Struct PersistentRenderer 

pub struct PersistentRenderer { /* private fields */ }

Per-step persistent renderer for feedback loops. See the module docs in render::PersistentRenderer for lifetime, thread-affinity, and object/config-invariance guarantees. Built for the surface-policy use case in neocortx where a fixed object is rendered from a moving camera many times per episode (issue #65). Persistent per-step renderer. Loads the scene once at new() and renders one frame per render() call by mutating the camera transform and scene root rotation in-place. Built for surface-policy feedback loops where the object stays fixed for the duration of an episode and the camera moves every step. See issue #65.

Thread affinity

PersistentRenderer must be created, used, and dropped on the same thread. Holds a bevy::App that owns GPU resources not safe to move across threads; !Send + !Sync is enforced via PhantomData<*const ()>.

Object + config invariants

object_dir and RenderConfig are fixed at new(). To render a different object or change resolution/lighting, drop and rebuild. Rotation may change freely between render() calls.

Implementations

impl PersistentRenderer

pub fn new( object_dir: &Path, render_config: &RenderConfig, ) -> Result<Self, RenderError>

Build the App, load the scene + texture, spawn the scene root, and drive one warmup render whose output is discarded. After new() returns, the first user-facing render() call benefits from a warm PSO cache and applied materials.

pub fn render( &mut self, camera_transform: &Transform, object_rotation: &ObjectRotation, ) -> Result<RenderOutput, RenderError>

Render one frame from the given camera transform and object rotation. Reuses the loaded scene + warm PSO cache from new().

pub fn object_dir(&self) -> &Path

Path to the YCB object directory this renderer was bound to.

pub fn render_config(&self) -> &RenderConfig

The RenderConfig this renderer was constructed with.

pub fn close(self)

Explicit close. Equivalent to dropping; provided to match the API proposal in #65 for callers that want lifetime-explicit teardown.