Haroon Qureshi
448fc0e4d5
PiperOrigin-RevId: 838775463 Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
73 lines
2.4 KiB
C++
73 lines
2.4 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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#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
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#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
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#include <chrono>
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#include <cstdint>
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#include <functional>
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#include <string>
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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// Renders the mujoco simulation and the imgui state into the active window
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// using the filament rendering backend.
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class Renderer {
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public:
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// Function that creates a mjrContext for the given model. We use a function
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// to allow different mjrContext implementations to be created without
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// requiring a direct dependency on them.
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using MakeContextFn = std::function<void(const mjModel* m, mjrContext* con)>;
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explicit Renderer(MakeContextFn make_context_fn);
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~Renderer();
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Renderer(const Renderer&) = delete;
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Renderer& operator=(const Renderer&) = delete;
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// Initializes the renderer with the given mjModel.
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void Init(const mjModel* model);
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// Renders the simulation state into the active window. Also renders the imgui
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// state, but that is obtained directly from the ImGui library.
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void Render(const mjModel* model, mjData* data, const mjvPerturb* perturb,
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mjvCamera* camera, const mjvOption* vis_option, int width,
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int height);
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// Saves a screenshot of the simulation state into the given file.
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void SaveScreenshot(const std::string& filename, int width, int height);
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// Rendering flags.
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mjtByte* GetRenderFlags() { return scene_.flags; }
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// Returns the render context.
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const mjrContext& GetContext() const { return render_context_; }
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private:
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// Resets the renderer; no rendering will occur until Init() is called again.
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void Deinit();
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MakeContextFn make_context_fn_;
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mjrContext render_context_;
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mjvScene scene_;
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bool initialized_ = false;
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};
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} // namespace mujoco::platform
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#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
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