def set_model(self, model):
self.model = model
if model:
self.data = model.data
else:
self.data = None
if self.running:
if model:
functions.mjr_makeContext(model.ptr, byref(self.con), 150)
else:
functions.mjr_makeContext(None, byref(self.con), 150)
self.render()
if model:
self.autoscale()
def start(self, window):
self.running = True
width, height = glfw.get_framebuffer_size(window)
width1, height = glfw.get_window_size(window)
self.scale = width * 1.0 / width1
self.window = window
functions.mjv_defaultCamera(self.cam)
functions.mjv_defaultOption(self.vopt)
functions.mjr_defaultContext(self.con)
functions.mjv_makeScene(self.scn, 1000)
if self.model:
functions.mjr_makeContext(self.model, self.con, 150)
self.autoscale()
else:
functions.mjr_makeContext(None, self.con, 150)
def set_model(self, model):
self.model = model
if model:
self.sim = MjSim(self.model)
self.data = self.sim.data
self.ctx = MjRenderContext(self.sim)
self.con = self.ctx.con
self.cam = self.ctx.cam
self.scn = self.ctx.scn
self.vopt = self.ctx.vopt
else:
self.data = None
if self.running:
if model:
functions.mjr_makeContext(self.model, self.con, 150)
else:
functions.mjr_makeContext(None, self.con, 150)
self.render()
if model:
self.autoscale()
def start(self, window):
self.running = True
width, height = glfw.get_framebuffer_size(window)
width1, height = glfw.get_window_size(window)
self.scale = width * 1.0 / width1
self.window = window
functions.mjv_makeObjects(byref(self.objects), 1000)
functions.mjv_defaultCamera(byref(self.cam))
functions.mjv_defaultOption(byref(self.vopt))
functions.mjr_defaultOption(byref(self.ropt))
functions.mjr_defaultContext(byref(self.con))
if self.model:
functions.mjr_makeContext(self.sim.ptr, byref(self.con), 150)
self.autoscale()
else:
functions.mjr_makeContext(None, byref(self.con), 150)
def start(self):
logger.info('initializing glfw@%s', glfw.get_version())
glfw.set_error_callback(_glfw_error_callback)
if not glfw.init():
raise Exception('glfw failed to initialize')
window = None
if self.visible:
glfw.window_hint(glfw.SAMPLES, 4)
else:
glfw.window_hint(glfw.VISIBLE, 0)
# try stereo if refresh rate is at least 100Hz
stereo_available = False
_, _, refresh_rate = glfw.get_video_mode(glfw.get_primary_monitor())
if refresh_rate >= 100:
glfw.window_hint(glfw.STEREO, 1)
window = glfw.create_window(self.init_width, self.init_height,
self.title, None, None)
if window:
stereo_available = True
# no stereo: try mono
if not window:
glfw.window_hint(glfw.STEREO, 0)
window = glfw.create_window(self.init_width, self.init_height,
self.title, None, None)
if not window:
glfw.terminate()
return
self.running = True
# Make the window's context current
glfw.make_context_current(window)
if self.go_fast:
# Let's go faster than 60 Hz
glfw.swap_interval(0)
self._init_framebuffer_object()
width, height = glfw.get_framebuffer_size(window)
width1, height = glfw.get_window_size(window)
self._scale = width * 1.0 / width1
self.window = window
functions.mjv_makeObjects(byref(self.objects), 1000)
functions.mjv_defaultCamera(byref(self.cam))
functions.mjv_defaultOption(byref(self.vopt))
functions.mjr_defaultOption(byref(self.ropt))
functions.mjr_defaultContext(byref(self.con))
if self.model:
functions.mjr_makeContext(self.sim.ptr, byref(self.con), 150)
self.autoscale()
else:
functions.mjr_makeContext(None, byref(self.con), 150)
glfw.set_cursor_pos_callback(window, self.handle_mouse_move)
glfw.set_mouse_button_callback(window, self.handle_mouse_button)
glfw.set_scroll_callback(window, self.handle_scroll)