chenlin/Mujoco_WASM
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feb3abcccf8258cd8e7bc284287b69a3a05c50c5
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33 Commits

Author SHA1 Message Date
Haroon Qureshi feb3abcccf Fix paths. 
PiperOrigin-RevId: 864933655
Change-Id: I44f34b47fe4f6725de59c6565f6b2b557b80eaa6
 2026-02-03 10:16:19 -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 34add7bb32 Removing trailing newline in zenity file dialogs. 
PiperOrigin-RevId: 864842389
Change-Id: Ie4cc61a91732fcde0ef2c7eba927aede217b2e6d
 2026-02-03 06:15:37 -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 b7a46d04b6 Implement OS-specific file dialogs. 
PiperOrigin-RevId: 864235878
Change-Id: I709fc52c0c467f317694ba0772572a448c45de35
 2026-02-02 01:33:40 -08:00
Haroon Qureshi 669e9b7484 Add an "offscreen" mode that allows users to render studio to a texture 
then uses SDL to blit the texture into the window.

PiperOrigin-RevId: 861697047
Change-Id: Ib949b4ade0c79d867ba74ce013bc2b6fa2571f56
 2026-01-27 06:48:16 -08:00
Haroon Qureshi 75715ab966 Update logic for dealing with file dialogs. 
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
 2026-01-27 05:31:01 -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 bdb553ff8a Add a ModelPlugin that can be used to load and update models. 
PiperOrigin-RevId: 861077626
Change-Id: I3ef4989cfbfff3632c5915c00ebda1e7a48716e8
 2026-01-26 01:24:43 -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
Matija Kecman 654b393060 Add a boxing utility which can surround a bunch of UI and render it in a box. 
The ImGui table API cell padding variables can be used to adjust the positioning of the UI in the box.

PiperOrigin-RevId: 858137824
Change-Id: I1ce1519c0abd67bc5fafc30f9a18dfcf18c2a313
 2026-01-19 04:48:50 -08:00
Haroon Qureshi 77d1ac10fe Fix scaling issues on HDPI monitors. 
PiperOrigin-RevId: 857024487
Change-Id: I7d3db9ff754374053bcd33ba93c7466253afb58c
 2026-01-16 01:17:38 -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
Yuval Tassa 218226fc95 Breaking change: Add surface normal output to MuJoCo raycast functions. 
PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
 2026-01-13 10:22:21 -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 e3ddb126f5 Fix target name; should be PLATFORM not STUDIO. 
(This was caused by a bad merge on my end.)

PiperOrigin-RevId: 851315742
Change-Id: Ifd5afa7f6cbd566ef2c15603e91a7360ea65c86a
 2026-01-02 06:03:13 -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 bebdd62943 Allow studio to search for models in predetermined search paths. 
A future CL will allow users to specify search paths in their settings.

PiperOrigin-RevId: 846240293
Change-Id: I1a1a4027d0fc85004a12fe01a406f50fd929f3e4
 2025-12-18 06:32:24 -08:00
Haroon Qureshi 43bcbb158c Load last saved GUI configuration on first load. 
Also save theme to the configuration.

PiperOrigin-RevId: 843710929
Change-Id: I7ce9ce0f026d2cb5f79addf6c16c9b540bf11954
 2025-12-12 08:56:53 -08:00
Haroon Qureshi a0a56065e0 Use hex values instead of u8 string literals. 
PiperOrigin-RevId: 843583709
Change-Id: Ib55cfd472de2f83b0455ebf95f6826c887f6dd70
 2025-12-12 01:45:13 -08:00
Haroon Qureshi e07adc387a Update themes to differentiate from default dear_imgui themes and add a classic theme that's similar to simulate. 
PiperOrigin-RevId: 843313013
Change-Id: Id01841097f32a5b01acd8fcf59392a73acad8f27
 2025-12-11 11:46:12 -08:00
Haroon Qureshi 9c1b8d8cfb Enable font loading for wasm builds. 
PiperOrigin-RevId: 842627994
Change-Id: I347f79ec668f31a8bbc4d26638a045e29084d715
 2025-12-10 02:31:46 -08:00
Yuval Tassa 32d7b87ba7 Improve studio 2D plots 
PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
 2025-12-09 08:56:51 -08:00
Haroon Qureshi 97eb307ce9 First pass at mjSpec Explorer and Properties windows. 
Displays the list of bodies and joints from the mjSpec and displays
values for the selected element.

Functionality is very limited and a bit non-intuitive. However, we want
to get this into our users hands to start getting feedback.

PiperOrigin-RevId: 842228895
Change-Id: I2491cd5e0acaf622110e0f6b8406919024d3607a
 2025-12-09 07:28:26 -08:00
Haroon Qureshi e1e2248925 Internal changes only. 
PiperOrigin-RevId: 842099953
Change-Id: Ia11feec323504976cdc3e6d7170435b74ed33fcd
 2025-12-09 00:18:06 -08:00
Haroon Qureshi 5ee8b646f7 Move Style and Layout configuration to shared GUI library. 
PiperOrigin-RevId: 840246253
Change-Id: Ic4664b62e86e70fd6780cd9eb885978064c5f585
 2025-12-04 08:02:16 -08:00
Haroon Qureshi c5cd276e1f Cleanup model loading flow. 
Inlines the platform::LoadMujocoModel into the App class which simplifies
the logic and allows us to correctly display loading errors.

Also updates shortcuts:

Load Model (Ctrl+L) -> Open File (Ctrl+O)
Reload Model (Ctrl+R) -> Reload Model (Ctrl+L)

PiperOrigin-RevId: 840232553
Change-Id: I957d29046ae681d2aeb69310c3a2eec64d042d49
 2025-12-04 07:20:02 -08:00
Haroon Qureshi e409538831 Ensure window scale is initialized on creation. 
PiperOrigin-RevId: 839699437
Change-Id: I99e477ac49b56726b77389306aec49c895e160fa
 2025-12-03 04:29:52 -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 9b7134b15b Add OSX and WIN32 support for getting the native window pointer. 
PiperOrigin-RevId: 838720433
Change-Id: Id7123bcf456d0c2d32e67b204564fe8c495004cd
 2025-12-01 04:57:24 -08:00
Haroon Qureshi 139a5b6494 Rename toolbox to platform. 
PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
 2025-12-01 03:58:34 -08:00