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
Change atomic_bool to atomic_int to make sure that the compiler will try the best to
generate machine code, instead of relying on an external atomic library
- Improved time-sync logic readability in `PhysicsLoop`.
- Fixed unattainable condition for breaking from stepping loop if data was reset.
- Added measurement of actual real-time tracking.
- Moved slowdown overlay to top left.
- Report slowdown as % of real-time, rather than fraction.
- Report actual slowdown if different than requested (very small timestep, PhysicsLoop cannot keep up) by more than 10%.
- Replaced slowdown increments of 2 with decimal-rounded increments of 10^(1/10). This is a finer-grained scale (approximately 3x as fine) and well suited for decimal percentage representation.
- Maximum slowdown increased to 1000.
- Added `Simulate.refreshrate` with a default of 60Hz, in case videomode refreshrate is 0 (can occur e.g. when forwarding over X11).
- Remove realtime reporting from regular info overlay.
- Various cleanups.
PiperOrigin-RevId: 471547481
Change-Id: Idd2514a4defb1dc431617f3a515cc747c4fd8971
This allows us to use GLFW without needing to introduce a link-time dependency on the library, which in turn enables us to get GLFW through Python.
PiperOrigin-RevId: 470100999
Change-Id: I27c84ad3310afdbebd582ab0033b6a963ba6307e
Fix name of glew library
Move simulate to new directory and refactor to use C++ conventions
Wrap simulate in mujoco namespace
fix namespaces, convert struct to class, use std::lock_guard
use GetMutex to better handle destruction ordering
rename mjSimulate to Simulate
nit: space before public and typo
move startup print
use nullptr instead of NULL
use GetInstance() to get simulate object
convert init to default constructor
Saran Tunyasuvunakool