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
73 lines
2.1 KiB
C
73 lines
2.1 KiB
C
// Copyright 2021 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_RENDER_RENDER_CONTEXT_H_
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#define MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#if defined(__cplusplus)
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extern "C" {
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#endif
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// builtin display list addresses (relative to base)
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enum {
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mjrSPHERE = 0,
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mjrSPHERETOP,
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mjrSPHEREBOTTOM,
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mjrCYLINDER,
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mjrCYLINDEROPEN,
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mjrHAZE,
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mjrBOX,
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mjrCONE,
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mjrNUM
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};
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// set default mjrContext
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MJAPI void mjr_defaultContext(mjrContext* con);
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// allocate resources in custom OpenGL context; fontscale is mjtFontScale
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MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
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// Change font of existing context.
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MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
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// Add Aux buffer with given index to context; free previous Aux buffer.
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MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
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// free resources in custom OpenGL context, set to default
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MJAPI void mjr_freeContext(mjrContext* con);
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// resize offscreen renderbuffer
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MJAPI void mjr_resizeOffscreen(int offwidth, int offheight, mjrContext* con);
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// (re) upload texture to GPU
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MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
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// (re) upload mesh to GPU
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MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
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// (re) upload height field to GPU
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MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
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#if defined(__cplusplus)
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}
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#endif
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#endif // MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
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