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Expose a handle for the Python viewer.

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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
2023-04-20 05:58:32 -07:00
committed by Copybara-Service
parent 4f5da9c554
commit b362cb4972
34 changed files with 4644 additions and 1088 deletions
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include/mujoco/mujoco.h
+31
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@@ -546,10 +546,20 @@ MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum fo
MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
// Move camera with mouse given a scene state; action is mjtMouse.
MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam);
// Move perturb object with mouse; action is mjtMouse.
MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
// Move perturb object with mouse given a scene state; action is mjtMouse.
MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvPerturb* pert);
// Move model with mouse; action is mjtMouse.
MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjtNum roomup[3], mjvScene* scn);
@@ -606,6 +616,24 @@ MJAPI void mjv_freeScene(mjvScene* scn);
MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
// Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask,
mjvScene* scn);
// Set default scene state.
MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);
// Allocate resources and initialize a scene state object.
MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
mjvSceneState* scnstate, int maxgeom);
// Free scene state.
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);
// Add geoms from selected categories.
MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, int catmask, mjvScene* scn);
@@ -637,6 +665,9 @@ MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext*
// Free resources in custom OpenGL context, set to default.
MJAPI void mjr_freeContext(mjrContext* con);
// Resize offscreen buffers.
MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con);
// Upload texture to GPU, overwriting previous upload if any.
MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);