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| 1 | +use rusty_mujoco::{mj_loadXML, mj_makeData, mj_step}; |
| 2 | +use rusty_mujoco::{mjr_makeContext, mjr_render, mjrContext, mjrRect, mjtCatBit, mjtFontScale, mjv_makeScene, mjv_updateScene, mjvCamera, mjvOption, mjvScene}; |
| 3 | + |
| 4 | +struct Args { |
| 5 | + xml_path: String, |
| 6 | + camera_name: Option<String>, |
| 7 | +} |
| 8 | +impl Args { |
| 9 | + fn from_env() -> Self { |
| 10 | + const USAGE: &str = "\ |
| 11 | + Usage: visualize_left_object <path_to_xml_file> [options]\n\ |
| 12 | + \n\ |
| 13 | + Options:\n\ |
| 14 | + \t--camera <camera name>\tSpecify the name of camera to use for rendering (optional)\n\ |
| 15 | + "; |
| 16 | + |
| 17 | + let mut args = std::env::args().skip(1); |
| 18 | + let xml_path = args.next().expect(USAGE); |
| 19 | + |
| 20 | + let (mut camera_name,) = (None,); |
| 21 | + while let Some(arg) = args.next() { |
| 22 | + match &*arg { |
| 23 | + "--camera" => { |
| 24 | + camera_name = Some(args.next().expect("Expected a camera name after --camera")); |
| 25 | + } |
| 26 | + _ => { |
| 27 | + eprintln!("Unknown argument: {arg}"); |
| 28 | + eprintln!("{}", USAGE); |
| 29 | + std::process::exit(1); |
| 30 | + } |
| 31 | + } |
| 32 | + } |
| 33 | + |
| 34 | + Self { xml_path, camera_name } |
| 35 | + } |
| 36 | +} |
| 37 | + |
| 38 | +fn main() { |
| 39 | + let Args { xml_path, camera_name } = Args::from_env(); |
| 40 | + |
| 41 | + let model = mj_loadXML(xml_path).expect("Failed to load XML file"); |
| 42 | + let mut data = mj_makeData(&model); |
| 43 | + |
| 44 | + let mut glfw = glfw::init(glfw::fail_on_errors).expect("Failed to initialize GLFW"); |
| 45 | + let (mut window, events) = glfw |
| 46 | + .create_window(1200, 900, "Acrobot Simulation", glfw::WindowMode::Windowed) |
| 47 | + .expect("Failed to create GLFW window"); |
| 48 | + window.set_size_polling(true); |
| 49 | + glfw::Context::make_current(&mut *window); |
| 50 | + |
| 51 | + let opt = mjvOption::default(); |
| 52 | + let mut scn = mjvScene::default(); |
| 53 | + let mut con = mjrContext::default(); |
| 54 | + let mut cam = mjvCamera::default(); |
| 55 | + mjv_makeScene(&model, &mut scn, 2000); |
| 56 | + mjr_makeContext(&model, &mut con, mjtFontScale::X150); |
| 57 | + camera_name.map(|name| cam.set_fixedcamid(model.object_id(&name).expect("No camera of such name in the model"))); |
| 58 | + |
| 59 | + while !window.should_close() { |
| 60 | + while data.time() < glfw.get_time() { |
| 61 | + mj_step(&model, &mut data); |
| 62 | + } |
| 63 | + |
| 64 | + let viewport = { |
| 65 | + let (width, height) = window.get_framebuffer_size(); |
| 66 | + mjrRect::new(0, 0, width as u32, height as u32) |
| 67 | + }; |
| 68 | + |
| 69 | + mjv_updateScene( |
| 70 | + &model, |
| 71 | + &mut data, |
| 72 | + &opt, |
| 73 | + None, /* No perturbation */ |
| 74 | + &mut cam, |
| 75 | + mjtCatBit::ALL, |
| 76 | + &mut scn, |
| 77 | + ); |
| 78 | + mjr_render(viewport, &mut scn, &con); |
| 79 | + glfw::Context::swap_buffers(&mut *window); |
| 80 | + |
| 81 | + glfw.poll_events(); |
| 82 | + for (_, event) in glfw::flush_messages(&events) { |
| 83 | + match event { |
| 84 | + glfw::WindowEvent::Close => { |
| 85 | + window.set_should_close(true); |
| 86 | + } |
| 87 | + glfw::WindowEvent::Size(width, height) => { |
| 88 | + window.set_size(width, height); |
| 89 | + } |
| 90 | + _ => (), |
| 91 | + } |
| 92 | + } |
| 93 | + } |
| 94 | +} |
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