Add renderer info query API

include/mujoco/mjrender.h

@@ -117,6 +117,13 @@ typedef struct mjrRect_ {         // OpenGL rectangle
 } mjrRect;
 
 
+typedef struct mjrRendererInfo_ {  // active renderer identity
+  const char* renderer;           // renderer family: classic, filament, noop
+  const char* backend;            // graphics backend: opengl, vulkan; empty if uninitialized
+  const char* backend_version;    // backend version string, empty if unknown
+} mjrRendererInfo;
+
+
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
   const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]

include/mujoco/mjrfilament.h

@@ -104,6 +104,9 @@ mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
 // Destroys the filament rendering context.
 void mjrf_destroyContext(mjrfContext* ctx);
 
+// Gets active renderer information for the given filament context.
+void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info);
+
 typedef enum mjrDrawMode_ {           // how to draw objects in the scene
   mjDRAW_MODE_DEFAULT,                // default colors and lighting
   mjDRAW_MODE_DEFAULT_NO_TEXTURES,    // default, but without textures

include/mujoco/mujoco.h

@@ -855,6 +855,12 @@ MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  cons
 // Set default mjrContext.
 MJAPI void mjr_defaultContext(mjrContext* con);
 
+// Set default mjrRendererInfo.
+MJAPI void mjr_defaultRendererInfo(mjrRendererInfo* info);
+
+// Get active renderer information.
+MJAPI void mjr_getRendererInfo(mjrRendererInfo* info);
+
 // Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
 MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);