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- // Copyright 2021 DeepMind Technologies Limited
- //
- // Licensed under the Apache License, Version 2.0 (the "License");
- // you may not use this file except in compliance with the License.
- // You may obtain a copy of the License at
- //
- // http://www.apache.org/licenses/LICENSE-2.0
- //
- // Unless required by applicable law or agreed to in writing, software
- // distributed under the License is distributed on an "AS IS" BASIS,
- // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- // See the License for the specific language governing permissions and
- // limitations under the License.
- #include <cstdio>
- #include <cstring>
- #include <GLFW/glfw3.h>
- #include <mujoco/mujoco.h>
- // MuJoCo data structures
- mjModel* m = NULL; // MuJoCo model
- mjData* d = NULL; // MuJoCo data
- mjvCamera cam; // abstract camera
- mjvOption opt; // visualization options
- mjvScene scn; // abstract scene
- mjrContext con; // custom GPU context
- // mouse interaction
- bool button_left = false;
- bool button_middle = false;
- bool button_right = false;
- double lastx = 0;
- double lasty = 0;
- // keyboard callback
- void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods) {
- // backspace: reset simulation
- if (act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE) {
- mj_resetData(m, d);
- mj_forward(m, d);
- }
- }
- // mouse button callback
- void mouse_button(GLFWwindow* window, int button, int act, int mods) {
- // update button state
- button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
- button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
- button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
- // update mouse position
- glfwGetCursorPos(window, &lastx, &lasty);
- }
- // mouse move callback
- void mouse_move(GLFWwindow* window, double xpos, double ypos) {
- // no buttons down: nothing to do
- if (!button_left && !button_middle && !button_right) {
- return;
- }
- // compute mouse displacement, save
- double dx = xpos - lastx;
- double dy = ypos - lasty;
- lastx = xpos;
- lasty = ypos;
- // get current window size
- int width, height;
- glfwGetWindowSize(window, &width, &height);
- // get shift key state
- bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
- glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
- // determine action based on mouse button
- mjtMouse action;
- if (button_right) {
- action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
- } else if (button_left) {
- action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
- } else {
- action = mjMOUSE_ZOOM;
- }
- // move camera
- mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
- }
- // scroll callback
- void scroll(GLFWwindow* window, double xoffset, double yoffset) {
- // emulate vertical mouse motion = 5% of window height
- mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
- }
- // main function
- int main(int argc, const char** argv) {
- // check command-line arguments
- if (argc!=2) {
- std::printf(" USAGE: basic modelfile\n");
- return 0;
- }
- // load and compile model
- char error[1000] = "Could not load binary model";
- if (std::strlen(argv[1])>4 && !std::strcmp(argv[1]+std::strlen(argv[1])-4, ".mjb")) {
- m = mj_loadModel(argv[1], 0);
- } else {
- m = mj_loadXML(argv[1], 0, error, 1000);
- }
- if (!m) {
- mju_error("Load model error: %s", error);
- }
- // make data
- d = mj_makeData(m);
- // init GLFW
- if (!glfwInit()) {
- mju_error("Could not initialize GLFW");
- }
- // create window, make OpenGL context current, request v-sync
- GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
- glfwMakeContextCurrent(window);
- glfwSwapInterval(1);
- // initialize visualization data structures
- mjv_defaultCamera(&cam);
- mjv_defaultOption(&opt);
- mjv_defaultScene(&scn);
- mjr_defaultContext(&con);
- // create scene and context
- mjv_makeScene(m, &scn, 2000);
- mjr_makeContext(m, &con, mjFONTSCALE_150);
- // install GLFW mouse and keyboard callbacks
- glfwSetKeyCallback(window, keyboard);
- glfwSetCursorPosCallback(window, mouse_move);
- glfwSetMouseButtonCallback(window, mouse_button);
- glfwSetScrollCallback(window, scroll);
- // run main loop, target real-time simulation and 60 fps rendering
- while (!glfwWindowShouldClose(window)) {
- // advance interactive simulation for 1/60 sec
- // Assuming MuJoCo can simulate faster than real-time, which it usually can,
- // this loop will finish on time for the next frame to be rendered at 60 fps.
- // Otherwise add a cpu timer and exit this loop when it is time to render.
- mjtNum simstart = d->time;
- while (d->time - simstart < 1.0/60.0) {
- mj_step(m, d);
- }
- // get framebuffer viewport
- mjrRect viewport = {0, 0, 0, 0};
- glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
- // update scene and render
- mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
- mjr_render(viewport, &scn, &con);
- // swap OpenGL buffers (blocking call due to v-sync)
- glfwSwapBuffers(window);
- // process pending GUI events, call GLFW callbacks
- glfwPollEvents();
- }
- //free visualization storage
- mjv_freeScene(&scn);
- mjr_freeContext(&con);
- // free MuJoCo model and data
- mj_deleteData(d);
- mj_deleteModel(m);
- // terminate GLFW (crashes with Linux NVidia drivers)
- #if defined(__APPLE__) || defined(_WIN32)
- glfwTerminate();
- #endif
- return 1;
- }
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