Haroon Qureshi
5a7abfe8a0
PiperOrigin-RevId: 856188793 Change-Id: Iab33171b07f0d2a48d19986e145b832d1037d596
115 lines
3.4 KiB
C++
115 lines
3.4 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
// Main entry point for the Filament-based MuJoCo renderer.
|
|
|
|
#include <cstddef>
|
|
#include <cstdlib>
|
|
#include <fstream>
|
|
#include <ios>
|
|
#include <iosfwd>
|
|
#include <optional>
|
|
#include <string>
|
|
#include <string_view>
|
|
#include <vector>
|
|
|
|
#include <absl/flags/flag.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "experimental/studio/app.h"
|
|
|
|
ABSL_FLAG(int, window_width, 1400, "Window width");
|
|
ABSL_FLAG(int, window_height, 720, "Window height");
|
|
ABSL_FLAG(std::string, model_file, "", "MuJoCo model file.");
|
|
|
|
std::string Resolve(std::string_view path) {
|
|
std::string_view subpath = path.substr(path.find(':') + 1);
|
|
return std::string("assets/") + std::string(subpath);
|
|
}
|
|
|
|
class FileResource {
|
|
public:
|
|
explicit FileResource(const std::string& path)
|
|
: file_(path, std::ios::binary | std::ios::ate) {
|
|
if (!file_.is_open()) {
|
|
mju_warning("Cannot open file %s", path.c_str());
|
|
return;
|
|
}
|
|
|
|
size_ = file_.tellg();
|
|
file_.seekg(0, std::ios::beg);
|
|
}
|
|
|
|
int Read(const void** buffer) {
|
|
buffer_.resize(size_);
|
|
if (!file_.read(reinterpret_cast<char*>(buffer_.data()), size_)) {
|
|
return 0;
|
|
}
|
|
*buffer = buffer_.data();
|
|
return size_;
|
|
}
|
|
|
|
int Size() const { return size_; }
|
|
|
|
FileResource(const FileResource&) = delete;
|
|
FileResource& operator=(const FileResource&) = delete;
|
|
|
|
private:
|
|
std::ifstream file_;
|
|
std::vector<char> buffer_;
|
|
int size_ = 0;
|
|
};
|
|
|
|
int main(int argc, char** argv, char** envp) {
|
|
|
|
const char* home = getenv("HOME");
|
|
const std::string ini_path = std::string(home ? home : ".") + "/.mujoco.ini";
|
|
|
|
mjpResourceProvider resource_provider;
|
|
mjp_defaultResourceProvider(&resource_provider);
|
|
|
|
resource_provider.open = [](mjResource* resource) {
|
|
const std::string resolved_path = Resolve(resource->name);
|
|
FileResource* f = new FileResource(resolved_path);
|
|
resource->data = f;
|
|
return f->Size();
|
|
};
|
|
resource_provider.read = [](mjResource* resource, const void** buffer) {
|
|
FileResource* f = static_cast<FileResource*>(resource->data);
|
|
return f->Read(buffer);
|
|
};
|
|
resource_provider.close = [](mjResource* resource) {
|
|
delete static_cast<FileResource*>(resource->data);
|
|
resource->data = nullptr;
|
|
};
|
|
|
|
resource_provider.prefix = "font";
|
|
mjp_registerResourceProvider(&resource_provider);
|
|
resource_provider.prefix = "filament";
|
|
mjp_registerResourceProvider(&resource_provider);
|
|
|
|
const int width = absl::GetFlag(FLAGS_window_width);
|
|
const int height = absl::GetFlag(FLAGS_window_height);
|
|
mujoco::studio::App app(width, height, ini_path);
|
|
|
|
// If the model file is not specified, try to load it from the first argument
|
|
std::string model_file = absl::GetFlag(FLAGS_model_file);
|
|
if (model_file.empty() && argc > 1 && argv[1][0] != '-') model_file = argv[1];
|
|
app.LoadModel(model_file, mujoco::studio::App::ContentType::kFilepath);
|
|
while (app.Update()) {
|
|
app.BuildGui();
|
|
app.Render();
|
|
}
|
|
return 0;
|
|
}
|