Haroon Qureshi
139a5b6494
PiperOrigin-RevId: 838701951 Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "experimental/platform/renderer.h"
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#include <chrono>
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#include <string>
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#include "experimental/platform/helpers.h"
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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Renderer::Renderer(MakeContextFn make_context_fn)
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: make_context_fn_(make_context_fn) {
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}
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Renderer::~Renderer() { Deinit(); }
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void Renderer::Init(const mjModel* model) {
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Deinit();
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if (model) {
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mjr_defaultContext(&render_context_);
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make_context_fn_(model, &render_context_);
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mjv_defaultScene(&scene_);
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mjv_makeScene(model, &scene_, 2000);
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initialized_ = true;
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}
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}
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void Renderer::Deinit() {
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if (initialized_) {
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mjv_freeScene(&scene_);
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mjr_freeContext(&render_context_);
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initialized_ = false;
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}
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}
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void Renderer::Render(const mjModel* model, mjData* data,
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const mjvPerturb* perturb, mjvCamera* camera,
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const mjvOption* vis_option, int width, int height) {
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if (initialized_) {
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mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
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&scene_);
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}
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mjrRect main_viewport = {0, 0, width, height};
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mjr_render(main_viewport, data ? &scene_ : nullptr, &render_context_);
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auto now = std::chrono::steady_clock::now();
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auto delta_time = now - last_fps_update_;
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const double interval = std::chrono::duration<double>(delta_time).count();
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++frames_;
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if (interval > 0.2) { // only update FPS stat at most 5 times per second
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last_fps_update_ = now;
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fps_ = frames_ / interval;
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frames_ = 0;
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}
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}
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void Renderer::SaveScreenshot(const std::string& filename, int width,
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int height) {
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SaveScreenshotToWebp(width, height, &render_context_, filename);
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}
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} // namespace mujoco::platform
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