Struct MjViewer 

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

A Rust-native implementation of the MuJoCo viewer. To confirm to rust safety rules, the viewer doesn’t store a mutable reference to the MjData struct, but it instead accepts it as a parameter at its methods.

Currently supported (to be expanded in the future):

• Visualization of the 3D scene,
• Close via Ctrl + Q or by closing the window,
• Body tracking via Ctrl + double left-click,
• Escape from tracked camera via Esc.

Only passive mode is available, which means the user must call MjViewer::sync to update the state inside the viewer.

Implementations

impl<'m> MjViewer<'m>

pub fn launch_passive( model: &'m MjModel, scene_max_ngeom: usize, ) -> Result<Self, MjViewerError>

Launches the MuJoCo viewer. A Result struct is returned that either contains MjViewer or a MjViewerError.

Examples found in repository

examples/rust_viewer.rs (line 28)

fn main() {
    let model = MjModel::from_xml_string(EXAMPLE_MODEL).expect("could not load the model");
    let mut data = model.make_data();  // or MjData::new(&model);
    let mut viewer = MjViewer::launch_passive(&model, 100)
        .expect("could not launch the viewer");
    while viewer.running() {
        viewer.sync(&mut data);
        data.step();
        std::thread::sleep(Duration::from_millis(2));
    }
}

pub fn running(&self) -> bool

Checks whether the window is still open.

Examples found in repository

examples/rust_viewer.rs (line 30)

fn main() {
    let model = MjModel::from_xml_string(EXAMPLE_MODEL).expect("could not load the model");
    let mut data = model.make_data();  // or MjData::new(&model);
    let mut viewer = MjViewer::launch_passive(&model, 100)
        .expect("could not launch the viewer");
    while viewer.running() {
        viewer.sync(&mut data);
        data.step();
        std::thread::sleep(Duration::from_millis(2));
    }
}

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

Examples found in repository

examples/rust_viewer.rs (line 31)

fn main() {
    let model = MjModel::from_xml_string(EXAMPLE_MODEL).expect("could not load the model");
    let mut data = model.make_data();  // or MjData::new(&model);
    let mut viewer = MjViewer::launch_passive(&model, 100)
        .expect("could not launch the viewer");
    while viewer.running() {
        viewer.sync(&mut data);
        data.step();
        std::thread::sleep(Duration::from_millis(2));
    }
}

Trait Implementations

impl<'m> Debug for MjViewer<'m>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.