Saran Tunyasuvunakool
49a3caf84c
PiperOrigin-RevId: 823494487 Change-Id: Ib284e3165ca691f5b690a376f7b28e51122e1bc4
128 lines
3.6 KiB
C++
128 lines
3.6 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_TOOLBOX_PHYSICS_H_
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#define MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_PHYSICS_H_
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#include <functional>
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#include <optional>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <mujoco/mujoco.h>
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#include "experimental/toolbox/step_control.h"
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namespace mujoco::toolbox {
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// Owns the MuJoCo simulation state (e.g. mjModel and mjData) and is responsible
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// for updating the state of the simulation.
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class Physics {
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public:
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using OnModelLoadedFn = std::function<void(std::string_view)>;
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explicit Physics(OnModelLoadedFn on_model_loaded);
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~Physics();
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Physics(const Physics&) = delete;
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Physics& operator=(const Physics&) = delete;
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// Access the step controller
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StepControl& GetStepControl() { return step_control_; }
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// Loads a model from the given path. An empty string will load an empty
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// scene.
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void LoadModel(std::string model_file, const mjVFS* vfs = nullptr);
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// Clears the simulation, clearing all loaded state.
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void Clear();
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// Resets the simulation using mj_resetData
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void Reset();
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// Advances the state of the simulation.
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bool Update(const mjvPerturb* perturb);
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// Sets the state of the simulation.
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bool UpdateState(mjtNum* state, unsigned int state_sig);
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// Renders the state of the simulation.
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void Render();
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// Returns true if the simulation is paused.
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bool IsPaused() { return paused_; }
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// Pauses/unpauses the simulation.
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void TogglePause();
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// If the simulation is paused, will perform a single step on the next
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// Update() call.
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void RequestSingleStep();
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// Returns the number of steps the simulation has taken.
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int GetStepCount() const { return steps_; }
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// Returns the number of states in the history buffer.
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int GetHistorySize() const { return history_.size(); }
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// Loads a state from the history buffer at the given offset into the current
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// physics state.
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//
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// Calling this function will automatically pause the simulation.
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int LoadHistory(int offset);
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// Selects the parent of the currently selected perturb object.
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void SelectParentPerturb();
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// Returns the MuJoCo data structures owned by this Simulation object.
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mjModel* GetModel() { return model_; }
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mjData* GetData() { return data_; }
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// Returns the error message from the simulation.
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std::string_view GetError() const { return error_; }
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bool ProcessPendingLoad();
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private:
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void InitHistory();
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void AddToHistory();
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mjModel* model_ = nullptr;
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mjData* data_ = nullptr;
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std::vector<std::vector<mjtNum>> history_;
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int history_cursor_ = 0;
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OnModelLoadedFn on_model_loaded_;
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// If true and paused, d->qacc_warmstart is set to d->qacc after mj_forward
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// which has the effect of making the constraint solver eventually converge
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// while the simulation is paused.
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bool pause_update_ = false;
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bool paused_ = false;
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bool single_step_ = false;
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int steps_ = 0;
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std::optional<std::string> pending_load_;
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const mjVFS* vfs_;
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std::string error_;
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StepControl step_control_;
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};
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} // namespace mujoco::toolbox
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#endif // MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_PHYSICS_H_
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