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call mjv_makeScene after self._model_ptr inited #529

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call mjv_makeScene after self._model_ptr inited #529

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19 changes: 13 additions & 6 deletions mujoco_py/mjrendercontext.pyx
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,9 @@ cdef class MjRenderContext(object):
cdef public object sim

def __cinit__(self):
maxgeom = 1000
mjv_makeScene(self._model_ptr, &self._scn, maxgeom)
mjv_defaultCamera(&self._cam)
mjv_defaultPerturb(&self._pert)
mjv_defaultOption(&self._vopt)
mjr_defaultContext(&self._con)
# __cinit__ run before __init__ self._model_ptr not init before call mjv_makeScene
# mv all init to line 54
pass

def __init__(self, MjSim sim, bint offscreen=True, int device_id=-1, opengl_backend=None, quiet=False):
self.sim = sim
Expand All @@ -53,6 +50,16 @@ cdef class MjRenderContext(object):

self._model_ptr = sim.model.ptr
self._data_ptr = sim.data.ptr

mjv_defaultCamera(&self._cam)
mjv_defaultPerturb(&self._pert)
mjv_defaultOption(&self._vopt)
mjr_defaultContext(&self._con)
mjv_defaultScene(&self._scn)

maxgeom = 1000
mjv_makeScene(self._model_ptr, &self._scn, maxgeom)

self.scn = WrapMjvScene(&self._scn)
self.cam = WrapMjvCamera(&self._cam)
self.vopt = WrapMjvOption(&self._vopt)
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