def __init__(self, physics):
super(Visualizer, self).__init__()
# initialize rendering engine
enginewrapper.init()
# save a reference to the physics
self._physics = physics
# create the scene for the abstract visualization stage
self._scene = wrapper.MjvScene()
self._scene_option = wrapper.MjvOption()
# a perturbation object, just for completion
self._perturb = wrapper.MjvPerturb()
self._perturb.active = 0
self._perturb.select = 0
# create a mjvcamera, as it seems is needed for this stage
self._render_camera = wrapper.MjvCamera()
self._render_camera.fixedcamid = -1
self._render_camera.type_ = enums.mjtCamera.mjCAMERA_FREE
# a list to store the geometries from the abstract visualization stage
self._geometries = {}
# the meshes wrapped by the bindings
self._meshes = {}
# keys
self._single_keys = [False for i in range(1024)]
# make a first update to initialize objects
mjlib.mjv_updateScene(self._physics.model.ptr, self._physics.data.ptr,
self._scene_option.ptr, self._perturb.ptr,
self._render_camera.ptr,
enums.mjtCatBit.mjCAT_ALL, self._scene.ptr)
self._collect_geometries()
self._update_geometries_meshes()
def update(self):
# abstract visualization stage - retrieve the viz data
mjlib.mjv_updateScene(self._physics.model.ptr, self._physics.data.ptr,
self._scene_option.ptr, self._perturb.ptr,
self._render_camera.ptr,
enums.mjtCatBit.mjCAT_ALL, self._scene.ptr)
self._collect_geometries()
self._update_geometries_meshes()
# request rendering to the engine backend
enginewrapper.update()
def update(self, scene_option=None):
"""Updates geometry used for rendering.
Args:
scene_option: A custom `wrapper.MjvOption` instance to use to render
the scene instead of the default. If None, will use the default.
"""
scene_option = scene_option or self._scene_option
mjlib.mjv_updateScene(self._physics.model.ptr, self._physics.data.ptr,
scene_option.ptr, self._perturb.ptr,
self._render_camera.ptr,
enums.mjtCatBit.mjCAT_ALL, self._scene.ptr)
def render(self, perturbation=None):
"""Renders the scene form this camera's perspective.
Args:
perturbation: (Optional), instance of Perturbation.
Returns:
Rendered scene, instance of MjvScene.
"""
perturb_to_render = perturbation.ptr if perturbation else None
mjlib.mjv_updateScene(self._model.ptr, self._data.ptr,
self._options.visualization.ptr,
perturb_to_render, self._camera.ptr,
enums.mjtCatBit.mjCAT_ALL, self._scene.ptr)
return self._scene
