Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.
Closes #2 Closes #42 Closes #59 PiperOrigin-RevId: 416794598 Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
+125
-128
@@ -12,12 +12,11 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mujoco.h"
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#include "glfw3.h"
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#include "stdio.h"
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#include "stdlib.h"
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#include "string.h"
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#include <cstdio>
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#include <cstring>
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#include "GLFW/glfw3.h"
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#include "mujoco.h"
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// MuJoCo data structures
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mjModel* m = NULL; // MuJoCo model
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@@ -36,158 +35,156 @@ double lasty = 0;
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// keyboard callback
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void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods)
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{
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// backspace: reset simulation
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if( act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE )
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{
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mj_resetData(m, d);
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mj_forward(m, d);
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}
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void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods) {
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// backspace: reset simulation
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if (act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE) {
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mj_resetData(m, d);
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mj_forward(m, d);
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}
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}
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// mouse button callback
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void mouse_button(GLFWwindow* window, int button, int act, int mods)
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{
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// update button state
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button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
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button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
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button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
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void mouse_button(GLFWwindow* window, int button, int act, int mods) {
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// update button state
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button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
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button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
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button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
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// update mouse position
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glfwGetCursorPos(window, &lastx, &lasty);
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// update mouse position
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glfwGetCursorPos(window, &lastx, &lasty);
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}
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// mouse move callback
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void mouse_move(GLFWwindow* window, double xpos, double ypos)
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{
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// no buttons down: nothing to do
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if( !button_left && !button_middle && !button_right )
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return;
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void mouse_move(GLFWwindow* window, double xpos, double ypos) {
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// no buttons down: nothing to do
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if (!button_left && !button_middle && !button_right) {
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return;
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}
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// compute mouse displacement, save
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double dx = xpos - lastx;
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double dy = ypos - lasty;
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lastx = xpos;
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lasty = ypos;
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// compute mouse displacement, save
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double dx = xpos - lastx;
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double dy = ypos - lasty;
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lastx = xpos;
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lasty = ypos;
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// get current window size
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int width, height;
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glfwGetWindowSize(window, &width, &height);
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// get current window size
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int width, height;
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glfwGetWindowSize(window, &width, &height);
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// get shift key state
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bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
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glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
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// get shift key state
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bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
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glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
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// determine action based on mouse button
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mjtMouse action;
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if( button_right )
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action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
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else if( button_left )
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action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
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else
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action = mjMOUSE_ZOOM;
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// determine action based on mouse button
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mjtMouse action;
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if (button_right) {
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action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
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} else if (button_left) {
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action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
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} else {
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action = mjMOUSE_ZOOM;
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}
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// move camera
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mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
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// move camera
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mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
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}
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// scroll callback
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void scroll(GLFWwindow* window, double xoffset, double yoffset)
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{
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// emulate vertical mouse motion = 5% of window height
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mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
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void scroll(GLFWwindow* window, double xoffset, double yoffset) {
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// emulate vertical mouse motion = 5% of window height
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mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
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}
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// main function
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int main(int argc, const char** argv)
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{
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// check command-line arguments
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if( argc!=2 )
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{
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printf(" USAGE: basic modelfile\n");
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return 0;
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int main(int argc, const char** argv) {
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// check command-line arguments
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if (argc!=2) {
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std::printf(" USAGE: basic modelfile\n");
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return 0;
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}
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// load and compile model
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char error[1000] = "Could not load binary model";
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if (std::strlen(argv[1])>4 && !std::strcmp(argv[1]+std::strlen(argv[1])-4, ".mjb")) {
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m = mj_loadModel(argv[1], 0);
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} else {
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m = mj_loadXML(argv[1], 0, error, 1000);
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}
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if (!m) {
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mju_error_s("Load model error: %s", error);
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}
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// make data
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d = mj_makeData(m);
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// init GLFW
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if (!glfwInit()) {
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mju_error("Could not initialize GLFW");
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}
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// create window, make OpenGL context current, request v-sync
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GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
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glfwMakeContextCurrent(window);
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glfwSwapInterval(1);
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// initialize visualization data structures
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mjv_defaultCamera(&cam);
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mjv_defaultOption(&opt);
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mjv_defaultScene(&scn);
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mjr_defaultContext(&con);
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// create scene and context
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mjv_makeScene(m, &scn, 2000);
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mjr_makeContext(m, &con, mjFONTSCALE_150);
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// install GLFW mouse and keyboard callbacks
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glfwSetKeyCallback(window, keyboard);
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glfwSetCursorPosCallback(window, mouse_move);
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glfwSetMouseButtonCallback(window, mouse_button);
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glfwSetScrollCallback(window, scroll);
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// run main loop, target real-time simulation and 60 fps rendering
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while (!glfwWindowShouldClose(window)) {
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// advance interactive simulation for 1/60 sec
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// Assuming MuJoCo can simulate faster than real-time, which it usually can,
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// this loop will finish on time for the next frame to be rendered at 60 fps.
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// Otherwise add a cpu timer and exit this loop when it is time to render.
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mjtNum simstart = d->time;
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while (d->time - simstart < 1.0/60.0) {
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mj_step(m, d);
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}
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// load and compile model
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char error[1000] = "Could not load binary model";
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if( strlen(argv[1])>4 && !strcmp(argv[1]+strlen(argv[1])-4, ".mjb") )
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m = mj_loadModel(argv[1], 0);
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else
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m = mj_loadXML(argv[1], 0, error, 1000);
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if( !m )
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mju_error_s("Load model error: %s", error);
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// get framebuffer viewport
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mjrRect viewport = {0, 0, 0, 0};
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glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
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// make data
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d = mj_makeData(m);
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// update scene and render
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mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
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mjr_render(viewport, &scn, &con);
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// init GLFW
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if( !glfwInit() )
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mju_error("Could not initialize GLFW");
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// swap OpenGL buffers (blocking call due to v-sync)
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glfwSwapBuffers(window);
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// create window, make OpenGL context current, request v-sync
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GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
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glfwMakeContextCurrent(window);
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glfwSwapInterval(1);
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// process pending GUI events, call GLFW callbacks
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glfwPollEvents();
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}
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// initialize visualization data structures
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mjv_defaultCamera(&cam);
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mjv_defaultOption(&opt);
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mjv_defaultScene(&scn);
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mjr_defaultContext(&con);
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//free visualization storage
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mjv_freeScene(&scn);
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mjr_freeContext(&con);
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// create scene and context
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mjv_makeScene(m, &scn, 2000);
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mjr_makeContext(m, &con, mjFONTSCALE_150);
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// free MuJoCo model and data
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mj_deleteData(d);
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mj_deleteModel(m);
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// install GLFW mouse and keyboard callbacks
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glfwSetKeyCallback(window, keyboard);
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glfwSetCursorPosCallback(window, mouse_move);
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glfwSetMouseButtonCallback(window, mouse_button);
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glfwSetScrollCallback(window, scroll);
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// terminate GLFW (crashes with Linux NVidia drivers)
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#if defined(__APPLE__) || defined(_WIN32)
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glfwTerminate();
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#endif
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// run main loop, target real-time simulation and 60 fps rendering
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while( !glfwWindowShouldClose(window) )
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{
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// advance interactive simulation for 1/60 sec
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// Assuming MuJoCo can simulate faster than real-time, which it usually can,
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// this loop will finish on time for the next frame to be rendered at 60 fps.
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// Otherwise add a cpu timer and exit this loop when it is time to render.
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mjtNum simstart = d->time;
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while( d->time - simstart < 1.0/60.0 )
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mj_step(m, d);
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// get framebuffer viewport
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mjrRect viewport = {0, 0, 0, 0};
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glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
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// update scene and render
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mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
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mjr_render(viewport, &scn, &con);
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// swap OpenGL buffers (blocking call due to v-sync)
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glfwSwapBuffers(window);
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// process pending GUI events, call GLFW callbacks
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glfwPollEvents();
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}
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//free visualization storage
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mjv_freeScene(&scn);
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mjr_freeContext(&con);
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// free MuJoCo model and data
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mj_deleteData(d);
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mj_deleteModel(m);
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// terminate GLFW (crashes with Linux NVidia drivers)
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#if defined(__APPLE__) || defined(_WIN32)
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glfwTerminate();
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#endif
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return 1;
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return 1;
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}
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