Update Renderable so that it can switch its own draw states (material
instance, shadow casting, reflection textures, etc.) per render request.
This allows us to use the same Renderable with different effects from
different views within the same frame.
PiperOrigin-RevId: 922102817
Change-Id: I1cf02fddb7a00345a741db1bee88e716517765f4
- C++ Platform UX: Added a "Copy Camera" button to copy XML camera definitions to clipboard.
- C++ Platform UX: Extracted `SetSpeedIndex` and `GetExpectedLabelWidth` into reusable platform helpers.
- C++ Platform UX: Fixed combo box widths and removed auto-hide tab bar flag from dockspace.
- C++ Studio App: Deduplicated label width and speed index logic by adopting platform helpers.
- C++ Studio App: Updated the toolbar layout to use a 2-column table.
- Python Bindings: Added pybind definitions for `set_camera_index`, `set_speed_index`, and `camera_to_string`.
- Python Studio App: Aligned toolbar UI with C++ using a 2-column table and fixed immediate theme switching.
- Python Studio App: Added a Help menu displaying the MuJoCo version and Stats toggle.
- Python Events: Added `-`/`=` shortcuts for simulation speed and `Esc`/`[`/`]` shortcuts for camera selection.
PiperOrigin-RevId: 922097319
Change-Id: Iec74afe37bf5c7a1ebf1cab4141e47fff5fe9274
The prefetcher asks mju_getXMLDependencies for the transitive asset
list, fetches every URL with Promise.all, and primes the bytes into the
WASM-side FetchCache. When the compiler runs, every resource it opens
is already in memory. Cold-load on a typical Menagerie model drops from
~9 s to ~2 s.
Support Ctrl+Option+Left Click Drag (maps to Ctrl+Alt+Left Click Drag in the application) to apply point force perturbations (translation) on the robot in the WebGL live viewer. This matches the Mac experience in the native MuJoCo simulate app and provides a fallback for Mac users where Right Click is difficult to trigger.
PiperOrigin-RevId: 919767954
Change-Id: I4a1d1c05784a8257d13f64f738af5b4841a615b3
This provides visual feedback to the user while loading large models.
PiperOrigin-RevId: 918708877
Change-Id: I77ea475cce6d9718e6cf8b33cb72b3f524a6ee63
* Changed window.cc to not pass `SDL_WINDOW_OPENGL` for headless opengl graphics modes since this requests a [GLX visual](https://tronche.com/gui/x/xlib/window/visual-types.html#Visual) but CRD's virtual X11 display has no GLX visuals causing window creation to fail with "Couldn't find matching GLX visual".
* Changed `TryLoadEgl` so it fails if `eglBindAPI(EGL_OPENGL_API)` does not return true, causing `CreateFilamentPlatform` to fallback to OSMesa on CRD.
PiperOrigin-RevId: 918029935
Change-Id: Id88338811949b1402578de19bc4d31f4ee1783c1
Renames MjrFilamentRenderer to CompatContext and makes it an
internal detail of the compatibility layer. This allows us to
remove all legacy functions from the mjrf namespace, making
them available only in the compatibility layer.
Update studio to use non-legacy mjrf APIs. This requires it to
use some of the compat helper classes. These will be refactored
in the future to make them reusable components.
PiperOrigin-RevId: 917730783
Change-Id: Ic8f68e6e75059f7d394ea3266a346cbd6c1fcaed
The swap chain dimensions are a union of all render request
viewport sizes that use the swap chain.
PiperOrigin-RevId: 916078573
Change-Id: If26a9e1486006ed346227120a361773bfa23f292
This resolves to https://raw.githubusercontent.com/... under the hood.
PiperOrigin-RevId: 916050807
Change-Id: I1630e29a5b5aad0e39cdd8aa4cfc1ff1a71f19d9
Reflections, shadows, and post-processing can be specified per render
request rather than per scene.
PiperOrigin-RevId: 915910030
Change-Id: I8ce773b42870aa76a2d8219347ca1cafaec1a97b
Removes the DoRender and DoReadPixels functions which allowed
FilamentContext to "call" SceneView functions even though
SceneView depended on FilamentContext.
Adds a mjrf_setClearColor function so that we no longer rely
on SceneView setting the clear color.
PiperOrigin-RevId: 914253362
Change-Id: I33c1cc9dfc7cb2f4c3cc855a600cccb0c54ae31c
This is in preparation for a future CL that will disable backface culling.
PiperOrigin-RevId: 914136370
Change-Id: Ie8db1268faaa306c3f3356efc5e1305d791cf525
Combines the "Solver" and "Performance" chart windows into a single "Profiler" window for better ergonomics and visual layout:
- Unified Dashboard: Groups the Solver block (Counts & Convergence) and the Performance block (Dimensions & CPU Time) in a single viewable window that scales cleanly without vertical scrollbars.
- Adaptive Stacking: Uses ImGui grouping so each block internally stacks its charts vertically, but tiles side-by-side horizontally when the window is stretched wide.
- Default Docking & Width: Integrates the Profiler into the default dockspace layout attached to the right of the main viewable area, with an optimized initial width scaling factor of 0.42.
- Shortcut and Menus: Adds a toggle shortcut bound to `F3`, updates the Help Shortcuts overlay, and replaces old separate entries in the Charts menu.
PiperOrigin-RevId: 912491435
Change-Id: I1f9215e5498866a01ce48b6aeb4a7461191fa01d
- allow reloading of files that failed to load
- clear errors on successful reload
PiperOrigin-RevId: 912458744
Change-Id: Ie6af87508f10e83461bc998c99c9c66e2d58312e
- RHS: Make Inspector be focused by default.
- RHS: Remove Noise pane, put the functionality in the Controls pane.
- Improve Frame and Label dropdowns.
PiperOrigin-RevId: 912434712
Change-Id: I2ee5b647febfc4a90a0cf9387b1d416f5a0dd4a1
Since the mjz format is just an archive for MJCF assets this seems like a sensible place. The upcoming mjz encoder will also need to make use of the full precision XML utility that is local to src/xml.
PiperOrigin-RevId: 912044746
Change-Id: I6a9fef24b1c3fec5b5edc3a8d4c8e22584273264
Merge shading model, material params, and material textures into a
single "mjrMaterial" type.
Remove redundant decor_line material.
PiperOrigin-RevId: 911960222
Change-Id: Icce3772a8ea48467dfd610799c0c2f2ba752323e
Haroon Qureshi