Otherwise, if you try to open a random file in studio, it will crash.
PiperOrigin-RevId: 865372002
Change-Id: I96d3121b6de792daaff53155ea2436ac3f6668db
Initialize the EGL context in the Renderer when using the classic
rendering engine with no window.
PiperOrigin-RevId: 864884976
Change-Id: Ic6cc4637855a361e41f3bfb4b738c012ec93711f
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 863248779
Change-Id: I8bcbd5445814ba1e72c6d7b80ad6a054f5f1df57
The original render_gl3.c code does the following:
```
mjr_setf4(plane, 0.5*scl[0], 0, 0, -0.5);
glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
mjr_setf4(plane, 0, -0.5*scl[1], 0, -0.5);
glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
```
The 4th component of the GL_OBJECT_PLANE function effectively
describes a UV-offset for the generates uvs. In our filament
implementation, we had overlooked this 4th component.
PiperOrigin-RevId: 863181644
Change-Id: I60688117ea2019257da683cdda0c7d389dd5af1e
internally) when we want to render the GUI to the same target as the
scene.
PiperOrigin-RevId: 862647358
Change-Id: If3656032b74a168b804dfa34ef3eb97c9817c2c0
* Added color to widgets which have changed from their initial values and the ability to revert to their initial values by clicking with the right mouse button
* Added some reasonable range limits, which are especially useful for drag widgets
PiperOrigin-RevId: 862220411
Change-Id: I1d2c61d8889d5ec29890d81b5f97af576cb5c611
This in preparation for an upcoming change that uses native file dialogs instead
of our very basic ImGui file dialog.
PiperOrigin-RevId: 861671041
Change-Id: I9b00c05efdda5e37ffe15048a2ccf66f6eca89d9
Update SetFrameBuffer to allow users to customize which swap chain
(window or offscreen) to use for rendering both the main mjvScene
as well as the GUI.
PiperOrigin-RevId: 861624061
Change-Id: Ife7bfc447afb007016300438fc5f88a8e4cfa0f6
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
The dense Jacobian arrays `J0_dense` and `J1_dense` are now zeroed only once before the vertex loop. Inside the loop, only the entries that were actually used are zeroed out after being added to the sparse Jacobian, allowing for efficient reuse of the dense arrays across all vertices.
PiperOrigin-RevId: 860799056
Change-Id: Ia61daae5eeb2f4dbc0c5d8c0064622a881e92b7a
Use unsigned size_t instead of signed mjtSize for size multiplications to avoid Clang's overflow-checking intrinsic. This is semantically correct as size calculations are inherently unsigned.
PiperOrigin-RevId: 860213177
Change-Id: I837aa6556335478969d4977492d0f231419f020a
Use unsigned size_t instead of signed mjtSize for size multiplications to avoid Clang's overflow-checking intrinsic. This is semantically correct as size calculations are inherently unsigned.
PiperOrigin-RevId: 860172221
Change-Id: I3b6cb720db8771b8f266f1927e2980ac7514538b
This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
Haroon Qureshi