Struct MjRendererBuilder 

pub struct MjRendererBuilder<M: Deref<Target = MjModel> + Clone> { /* private fields */ }

A builder for MjRenderer.

Implementations

impl<M: Deref<Target = MjModel> + Clone> MjRendererBuilder<M>

pub fn new() -> Self

Create a builder with default configuration. Defaults are:

• width and height: use offwidth and offheight of MuJoCo’s visual/global settings from the model,
• num_visual_internal_geom: 100,
• num_visual_user_geom: 0,
• rgb: true,
• depth: false.

pub fn width(self, value: u32) -> Self

Set image width.

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

<visual>
    <global offwidth="1920" .../>
</visual>

pub fn height(self, value: u32) -> Self

Set image height.

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

<visual>
    <global offheight="1080" .../>
</visual>

pub fn num_visual_internal_geom(self, value: u32) -> Self

Set maximum number of additional visual-only internal geoms to allocate for. Note that the total number of geoms in the internal scene will be num_visual_internal_geom + num_visual_user_geom.

pub fn num_visual_user_geom(self, value: u32) -> Self

Set maximum number of additional visual-only user geoms (drawn by the user).

pub fn rgb(self, value: bool) -> Self

Set RGB rendering enabled (true) or disabled (false).

pub fn depth(self, value: bool) -> Self

Set depth rendering enabled (true) or disabled (false).

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

Set font scale of drawn text (with MjrContext).

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

Set camera used for drawing.

pub fn opts(self, value: MjvOption) -> Self

Set visualization options.

pub fn build(self, model: M) -> Result<MjRenderer<M>, RendererError>

Builds a MjRenderer.

Trait Implementations

impl<M: Debug + Deref<Target = MjModel> + Clone> Debug for MjRendererBuilder<M>

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

Formats the value using the given formatter.

impl<M: Deref<Target = MjModel> + Clone> Default for MjRendererBuilder<M>

fn default() -> Self

Returns the “default value” for a type.