chenlin/Mujoco_WASM
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c70b05e0371c0a9aff7d8a3ed6fce7b1aaa09262
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18 Commits

Author SHA1 Message Date
Haroon Qureshi c70b05e037 Make Renderer more self-contained. 
The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.

PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
 2026-03-04 07:26:34 -08:00
Haroon Qureshi 73f73d94f7 Merge renderer+offscreen mode into unified graphics mode. 
Allow Studio app to switch between graphics modes dynamically.

PiperOrigin-RevId: 878396966
Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
 2026-03-04 03:19:58 -08:00
Haroon Qureshi 757758dd2e Rename all filament mjr_ functions to mjrf_. 
Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.

PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
 2026-02-25 05:43:50 -08:00
Haroon Qureshi 28ad603f6b Use templates and macros to reduce boilerplate. 
PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
 2026-02-20 02:42:52 -08:00
Haroon Qureshi 730d494b7f Focus default camera on the model if available. 
PiperOrigin-RevId: 868407477
Change-Id: Iac37bcfe8657dededeeecc70db3e4ac18f8ef151
 2026-02-10 18:17:33 -08:00
Haroon Qureshi 0add985a15 Handle null camera and vis_option. 
PiperOrigin-RevId: 865088406
Change-Id: I4a3bf7f6cb696de1461bc53fd5d77b941ea0c0c5
 2026-02-03 16:06:06 -08:00
Haroon Qureshi 1bd72428f1 Perform ImGui calls only when a context is available. 
PiperOrigin-RevId: 865072901
Change-Id: I4b35d953df2f686d2f02f8e0aede7109729b5e04
 2026-02-03 15:29:44 -08:00
Haroon Qureshi ef8e6802ef Move EGL initialization into a separate class. 
Initialize the EGL context in the Renderer when using the classic
rendering engine with no window.

PiperOrigin-RevId: 864884976
Change-Id: Ic6cc4637855a361e41f3bfb4b738c012ec93711f
 2026-02-03 08:12:35 -08:00
Haroon Qureshi 1a2bca4986 Use runtime enum for the renderer backend instead of preprocessor macros. 
TESTED:
  studio:vulkan
  studio:vulkan --offscreen_mode=true
  studio:opengl
  studio:opengl_egl
  studio:classic
  studio:classic --offscreen_mode=true
  studio:server
  robot_sim/frontend:debug_server
  pyviewer:example
  pyviewer:example --define=mujoco_gl=vulkan
PiperOrigin-RevId: 864768322
Change-Id: I4478e0115b3807060d60d98b4ddfd63da9389aac
 2026-02-03 02:13:15 -08:00
Haroon Qureshi ad482a57bb Add a headless OpenGL renderer target. 
PiperOrigin-RevId: 861642051
Change-Id: Ie0b880a2d3d85205dcd41bca5dc270efd35b7767
 2026-01-27 04:08:33 -08:00
Haroon Qureshi e2180ff744 First-pass of a plugin system for GUI elements. 
Refactor filament's debug drawing to be one such plugin.

PiperOrigin-RevId: 859002002
Change-Id: Ibe9000dec19fce648eef6d57170ce435b9a8c6ff
 2026-01-21 02:47:09 -08:00
Haroon Qureshi c92746641d Implement picture-in-picture mode. 
Adds a new window that allows the user to display one or more renders from
the different cameras in the scene.

PiperOrigin-RevId: 856607089
Change-Id: I7268ffd3ef62b9b4d62ce8d004fdbbec92b42af4
 2026-01-15 04:42:27 -08:00
Matija Kecman e1261ba5f1 Fix perturbation rendering in webdemo 
PiperOrigin-RevId: 853290958
Change-Id: Ifcea1091633597171c5268d5ee091bea3ddee45b
 2026-01-07 09:18:45 -08:00
Haroon Qureshi 9743c2d385 Use mjResourceProvider instead of custom LoadAsset callbacks. 
PiperOrigin-RevId: 853172824
Change-Id: I60ef1207611c4da119cc3f0a7819088cffca6e4f
 2026-01-07 03:03:23 -08:00
Haroon Qureshi b9fa8ee6e9 Move all specialized rendering logic into Renderer class. 
(We may consider splitting this class up into specialized subclasses at a later date.)

PiperOrigin-RevId: 851290789
Change-Id: Iee00b8e906eeb911de5799f784475ac6916ab55b
 2026-01-02 04:25:07 -08:00
Haroon Qureshi d1fd11bccd Refactor SaveScreenshot into a more useful RenderToTexture function. 
Removes a few unused functions from helpers library.

PiperOrigin-RevId: 846661437
Change-Id: I815ffe1990098dedb71f694af088d85294f9c7de
 2025-12-19 03:33:59 -08:00
Haroon Qureshi 448fc0e4d5 Report the actual GPU framerate rather than the main thread submit rate when using the filament renderer. 
PiperOrigin-RevId: 838775463
Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
 2025-12-01 08:02:38 -08:00
Haroon Qureshi 139a5b6494 Rename toolbox to platform. 
PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
 2025-12-01 03:58:34 -08:00