Struct MjRenderer 

pub struct MjRenderer<'m> { /* private fields */ }

A renderer for rendering 3D scenes. By default, RGB rendering is enabled and depth rendering is disabled.

Implementations

impl<'m> MjRenderer<'m>

pub fn new( model: &'m MjModel, width: usize, height: usize, max_geom: usize, ) -> Result<Self, RendererError>

Construct a new renderer. The max_geom parameter defines how much space will be allocated for additional, user-defined visual-only geoms. It can thus be set to 0 if no additional geoms will be drawn by the user.

Scene allocation

The renderer uses two scenes:

• the internal scene: used by the renderer to draw the model’s state.
• the user scene: used by the user to add additional geoms to the internal scene

The internal scene allocates the amount of space needed to fit every pre-existing model geom + user visual-only geoms + additional visual-only geoms that aren’t from the user (e.g., tendons). By default, the renderer reserves 100 extra geom slots for drawing the additional visual-only geoms. If that is not enough or it is too much, you can construct MjRenderer via its builder (MjRenderer::builder), which allows more configuration.

Parameters width and height must be less or equal to the offscreen buffer size, which can be configured at the top of the model’s XML like so:

<visual>
   <global offwidth="1920" offheight="1080"/>
</visual>

pub fn builder() -> MjRendererBuilder

Create a MjRendererBuilder to configure MjRenderer.

pub fn scene(&self) -> &MjvScene<'m>

Return an immutable reference to the internal scene.

pub fn user_scene(&self) -> &MjvScene<'m>

Return an immutable reference to a user scene for drawing custom visual-only geoms.

pub fn user_scene_mut(&mut self) -> &mut MjvScene<'m>

Return a mutable reference to a user scene for drawing custom visual-only geoms.

pub fn opts(&self) -> &MjvOption

Return an immutable reference to visualization options.

pub fn opts_mut(&mut self) -> &mut MjvOption

Return a mutable reference to visualization options.

pub fn camera(&self) -> &MjvCamera

Return an immutable reference to the camera.

pub fn camera_mut(&mut self) -> &mut MjvCamera

Return a mutable reference to the camera.

pub fn rgb_enabled(&self) -> bool

Check if RGB rendering is enabled.

pub fn depth_enabled(&self) -> bool

Check if depth rendering is enabled.

pub fn set_font_scale(&mut self, font_scale: MjtFontScale)

Sets the font size.

pub fn set_opts(&mut self, options: MjvOption)

Update the visualization options and return a reference to self.

pub fn set_camera(&mut self, camera: MjvCamera)

Set the camera used for rendering.

pub fn set_rgb_rendering(&mut self, enable: bool)

Enables/disables RGB rendering.

pub fn set_depth_rendering(&mut self, enable: bool)

Enables/disables depth rendering.

pub fn with_font_scale(self, font_scale: MjtFontScale) -> Self

Sets the font size. To be used on construction.

pub fn with_opts(self, options: MjvOption) -> Self

Update the visualization options and return a reference to self. To be used on construction.

pub fn with_camera(self, camera: MjvCamera) -> Self

Set the camera used for rendering. To be used on construction.

pub fn with_rgb_rendering(self, enable: bool) -> Self

Enables/disables RGB rendering. To be used on construction.

pub fn with_depth_rendering(self, enable: bool) -> Self

Enables/disables depth rendering. To be used on construction.

pub fn sync(&mut self, data: &mut MjData<'_>)

Update the scene with new data from data.

pub fn rgb_flat(&self) -> Option<&[u8]>

Return a flattened RGB image of the scene.

pub fn rgb<const WIDTH: usize, const HEIGHT: usize>( &self, ) -> Result<&[[[u8; 3]; WIDTH]; HEIGHT]>

Return an RGB image of the scene. This methods accepts two generic parameters <WIDTH, HEIGHT> that define the shape of the output slice.

pub fn depth_flat(&self) -> Option<&[f32]>

Return a flattened depth image of the scene.

pub fn depth<const WIDTH: usize, const HEIGHT: usize>( &self, ) -> Result<&[[f32; WIDTH]; HEIGHT]>

Return a depth image of the scene. This methods accepts two generic parameters <WIDTH, HEIGHT> that define the shape of the output slice.

pub fn save_rgb<T: AsRef<Path>>(&self, path: T) -> Result<()>

Save an RGB image of the scene to a path.

Errors

• ErrorKind::NotFound when RGB rendering is disabled,
• other errors related to write.

pub fn save_depth<T: AsRef<Path>>( &self, path: T, normalize: bool, ) -> Result<(f32, f32)>

Save a depth image of the scene to a path. The image is 16-bit PNG, which can be converted into depth (distance) data by dividing the grayscale values by 65535.0 and applying inverse normalization: depth = min + (grayscale / 65535.0) * (max - min). If normalize is true, then the data is normalized with min-max normalization. Use of MjRenderer::save_depth_raw is recommended if performance is critical, as it skips PNG encoding and also saves the true depth values directly.

Returns

An Ok((min, max)) is returned, where min and max represent the normalization parameters.

Errors

• ErrorKind::NotFound when depth rendering is disabled,
• other errors related to write.

pub fn save_depth_raw<T: AsRef<Path>>(&self, path: T) -> Result<()>

Save the raw depth data to the path. The data is encoded as a sequence of bytes, where groups of four represent a single f32 value. The lower bytes of individual f32 appear first (low-endianness).

Errors

• ErrorKind::NotFound when depth rendering is disabled,
• other errors related to write.