Haroon Qureshi
9743c2d385
PiperOrigin-RevId: 853172824 Change-Id: I60ef1207611c4da119cc3f0a7819088cffca6e4f
133 lines
3.8 KiB
C++
133 lines
3.8 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 <cstddef>
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#include <mujoco/mujoco.h>
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#if defined(USE_FILAMENT_OPENGL) || defined(USE_FILAMENT_VULKAN)
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#include "experimental/filament/render_context_filament.h"
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#elif defined(USE_CLASSIC_OPENGL)
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#include <imgui.h>
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#include <backends/imgui_impl_opengl3.h>
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#else
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#error No rendering mode defined.
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#endif
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namespace mujoco::platform {
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Renderer::Renderer(void* native_window) : native_window_(native_window) {
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#ifdef USE_CLASSIC_OPENGL
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ImGui_ImplOpenGL3_Init();
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#endif
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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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#if defined(USE_CLASSIC_OPENGL)
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mjr_makeContext(model, &render_context_, mjFONTSCALE_150);
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#else
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mjrFilamentConfig render_config;
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mjr_defaultFilamentConfig(&render_config);
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render_config.native_window = native_window_;
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render_config.enable_gui = true;
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#if defined(USE_FILAMENT_OPENGL)
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render_config.graphics_api = mjGFX_OPENGL;
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#elif defined(USE_FILAMENT_VULKAN)
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render_config.graphics_api = mjGFX_VULKAN;
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#endif
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mjr_makeFilamentContext(model, &render_context_, &render_config);
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#endif
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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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return;
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}
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if (last_update_time_ == data->time) {
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mjv_updateCamera(model, data, camera, &scene_);
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} else {
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mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
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&scene_);
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last_update_time_ = data->time;
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}
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const mjrRect viewport = {0, 0, width, height};
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mjr_render(viewport, &scene_, &render_context_);
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#ifdef USE_CLASSIC_OPENGL
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ImGui_ImplOpenGL3_NewFrame();
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ImGui::Render();
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ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
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#endif
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#ifdef USE_CLASSIC_OPENGL
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TimePoint now = std::chrono::steady_clock::now();
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TimePoint::duration 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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#else
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fps_ = mjr_getFrameRate(&render_context_);
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#endif
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}
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void Renderer::RenderToTexture(const mjModel* model, mjData* data,
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mjvCamera* camera, int width, int height,
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std::byte* output) {
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if (!initialized_ || last_update_time_ == -1) {
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return;
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}
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const mjrRect viewport = {0, 0, width, height};
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mjr_setBuffer(mjFB_OFFSCREEN, &render_context_);
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mjv_updateCamera(model, data, camera, &scene_);
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mjr_render(viewport, &scene_, &render_context_);
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mjr_readPixels((unsigned char*)output, nullptr, viewport, &render_context_);
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mjr_setBuffer(mjFB_WINDOW, &render_context_);
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}
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double Renderer::GetFps() { return fps_; }
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} // namespace mujoco::platform
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