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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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src/engine/engine_vis_visualize.c
+19 -17
View File
@@ -460,7 +460,7 @@ static int bodycategory(const mjModel* m, int bodyid) {
// add abstract geoms
void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
const mjvPerturb* pert, int catmask, mjvScene* scn) {
const mjvPerturb* pert, int catmask, mjvScene* scn) {
int objtype, category;
mjtNum sz[3], mat[9], selpos[3];
mjtNum catenary[3*mjNCATENARY];
@@ -527,8 +527,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int i = 0; i < m->nbvh; i++) {
int isleaf = m->bvh_child[2*i]==-1 && m->bvh_child[2*i+1]==-1;
if (scn->ngeom >= scn->maxgeom) break;
if (m->bvh_depth[i] != m->vis.global.treedepth) {
if (!isleaf || m->bvh_depth[i] > m->vis.global.treedepth) {
if (m->bvh_depth[i] != vopt->bvh_depth) {
if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
continue;
}
}
@@ -2057,22 +2057,10 @@ void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
// update entire scene
void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
// clear geoms and add all categories
// clear geoms
scn->ngeom = 0;
mjv_addGeoms(m, d, opt, pert, catmask, scn);
// add lights
mjv_makeLights(m, d, scn);
// update camera
mjv_updateCamera(m, d, cam, scn);
// update skins
if (opt->flags[mjVIS_SKIN]) {
mjv_updateActiveSkin(m, d, scn, opt);
}
// update plugin
// trigger plugin visualization hooks
if (m->nplugin) {
const int nslot = mjp_pluginCount();
// iterate over plugins, call visualize if defined
@@ -2087,6 +2075,20 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
}
}
}
// add all categories
mjv_addGeoms(m, d, opt, pert, catmask, scn);
// add lights
mjv_makeLights(m, d, scn);
// update camera
mjv_updateCamera(m, d, cam, scn);
// update skins
if (opt->flags[mjVIS_SKIN]) {
mjv_updateActiveSkin(m, d, scn, opt);
}
}