Function Definitions

[Troldmand43]

Intro

Hi!
I'm currently working on a project with a Qt application and Mujoco

My setup

I'm using the Mujoco API C on ubuntu

My question

I'm currently working to understand the Mujoco scene creation. How the functions work which is called by the mujoco file parser.
I tried to look for the function definitions for the following function, but have problems finding the definitions.
The functions definitions I'm looking for
mjv_makeScene
mjv_makeContext
mj_updateScene
mjr_render

Minimal model and/or code that explain my question

// 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

// ... load model and data

// init GLFW, create window, make OpenGL context current, request v-sync
glfwInit();
GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
glfwMakeContextCurrent(window);
glfwSwapInterval(1);

// initialize visualization data structures
mjv_defaultCamera(&cam);
mjv_defaultPerturb(&pert);
mjv_defaultOption(&opt);
mjr_defaultContext(&con);

// create scene and context
mjv_makeScene(m, &scn, 1000);
mjr_makeContext(m, &con, mjFONTSCALE_100);

// ... install GLFW keyboard and mouse callbacks

// 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();
}

// close GLFW, free visualization storage
glfwTerminate();
mjv_freeScene(&scn);
mjr_freeContext(&con);

// ... free MuJoCo model and data

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

These functions are in files in these folders
(mj_ and mjv_) https://github.com/google-deepmind/mujoco/tree/main/src/engine
(mjr_) https://github.com/google-deepmind/mujoco/tree/main/src/render