mjviewer.py 文件源码

def render(self):
        if not self.data:
            return
        self.gui_lock.acquire()
        rect = self.get_rect()
        arr = (ctypes.c_double*3)(0, 0, 0)

        mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
        mjlib.mjv_makeLights(self.model.ptr, self.data.ptr, byref(self.objects))

        mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))

        mjlib.mjv_updateCameraPose(byref(self.cam), rect.width*1.0/rect.height)

        mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt), byref(self.cam.pose), byref(self.con))

        self.gui_lock.release()