Interactions (like moving the camera or mouse picking) no longer depend
on needing an mjvScene. Instead, everything is done relative to the
camera directly.
This duplicates some code in engine_vis_visualize which we will try to
resolve and recombine at a future time.
PiperOrigin-RevId: 828461259
Change-Id: If26329c1a7c37516f0213b18056c3e31760f60ae
- When `mjData.nefc` was 0 (solver not run at all), we were plotting the stale diagnostics from the last run; now fixed.
- In the case where islands were used, the semantic of the plotted diagnostic `sqrt_nnz` (square root of Hessian nonzeros) is changed. It used to be the sum of square roots of solver nonzeros per island, it is now the square root of the sum of all nonzeros in all islands. The semantic `sqrt(sum(nnz_i))` was found to be more consistent than `sum(sqrt(nnz_i))`, in the sense that switching islanding on/off leads to smaller changes and is more in line with the interpretation of islanding as [block-diagonalization](https://mujoco.readthedocs.io/en/3.3.7/computation/#constraint-islands).
PiperOrigin-RevId: 827624908
Change-Id: I5fc86364ead585a4752a6d44823fb75cf6c7c318
This includes the filament, toolbox, and studio projects.
Adds a MUJOCO_BUILD_STUDIO option to enable building of the `studio` app (disabled by default).
Adds a MUJOCO_USE_FILAMENT to allow the studio app to use the filament rendering backend. A separate MUJOCO_USE_FILAMENT_VULKAN flag can be used to enable vulkan rendering.
PiperOrigin-RevId: 824602367
Change-Id: I26d46c16211ae2118f96c163c4194fea5b5a15a9
This is intended as a drop-in replacement for mjr_render to enable high
quality, physically-based rendering (PBR) using the filament render engine.
This is a work-in-progress and, as such, some features may be missing. This
is also a code-only drop; build files (including instructions on how to
generate the filament materials) will be provided at a later date.
This library is intended to be run with the experimental studio app.
PiperOrigin-RevId: 817593684
Change-Id: Ib9cd14c1881e4897c1111275bd749aa38ebb5317
Haroon Qureshi