Struct ViewerSharedState 

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

Internal state that is used by MjViewer to store MjData-related state. This is separate from MjViewer to allow use in multi-threaded programs, where the physics part runs in another thread and syncs the state with the viewer running in the main thread.

The state can be obtained through MjViewer::state, which will return an Arc<Mutex<ViewerSharedState>> instance. For scoped access, you may also use MjViewer::with_state_lock.

Implementations

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

pub fn running(&self) -> bool

Checks whether the viewer is still running or is supposed to run.

pub fn user_scene(&self) -> &MjvScene<M>

Returns an immutable reference to a user scene for drawing custom visual-only geoms. Geoms in the user scene are preserved between calls to ViewerSharedState::sync_data.

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

Returns a mutable reference to a user scene for drawing custom visual-only geoms. Geoms in the user scene are preserved between calls to ViewerSharedState::sync_data.

pub fn sync_data_full(&mut self, data: &mut MjData<M>)

Same as ViewerSharedState::sync_data, except it copies the entire MjData struct (including large Jacobian and other arrays), not just the state needed for visualization.

pub fn sync_data(&mut self, data: &mut MjData<M>)

Syncs the state of viewer’s internal MjData with data. Synchronization happens in two steps. First the viewer checks if any changes have been made to the internal MjData since the last call to this method (since the last sync). Any changes made are directly copied to the parameter data. Then the data’s state overwrites the internal MjData’s state.

Note that users must afterward call MjViewer::render for the scene to be rendered and the UI to be processed.

Synchronization of data is performed via mjv_copyData, which only copies fields required for visualization purposes.

If you require everything to be synced for use in a UI callback, you need to call appropriate functions/methods to calculate them (e.g., data.forward()). Alternatively, you can opt-in into syncing the entire MjData struct by calling ViewerSharedState::sync_data_full instead.

The following are NOT SYNCHRONIZED:

• Jacobian matrices;
• mass matrices.

Trait Implementations

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

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

Formats the value using the given formatter.