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
@@ -1771,7 +1771,6 @@ public unsafe struct global {
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public float realtime;
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public int offwidth;
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public int offheight;
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public int treedepth;
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public int ellipsoidinertia;
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}
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@@ -2576,6 +2575,7 @@ public unsafe struct mjvOption_ {
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public fixed byte actuatorgroup[6];
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public fixed byte skingroup[6];
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public fixed byte flags[24];
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public int bvh_depth;
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}
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[StructLayout(LayoutKind.Sequential)]
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@@ -2738,6 +2738,203 @@ public unsafe struct mjvFigure_ {
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public fixed int yaxispixel[2];
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public fixed float xaxisdata[2];
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public fixed float yaxisdata[2];
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}
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[StructLayout(LayoutKind.Sequential)]
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public unsafe struct model {
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public int nu;
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public int na;
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public int nbody;
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public int nbvh;
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public int njnt;
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public int ngeom;
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public int nsite;
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public int ncam;
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public int nlight;
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public int nmesh;
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public int nskin;
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public int nskinvert;
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public int nskinface;
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public int nskinbone;
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public int nskinbonevert;
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public int nmat;
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public int neq;
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public int ntendon;
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public int nwrap;
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public int nsensor;
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public int nnames;
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public int nsensordata;
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public mjOption_ opt;
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public mjVisual_ vis;
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public mjStatistic_ stat;
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public int* body_parentid;
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public int* body_rootid;
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public int* body_weldid;
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public int* body_mocapid;
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public int* body_jntnum;
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public int* body_jntadr;
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public int* body_geomnum;
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public int* body_geomadr;
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public double* body_iquat;
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public double* body_mass;
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public double* body_inertia;
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public int* body_bvhadr;
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public int* body_bvhnum;
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public int* bvh_depth;
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public int* bvh_child;
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public int* bvh_geomid;
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public double* bvh_aabb;
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public int* jnt_type;
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public int* jnt_bodyid;
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public int* jnt_group;
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public int* geom_type;
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public int* geom_bodyid;
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public int* geom_dataid;
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public int* geom_matid;
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public int* geom_group;
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public double* geom_size;
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public double* geom_aabb;
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public double* geom_rbound;
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public float* geom_rgba;
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public int* site_type;
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public int* site_bodyid;
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public int* site_matid;
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public int* site_group;
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public double* site_size;
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public float* site_rgba;
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public double* cam_fovy;
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public double* cam_ipd;
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public byte* light_directional;
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public byte* light_castshadow;
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public byte* light_active;
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public float* light_attenuation;
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public float* light_cutoff;
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public float* light_exponent;
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public float* light_ambient;
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public float* light_diffuse;
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public float* light_specular;
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public int* mesh_texcoordadr;
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public int* mesh_graphadr;
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public int* skin_matid;
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public int* skin_group;
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public float* skin_rgba;
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public float* skin_inflate;
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public int* skin_vertadr;
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public int* skin_vertnum;
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public int* skin_texcoordadr;
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public int* skin_faceadr;
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public int* skin_facenum;
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public int* skin_boneadr;
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public int* skin_bonenum;
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public float* skin_vert;
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public int* skin_face;
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public int* skin_bonevertadr;
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public int* skin_bonevertnum;
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public float* skin_bonebindpos;
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public float* skin_bonebindquat;
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public int* skin_bonebodyid;
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public int* skin_bonevertid;
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public float* skin_bonevertweight;
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public int* mat_texid;
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public byte* mat_texuniform;
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public float* mat_texrepeat;
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public float* mat_emission;
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public float* mat_specular;
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public float* mat_shininess;
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public float* mat_reflectance;
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public float* mat_rgba;
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public int* eq_type;
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public int* eq_obj1id;
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public int* eq_obj2id;
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public byte* eq_active;
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public double* eq_data;
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public int* tendon_num;
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public int* tendon_matid;
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public int* tendon_group;
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public byte* tendon_limited;
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public double* tendon_width;
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public double* tendon_range;
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public double* tendon_stiffness;
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public double* tendon_damping;
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public double* tendon_frictionloss;
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public double* tendon_lengthspring;
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public float* tendon_rgba;
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public int* actuator_trntype;
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public int* actuator_dyntype;
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public int* actuator_trnid;
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public int* actuator_actadr;
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public int* actuator_actnum;
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public int* actuator_group;
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public byte* actuator_ctrllimited;
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public byte* actuator_actlimited;
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public double* actuator_ctrlrange;
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public double* actuator_actrange;
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public double* actuator_cranklength;
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public int* sensor_type;
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public int* sensor_objid;
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public int* sensor_adr;
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public int* name_bodyadr;
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public int* name_jntadr;
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public int* name_geomadr;
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public int* name_siteadr;
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public int* name_camadr;
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public int* name_lightadr;
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public int* name_eqadr;
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public int* name_tendonadr;
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public int* name_actuatoradr;
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public char* names;
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}
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[StructLayout(LayoutKind.Sequential)]
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public unsafe struct data {
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public mjWarningStat_ warning0;
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public mjWarningStat_ warning1;
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public mjWarningStat_ warning2;
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public mjWarningStat_ warning3;
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public mjWarningStat_ warning4;
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public mjWarningStat_ warning5;
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public mjWarningStat_ warning6;
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public mjWarningStat_ warning7;
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public int nefc;
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public int ncon;
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public double time;
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public double* act;
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public double* ctrl;
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public double* xfrc_applied;
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public double* sensordata;
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public double* xpos;
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public double* xquat;
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public double* xmat;
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public double* xipos;
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public double* ximat;
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public double* xanchor;
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public double* xaxis;
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public double* geom_xpos;
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public double* geom_xmat;
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public double* site_xpos;
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public double* site_xmat;
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public double* cam_xpos;
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public double* cam_xmat;
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public double* light_xpos;
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public double* light_xdir;
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public double* subtree_com;
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public int* ten_wrapadr;
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public int* ten_wrapnum;
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public int* wrap_obj;
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public double* wrap_xpos;
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public byte* bvh_active;
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public mjContact_* contact;
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public double* efc_force;
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}
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[StructLayout(LayoutKind.Sequential)]
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public unsafe struct mjvSceneState_ {
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public int nbuffer;
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public void* buffer;
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public int maxgeom;
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public mjvScene_ plugincache;
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public model model;
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public data data;
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}public struct mjuiItem_ {}public struct mjfItemEnable {}
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// ----------------------------Function declarations----------------------------
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@@ -3128,9 +3325,15 @@ public static unsafe extern void mjv_alignToCamera(double* res, double* vec, dou
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_moveCameraFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_movePerturb(mjModel_* m, mjData_* d, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_movePerturbFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_moveModel(mjModel_* m, int action, double reldx, double reldy, double* roomup, mjvScene_* scn);
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@@ -3173,6 +3376,21 @@ public static unsafe extern void mjv_freeScene(mjvScene_* scn);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_updateScene(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern int mjv_updateSceneFromState(mjvSceneState_* scnstate, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_defaultSceneState(mjvSceneState_* scnstate);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_makeSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate, int maxgeom);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_freeSceneState(mjvSceneState_* scnstate);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);
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@@ -3200,6 +3418,9 @@ public static unsafe extern void mjr_addAux(int index, int width, int height, in
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjr_freeContext(mjrContext_* con);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjr_resizeOffscreen(int width, int height, mjrContext_* con);
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[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
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public static unsafe extern void mjr_uploadTexture(mjModel_* m, mjrContext_* con, int texid);
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