Saran Tunyasuvunakool
b362cb4972
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData. To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData. Fixes https://github.com/deepmind/mujoco/issues/796 PiperOrigin-RevId: 525723636 Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
100 lines
3.2 KiB
C++
100 lines
3.2 KiB
C++
// Copyright 2023 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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#ifndef MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
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#define MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
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#include <utility>
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#include <mujoco/mujoco.h>
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namespace mujoco {
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class PlatformUIAdapter {
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public:
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virtual ~PlatformUIAdapter();
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inline mjuiState& state() { return state_; }
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inline const mjuiState& state() const { return state_; }
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inline mjrContext& mjr_context() { return con_; }
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inline const mjrContext& mjr_context() const { return con_; }
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inline void SetEventCallback(void (*event_callback)(mjuiState*)) {
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event_callback_ = event_callback;
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}
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inline void SetLayoutCallback(void (*layout_callback)(mjuiState*)) {
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layout_callback_ = layout_callback;
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}
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// Optionally overrideable function to (re)create an mjrContext for an mjModel
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virtual bool RefreshMjrContext(const mjModel* m, int fontscale);
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virtual bool EnsureContextSize();
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// Pure virtual functions to be implemented by individual adapters
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virtual std::pair<double, double> GetCursorPosition() const = 0;
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virtual double GetDisplayPixelsPerInch() const = 0;
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virtual std::pair<int, int> GetFramebufferSize() const = 0;
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virtual std::pair<int, int> GetWindowSize() const = 0;
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virtual bool IsGPUAccelerated() const = 0;
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virtual void PollEvents() = 0;
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virtual void SetClipboardString(const char* text) = 0;
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virtual void SetVSync(bool enabled) = 0;
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virtual void SetWindowTitle(const char* title) = 0;
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virtual bool ShouldCloseWindow() const = 0;
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virtual void SwapBuffers() = 0;
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virtual void ToggleFullscreen() = 0;
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virtual bool IsLeftMouseButtonPressed() const = 0;
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virtual bool IsMiddleMouseButtonPressed() const = 0;
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virtual bool IsRightMouseButtonPressed() const = 0;
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virtual bool IsAltKeyPressed() const = 0;
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virtual bool IsCtrlKeyPressed() const = 0;
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virtual bool IsShiftKeyPressed() const = 0;
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virtual bool IsMouseButtonDownEvent(int act) const = 0;
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virtual bool IsKeyDownEvent(int act) const = 0;
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virtual int TranslateKeyCode(int key) const = 0;
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virtual mjtButton TranslateMouseButton(int button) const = 0;
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protected:
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PlatformUIAdapter();
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// Event handlers
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void OnFilesDrop(int count, const char** paths);
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void OnKey(int key, int scancode, int act);
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void OnMouseButton(int button, int act);
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void OnMouseMove(double x, double y);
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void OnScroll(double xoffset, double yoffset);
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void OnWindowRefresh();
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void OnWindowResize(int width, int height);
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mjuiState state_;
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void (*event_callback_)(mjuiState*);
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void (*layout_callback_)(mjuiState*);
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mjrContext con_;
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const mjModel* last_model_ = nullptr;
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int last_fontscale_ = -1;
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private:
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void UpdateMjuiState();
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};
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} // namespace mujoco
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#endif // MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
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