Method Render

TextOpDeploy/src/unitree_mujoco/simulate/src/mujoco/simulate.cc:2667–2957

render the ui to the window

  // render the ui to the window
  void Simulate::Render()
  {
    // update rendering context buffer size if required
    if (this->platform_ui->EnsureContextSize())
    {
      UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
      UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
    }

    // get 3D rectangle and reduced for profiler
    mjrRect rect = this->uistate.rect[3];
    mjrRect smallrect = rect;
    if (this->profiler)
    {
      smallrect.width = rect.width - rect.width / 4;
    }

    // no model
    if (!this->is_passive_ && !this->m_)
    {
      // blank screen
      mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);

      // label
      if (this->loadrequest)
      {
        mjr_overlay(mjFONT_BIG, mjGRID_TOP, smallrect, "LOADING...", nullptr,
                    &this->platform_ui->mjr_context());
      }
      else
      {
        char intro_message[Simulate::kMaxFilenameLength];
        mju::sprintf_arr(intro_message,
                         "MuJoCo version %s\nDrag-and-drop model file here", mj_versionString());
        mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0,
                    &this->platform_ui->mjr_context());
      }

      // show last loading error
      if (this->load_error[0])
      {
        mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
                    &this->platform_ui->mjr_context());
      }

      // render uis
      if (this->ui0_enable)
      {
        mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
      }
      if (this->ui1_enable)
      {
        mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
      }

      // finalize
      this->platform_ui->SwapBuffers();