Merge branch 'google-deepmind:main' into vidur/3.3.0-2

simulate/CMakeLists.txt

@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.2.5
+  VERSION 3.3.1
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

simulate/simulate.cc

@@ -542,6 +542,10 @@ void ShowSensor(mj::Simulate* sim, mjrRect rect) {
   mjr_figure(viewport, &sim->figsensor, &sim->platform_ui->mjr_context());
 }
 
+void ShowFigure(mj::Simulate* sim, mjrRect viewport, mjvFigure* fig){
+  mjr_figure(viewport, fig, &sim->platform_ui->mjr_context());
+}
+
 // load state from history buffer
 static void LoadScrubState(mj::Simulate* sim) {
   // get index into circular buffer
@@ -2588,6 +2592,11 @@ void Simulate::Render() {
     }
   }
 
+  // user figures
+  for (auto& [viewport, figure] : this->user_figures_) {
+    ShowFigure(this, viewport, &figure);
+  }
+
   // finalize
   this->platform_ui->SwapBuffers();
 }

simulate/simulate.h

@@ -252,6 +252,7 @@ class Simulate {
   // additional user-defined visualization geoms (used in passive mode)
   mjvScene* user_scn = nullptr;
   mjtByte user_scn_flags_prev_[mjNRNDFLAG];
+  std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
 
   // OpenGL rendering and UI
   int refresh_rate = 60;