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
- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.
PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
I am running through simulate.swift (my port of simulate.cc) with
address sanitizer to discover related bugs.
Besides ones in my port, there are two in MuJoCo:
1. in maketext, the logic to find . is not protected against j is less
than 0 (due to the decreasing logic above), creating out of bound
access.
2. in mj_printFormattedData, qfrc_applied should use length nv not nq,
otherwise out of bound access could be triggered.
Test Plan:
Run through the simulate.cc with asan. Before this fix, when presenting
profiler view, it will trigger bug #1. When print data, it will trigger
bug #2. Both are using model/humanoid/22_humanoids.xml.
Alessio Quaglino