Struct MjViewerCpp 

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

Wrapper around the C++ implementation of MujoCo viewer. If you don’t need the side UI, we recommend you use the Rust-native viewer crate::viewer::MjViewer instead.

Safety

Calls to MjViewerCpp::render must be done only on the main thread! For convenience MjViewerCpp implements both Send and Sync, however that is meant only for syncing the viewer.

Additionally, to allow certain flexibility while still maintaining compatibility with the C++ code, MjViewerCpp keeps internal pointers to mjModel and mjData, which are wrapped inside MjModel and MjData, respectively. This technically allows model and data to be modified while the viewer keeps a pointer to them (their wrapped pointers). Undefined behavior should not occur, however caution is advised as this is a violation of the Rust’s borrowing rules.

Implementations

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

pub fn running(&self) -> bool

pub fn user_scn_mut(&mut self) -> &mut MjvScene<M>

pub fn launch_passive(model: M, data: &MjData<M>, max_user_geom: usize) -> Self

Launches a wrapper around MuJoCo’s C++ viewer. The max_user_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. Unlike the Rust-native viewer (crate::viewer::MjViewer), this also accepts a data parameter. Additionally, this just returns a MjViewerCpp instance directly, without result as the initialization may fail internally in C++ anyway, which we have no way of checking.

Safety

See MjViewerCpp’s note.

pub fn __raw(&self) -> *mut mujoco_Simulate

Returns the underlying C++ binding object of the viewer.

pub fn render(&mut self, update_timer: bool)

Renders the simulation. update_timer flag specifies whether the time should be updated inside the viewer (for FPS calculation).

SAFETY

This needs to be called periodically from the MAIN thread, otherwise GLFW stops working.

pub fn sync(&mut self)

Syncs the simulation state with the viewer as well as perform rendering on the viewer.

Trait Implementations

impl<M: Deref<Target = MjModel> + Clone> Drop for MjViewerCpp<M>

fn drop(&mut self)

Executes the destructor for this type.

impl<M: Deref<Target = MjModel> + Clone> Send for MjViewerCpp<M>

impl<M: Deref<Target = MjModel> + Clone> Sync for MjViewerCpp<M>