
   mjvSceneState scnstate;
   mjv_defaultSceneState(&scnstate);
   mjv_makeSceneState(model, data, &scnstate, kMaxGeom);
-  mjv_updateSceneState(model, data, &scnstate);
+  mjv_updateSceneState(model, data, &opt, &scnstate);
 
   mjvScene scn2;
   mjv_defaultScene(&scn2);

unity/Runtime/Bindings/MjBindings.cs

@@ -3389,7 +3389,7 @@ public static unsafe extern void mjv_makeSceneState(mjModel_* m, mjData_* d, mjv
 public static unsafe extern void mjv_freeSceneState(mjvSceneState_* scnstate);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate);
+public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvOption_* opt, mjvSceneState_* scnstate);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);