Add reset scene and stop rendering

genesis/ext/pyrender/viewer.py

@@ -119,7 +119,7 @@ class Viewer(pyglet.window.Window):
       (scene default, flip wireframes, all wireframe, or all solid).
     - ``z``: Resets the camera to the initial view.
     - ``x``: Resets simulation to initial state.
-    - ``Space``: Pause simulation util pressing Space again
+    - ``Space``: Pause rendering util pressing Space again
 
     Note
     ----
@@ -187,7 +187,6 @@ def __init__(
         self,
         scene,
         context,
-        viewer,
         viewport_size=None,
         render_flags=None,
         viewer_flags=None,
@@ -206,7 +205,6 @@ def __init__(
             viewport_size = (640, 480)
         self.gs_context = context
         self.render_scene = scene
-        self._viewer = viewer
         self._scene = context._scene
         self._viewport_size = viewport_size
         self._render_lock = RLock()
@@ -217,8 +215,9 @@ def __init__(
         self._should_close = False
         self._run_in_thread = run_in_thread
         self._seg_node_map = context.seg_node_map
-        self._pause_draw = False
+
         self._video_saver = None
+
         self._default_render_flags = {
             "flip_wireframe": False,
             "all_wireframe": False,
@@ -299,7 +298,7 @@ def __init__(
                 "     [x]: reset simulation",
                 "     [d]: wireframe",
                 "     [c]: camera & frustrum",
-                "     [Space]: pause simulation",
+                "     [Space]: pause rendering",
                 "   [F11]: full-screen mode",
             ],
         ]
@@ -632,7 +631,7 @@ def draw_offscreen(self):
 
     def on_draw(self):
         """Redraw the scene into the viewing window."""
-        if self._renderer is None or self._pause_draw:
+        if self._renderer is None:
             return
 
         if self.run_in_thread or not self.auto_start:
@@ -862,14 +861,12 @@ def on_key_press(self, symbol, modifiers):
             self._save_image()
         elif symbol == pyglet.window.key.SPACE:
             if not self.gs_context.pause_rendering_shown:
-                self._pause_draw = True
+                self.render_lock.acquire(blocking=False)
                 self.gs_context.pause_rendering_shown = True
-                self._viewer._pause_render_flag = True
                 # gs.logger.info("pause_rendering......")
             else:
-                self._pause_draw = False
+                self.render_lock.release()
                 self.gs_context.pause_rendering_shown = False
-                self._viewer._pause_render_flag = False
                 # gs.logger.info("start_rendering......")
         elif symbol == pyglet.window.key.X:
             self.render_scene.reset()

genesis/vis/rasterizer_context.py

@@ -40,7 +40,7 @@ def init_meshes(self):
         self.world_frame_shown = False
         self.link_frame_shown = False
         self.camera_frustum_shown = False
-        self.pause_rendering_shown = False
+
         self.world_frame_mesh = mu.create_frame(
             origin_radius=0.012,
             axis_radius=0.005,

genesis/vis/viewer.py

@@ -39,17 +39,18 @@ def __init__(self, options, context):
         self._camera_init_lookat = options.camera_lookat
         self._camera_up = options.camera_up
         self._camera_fov = options.camera_fov
-        self._pause_render_flag = False
+
         self.context = context
 
         if self._max_FPS is not None:
             self.rate = Rate(self._max_FPS)
 
-    def build(self, scene, viewer):
+    def build(self, scene):
         self.scene = scene
+
         # set viewer camera
         self.setup_camera()
-        self.viewer = viewer
+
         # viewer
         if gs.platform == "Linux":
             run_in_thread = True
@@ -67,15 +68,13 @@ def build(self, scene, viewer):
 
         self._pyrender_viewer = pyrender.Viewer(
             scene=self.scene,
-            viewer=self.viewer,
             context=self.context,
             viewport_size=self._res,
             run_in_thread=run_in_thread,
             auto_start=auto_start,
             view_center=self._camera_init_lookat,
             shadow=self.context.shadow,
             plane_reflection=self.context.plane_reflection,
-            update_flag=self._pause_render_flag,
             viewer_flags={
                 "window_title": f"Genesis {gs.__version__}",
                 "refresh_rate": self._refresh_rate,
@@ -113,7 +112,6 @@ def setup_camera(self):
     def update(self):
         with self.lock:
             buffer_updates = self.context.update()
-            # gs.logger.info(f"Updating viewer....")
             for buffer_id, buffer_data in buffer_updates.items():
                 self._pyrender_viewer.pending_buffer_updates[buffer_id] = buffer_data
 

genesis/vis/visualizer.py

@@ -101,7 +101,7 @@ def build(self):
             self._context.build(self._scene)
 
         if self._viewer is not None:
-            self._viewer.build(self._scene, self._viewer)
+            self._viewer.build(self._scene)
             self.viewer_lock = self._viewer.lock
         else:
             self.viewer_lock = DummyViewerLock()
@@ -129,14 +129,12 @@ def build(self):
     def update(self, force=True):
         if force:  # force update
             self.reset()
-        if self._viewer is not None and not self._viewer._pause_render_flag:
-            # gs.logger.info("Updating viewer in visualizer.....")
+
+        if self._viewer is not None:
             if self._viewer.is_alive():
                 self._viewer.update()
             else:
                 gs.raise_exception("Viewer closed.")
-        # else:
-        # gs.logger.info("Skip updating viewer in visualizer.....")
 
     def update_visual_states(self):
         """