Expose a handle for the Python viewer.
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData. To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData. Fixes https://github.com/deepmind/mujoco/issues/796 PiperOrigin-RevId: 525723636 Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
4f5da9c554
commit
b362cb4972
@@ -15,6 +15,8 @@
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#ifndef MUJOCO_MJVISUALIZE_H_
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#define MUJOCO_MJVISUALIZE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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@@ -265,6 +267,7 @@ struct mjvOption_ { // abstract visualization options
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mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
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mjtByte skingroup[mjNGROUP]; // skin visualization by group
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mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
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int bvh_depth; // depth of the bounding volume hierarchy to be visualized
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};
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typedef struct mjvOption_ mjvOption;
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@@ -360,4 +363,221 @@ struct mjvFigure_ { // abstract 2D figure passed to OpenGL rendere
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};
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typedef struct mjvFigure_ mjvFigure;
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//---------------------------------- mjvSceneState -------------------------------------------------
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struct mjvSceneState_ {
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int nbuffer; // size of the buffer in bytes
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void* buffer; // heap-allocated memory for all arrays in this struct
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int maxgeom; // maximum number of mjvGeom supported by this state object
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mjvScene plugincache; // scratch space for vis geoms inserted by plugins
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// fields in mjModel that are necessary to re-render a scene
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struct {
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int nu;
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int na;
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int nbody;
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int nbvh;
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int njnt;
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int ngeom;
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int nsite;
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int ncam;
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int nlight;
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int nmesh;
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int nskin;
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int nskinvert;
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int nskinface;
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int nskinbone;
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int nskinbonevert;
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int nmat;
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int neq;
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int ntendon;
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int nwrap;
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int nsensor;
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int nnames;
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int nsensordata;
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mjOption opt;
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mjVisual vis;
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mjStatistic stat;
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int* body_parentid;
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int* body_rootid;
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int* body_weldid;
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int* body_mocapid;
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int* body_jntnum;
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int* body_jntadr;
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int* body_geomnum;
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int* body_geomadr;
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mjtNum* body_iquat;
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mjtNum* body_mass;
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mjtNum* body_inertia;
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int* body_bvhadr;
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int* body_bvhnum;
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int* bvh_depth;
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int* bvh_child;
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int* bvh_geomid;
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mjtNum* bvh_aabb;
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int* jnt_type;
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int* jnt_bodyid;
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int* jnt_group;
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int* geom_type;
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int* geom_bodyid;
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int* geom_dataid;
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int* geom_matid;
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int* geom_group;
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mjtNum* geom_size;
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mjtNum* geom_aabb;
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mjtNum* geom_rbound;
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float* geom_rgba;
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int* site_type;
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int* site_bodyid;
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int* site_matid;
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int* site_group;
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mjtNum* site_size;
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float* site_rgba;
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mjtNum* cam_fovy;
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mjtNum* cam_ipd;
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mjtByte* light_directional;
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mjtByte* light_castshadow;
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mjtByte* light_active;
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float* light_attenuation;
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float* light_cutoff;
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float* light_exponent;
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float* light_ambient;
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float* light_diffuse;
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float* light_specular;
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int* mesh_texcoordadr;
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int* mesh_graphadr;
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int* skin_matid;
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int* skin_group;
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float* skin_rgba;
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float* skin_inflate;
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int* skin_vertadr;
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int* skin_vertnum;
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int* skin_texcoordadr;
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int* skin_faceadr;
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int* skin_facenum;
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int* skin_boneadr;
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int* skin_bonenum;
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float* skin_vert;
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int* skin_face;
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int* skin_bonevertadr;
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int* skin_bonevertnum;
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float* skin_bonebindpos;
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float* skin_bonebindquat;
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int* skin_bonebodyid;
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int* skin_bonevertid;
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float* skin_bonevertweight;
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int* mat_texid;
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mjtByte* mat_texuniform;
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float* mat_texrepeat;
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float* mat_emission;
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float* mat_specular;
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float* mat_shininess;
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float* mat_reflectance;
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float* mat_rgba;
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int* eq_type;
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int* eq_obj1id;
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int* eq_obj2id;
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mjtByte* eq_active;
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mjtNum* eq_data;
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int* tendon_num;
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int* tendon_matid;
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int* tendon_group;
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mjtByte* tendon_limited;
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mjtNum* tendon_width;
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mjtNum* tendon_range;
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mjtNum* tendon_stiffness;
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mjtNum* tendon_damping;
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mjtNum* tendon_frictionloss;
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mjtNum* tendon_lengthspring;
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float* tendon_rgba;
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int* actuator_trntype;
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int* actuator_dyntype;
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int* actuator_trnid;
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int* actuator_actadr;
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int* actuator_actnum;
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int* actuator_group;
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mjtByte* actuator_ctrllimited;
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mjtByte* actuator_actlimited;
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mjtNum* actuator_ctrlrange;
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mjtNum* actuator_actrange;
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mjtNum* actuator_cranklength;
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int* sensor_type;
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int* sensor_objid;
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int* sensor_adr;
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int* name_bodyadr;
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int* name_jntadr;
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int* name_geomadr;
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int* name_siteadr;
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int* name_camadr;
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int* name_lightadr;
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int* name_eqadr;
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int* name_tendonadr;
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int* name_actuatoradr;
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char* names;
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} model;
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// fields in mjData that are necessary to re-render a scene
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struct {
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mjWarningStat warning[mjNWARNING];
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int nefc;
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int ncon;
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mjtNum time;
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mjtNum* act;
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mjtNum* ctrl;
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mjtNum* xfrc_applied;
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mjtNum* sensordata;
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mjtNum* xpos;
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mjtNum* xquat;
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mjtNum* xmat;
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mjtNum* xipos;
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mjtNum* ximat;
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mjtNum* xanchor;
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mjtNum* xaxis;
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mjtNum* geom_xpos;
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mjtNum* geom_xmat;
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mjtNum* site_xpos;
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mjtNum* site_xmat;
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mjtNum* cam_xpos;
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mjtNum* cam_xmat;
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mjtNum* light_xpos;
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mjtNum* light_xdir;
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mjtNum* subtree_com;
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int* ten_wrapadr;
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int* ten_wrapnum;
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int* wrap_obj;
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mjtNum* wrap_xpos;
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mjtByte* bvh_active;
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mjContact* contact;
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mjtNum* efc_force;
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} data;
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};
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typedef struct mjvSceneState_ mjvSceneState;
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#endif // MUJOCO_MJVISUALIZE_H_
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