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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <cstdio>
#include <cstring>
#include <GLFW/glfw3.h>
#include <mujoco/mujoco.h>
// MuJoCo data structures
mjModel* m = NULL; // MuJoCo model
mjData* d = NULL; // MuJoCo data
mjvCamera cam; // abstract camera
mjvOption opt; // visualization options
mjvScene scn; // abstract scene
mjrContext con; // custom GPU context
// mouse interaction
bool button_left = false;
bool button_middle = false;
bool button_right = false;
double lastx = 0;
double lasty = 0;
// keyboard callback
void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods) {
// backspace: reset simulation
if (act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE) {
mj_resetData(m, d);
mj_forward(m, d);
}
}
// mouse button callback
void mouse_button(GLFWwindow* window, int button, int act, int mods) {
// update button state
button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
// update mouse position
glfwGetCursorPos(window, &lastx, &lasty);
}
// mouse move callback
void mouse_move(GLFWwindow* window, double xpos, double ypos) {
// no buttons down: nothing to do
if (!button_left && !button_middle && !button_right) {
return;
}
// compute mouse displacement, save
double dx = xpos - lastx;
double dy = ypos - lasty;
lastx = xpos;
lasty = ypos;
// get current window size
int width, height;
glfwGetWindowSize(window, &width, &height);
// get shift key state
bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
// determine action based on mouse button
mjtMouse action;
if (button_right) {
action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
} else if (button_left) {
action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
} else {
action = mjMOUSE_ZOOM;
}
// move camera
mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
}
// scroll callback
void scroll(GLFWwindow* window, double xoffset, double yoffset) {
// emulate vertical mouse motion = 5% of window height
mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
}
// main function
int main(int argc, const char** argv) {
// check command-line arguments
if (argc!=2) {
std::printf(" USAGE: basic modelfile\n");
return 0;
}
// load and compile model
char error[1000] = "Could not load binary model";
if (std::strlen(argv[1])>4 && !std::strcmp(argv[1]+std::strlen(argv[1])-4, ".mjb")) {
m = mj_loadModel(argv[1], 0);
} else {
m = mj_loadXML(argv[1], 0, error, 1000);
}
if (!m) {
mju_error_s("Load model error: %s", error);
}
// make data
d = mj_makeData(m);
// init GLFW
if (!glfwInit()) {
mju_error("Could not initialize GLFW");
}
// create window, make OpenGL context current, request v-sync
GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
glfwMakeContextCurrent(window);
glfwSwapInterval(1);
// initialize visualization data structures
mjv_defaultCamera(&cam);
mjv_defaultOption(&opt);
mjv_defaultScene(&scn);
mjr_defaultContext(&con);
// create scene and context
mjv_makeScene(m, &scn, 2000);
mjr_makeContext(m, &con, mjFONTSCALE_150);
// install GLFW mouse and keyboard callbacks
glfwSetKeyCallback(window, keyboard);
glfwSetCursorPosCallback(window, mouse_move);
glfwSetMouseButtonCallback(window, mouse_button);
glfwSetScrollCallback(window, scroll);
// run main loop, target real-time simulation and 60 fps rendering
while (!glfwWindowShouldClose(window)) {
// advance interactive simulation for 1/60 sec
// Assuming MuJoCo can simulate faster than real-time, which it usually can,
// this loop will finish on time for the next frame to be rendered at 60 fps.
// Otherwise add a cpu timer and exit this loop when it is time to render.
mjtNum simstart = d->time;
while (d->time - simstart < 1.0/60.0) {
mj_step(m, d);
}
// get framebuffer viewport
mjrRect viewport = {0, 0, 0, 0};
glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
// update scene and render
mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
mjr_render(viewport, &scn, &con);
// swap OpenGL buffers (blocking call due to v-sync)
glfwSwapBuffers(window);
// process pending GUI events, call GLFW callbacks
glfwPollEvents();
}
//free visualization storage
mjv_freeScene(&scn);
mjr_freeContext(&con);
// free MuJoCo model and data
mj_deleteData(d);
mj_deleteModel(m);
// terminate GLFW (crashes with Linux NVidia drivers)
#if defined(__APPLE__) || defined(_WIN32)
glfwTerminate();
#endif
return 1;
}
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