def render(self, viewport, scene):
"""Renders the scene to the specified viewport.
Args:
viewport: Instance of Viewport.
scene: Instance of MjvScene.
Returns:
A 3-dimensional array of shape (viewport.width, viewport.height, 3),
with the contents of the front buffer.
"""
if not np.array_equal(self._prev_viewport, viewport.dimensions):
self._prev_viewport = viewport.dimensions
if self._mujoco_context:
self._mujoco_context.free()
self._mujoco_context = None
if not self._mujoco_context:
# Ensure that MuJoCo's offscreen framebuffer is large enough to
# accommodate the viewport.
new_offwidth = max(self._model.vis.global_.offwidth,
viewport.width)
new_offheight = max(self._model.vis.global_.offheight,
viewport.height)
self._model.vis.global_.offwidth = new_offwidth
self._model.vis.global_.offheight = new_offheight
self._mujoco_context = wrapper.MjrContext(
model=self._model,
gl_context=self._surface,
font_scale=enums.mjtFontScale.mjFONTSCALE_100)
self._rgb_buffer = np.empty((viewport.height, viewport.width, 3),
dtype=np.uint8)
with self._surface.make_current() as ctx:
ctx.call(self._render_on_gl_thread, viewport, scene)
self._pixels = np.flipud(self._rgb_buffer)
def _make_rendering_contexts(self):
"""Creates the OpenGL and MuJoCo rendering contexts."""
# Get the offscreen framebuffer size, as specified in the model XML.
max_width = self.model.vis.global_.offwidth
max_height = self.model.vis.global_.offheight
# Create the OpenGL context.
render_context = _render.Renderer(max_width=max_width,
max_height=max_height)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext(self.model, render_context)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
def _make_rendering_contexts(self):
"""Creates the OpenGL and MuJoCo rendering contexts."""
# Forcibly clear the previous GL context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if self._contexts:
self._contexts.mujoco.free()
self._contexts.gl.free()
# Get the offscreen framebuffer size, as specified in the model XML.
max_width = self.model.vis.global_.offwidth
max_height = self.model.vis.global_.offheight
# Create the OpenGL context.
render_context = render.Renderer(max_width=max_width, max_height=max_height)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext(self.model, render_context)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
def _make_rendering_contexts(self):
"""Creates the OpenGL and MuJoCo rendering contexts."""
# Forcibly clear the previous GL context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if self._contexts:
self._contexts.gl.free()
# Create the OpenGL context.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr, _FONT_SCALE)
mjlib.mjr_setBuffer(
enums.mjtFramebuffer.mjFB_OFFSCREEN, mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
def _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes and sets up rendering contexts and named indexing.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
# Forcibly clear the previous context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if hasattr(self, '_contexts'):
self._contexts.gl.free_context()
# Set up rendering context. Need to provide at least one rendering api in
# the BUILD target.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr,
_FONT_SCALE)
mjlib.mjr_setBuffer(enums.mjtFramebuffer.mjFB_OFFSCREEN,
mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
# Call kinematics update to enable rendering.
self.after_reset()
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),
)
def test_repeatedly_create_and_destroy_context(self):
renderer = glfw_renderer.GLFWContext(MAX_WIDTH, MAX_HEIGHT)
wrapper.MjrContext(wrapper.MjModel.from_xml_string('<mujoco/>'),
renderer)
