Merge pull request #96 from davidhozic/develop

Merge changes for 2.1.0

Author: davidhozic

Cargo.toml

@@ -1,29 +1,34 @@
 [package]
 name = "mujoco-rs"
-version = "2.0.1+mj-3.3.7"
+version = "2.1.0+mj-3.3.7"
 edition = "2024"
 license = "MIT OR Apache-2.0"
-description = "A Rust wrapper around the MuJoCo C library, with a native simple viewer (re-)written in Rust."
+description = "A high-level Rust wrapper around the MuJoCo C library, with a native viewer (re-)written in Rust."
 readme = "README.md"
 repository = "https://github.com/davidhozic/mujoco-rs"
 keywords = ["MuJoCo", "Viewer", "Bindings", "Wrapper"]
 categories = ["simulation", "science::robotics", "api-bindings"]
 homepage = "https://crates.io/crates/mujoco-rs"
 documentation = "https://docs.rs/mujoco-rs/"
 
-exclude = ["src/cpp/*", ".gitignore", ".gitmodules", "mujoco/*"]
+exclude = ["src/cpp/*", ".gitignore", ".gitmodules", "mujoco/*", "docs/"]
 
 [package.metadata.docs.rs]
 all-features = true
 
 
 [features]
 viewer = ["dep:bitflags", "dep:glutin", "dep:winit", "dep:glutin-winit"]
+viewer-ui = ["viewer", "dep:egui-winit", "dep:egui_glow", "dep:egui"]
 renderer = ["dep:bitflags", "dep:glutin", "dep:winit", "dep:glutin-winit", "dep:png"]
 cpp-viewer = []
 
 ffi-regenerate = ["dep:regex", "dep:bindgen"]  # Generate the ffi bindings. Only used for updating the committed ``mujoco_c`` module. 
-default = ["viewer", "renderer"]
+
+auto-download-mujoco = ["dep:ureq", "dep:flate2", "dep:tar", "dep:zip", "dep:sha2"]
+use-rpath = []
+
+default = ["viewer", "viewer-ui", "renderer"]
 
 [dependencies]
 bitflags = {version = "2.9.4", optional = true}
@@ -34,10 +39,28 @@ paste = "1.0.15"
 glutin = {version = "0.32.3", optional = true}
 winit = {version = "0.30.12", optional = true}
 glutin-winit = {version = "0.5.0", optional = true}
+# Viewer's user interface dependencies
+egui-winit = {version = "0.33.0", default-features = false, features = ["wayland", "x11"], optional = true}
+egui_glow = {version = "0.33.0", features = ["x11", "winit", "wayland", "egui-winit"], optional = true}
+egui = {version = "0.33.0", optional = true}
 
 [build-dependencies]
 bindgen = {version = "0.71.1", optional = true}
 regex = {version = "1.11.2", optional = true}
 
+# Automatic download dependencies
+ureq = {version = "3.1.4", optional = true}
+sha2 = {version = "0.10.9", optional = true}
+
+[target.'cfg(target_os = "linux")'.build-dependencies]
+flate2 = {version = "1.1.5", optional = true}
+tar = {version = "0.4.44", optional = true}
+
+[target.'cfg(target_os = "windows")'.build-dependencies]
+zip = {version = "6.0.0", default-features = false, features = ["deflate"], optional = true}
+
+[target.'cfg(unix)'.build-dependencies]
+pkg-config = "0.3"
+
 [dev-dependencies]
 rand = "0.9.2"

README.md

@@ -4,8 +4,7 @@
 
 [![Guide](https://img.shields.io/badge/Documentation-green)](https://mujoco-rs.readthedocs.io/en/stable/)
 
-
-MuJoCo bindings and wrappers for the Rust programming language. Includes a Rust-native viewer and also
+MuJoCo bindings and high-level wrappers for the Rust programming language. Includes a Rust-native viewer and also
 bindings to a modified C++ one.
 
 [MuJoCo](https://mujoco.org/) is a general purpose physics simulator.
@@ -19,9 +18,6 @@ More detailed documentation is available at the:
 ## MuJoCo version
 This library uses FFI bindings to MuJoCo **3.3.7**.
 
-You can download it from [official MuJoCo releases](https://github.com/google-deepmind/mujoco/releases/tag/3.3.7).
-
-
 ## Installation
 For installation, see the [**guide book**](https://mujoco-rs.readthedocs.io/en/stable/installation.html).
 
@@ -34,6 +30,7 @@ The main features on top of MuJoCo include
   - Automatic allocation and cleanup.
   - Lifetime guarantees.
 
+- Automatic download and setup of MuJoCo.
 - Methods as function wrappers.
 - Easy manipulation of simulation data via attribute views.
 - High-level model editing.
@@ -43,37 +40,36 @@ The main features on top of MuJoCo include
   - Viewer: onscreen visualization of the 3D simulation.
 
 
-
 ## Rust-native viewer
 Screenshot of the built-in Rust viewer. Showing scene from [MuJoCo's menagerie](https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot).
 ![](docs/img_common/viewer_spot.png)
 
 
 ## Optional Cargo features
 Optional Cargo features can be enabled:
-- ``viewer``: enables the Rust-native MuJoCo viewer. This can currently
-                display everything and respond to mouse/keyboard. No side-panels (the user menu) currently exists.
-- ``cpp-viewer``: enables the Rust wrapper around the C++ MuJoCo viewer. This is only available if you build the MuJoCo yourself using the steps above (yes, you need to use the forked repository).
-- ``renderer``: enables the offscreen rendering code for reading RGB and depth data to memory or file.
+  
+- ``auto-download-mujoco``: MuJoCo dependency will be automatically downloaded and configured.
 
-By default, ``viewer`` and ``renderer`` are enabled.
+  - This is only available on Linux and Windows.
 
-## Missing libraries
-MuJoCo-rs should on Windows work without problems after the MuJoCo library
-is provided. On Linux (and potentially MacOS, which we don't test) you may need
-additional build-time dependencies, such as CMake. This depends
-on your Linux distro and whether you want visualization/rendering support. See the [installation guide](https://mujoco-rs.readthedocs.io/en/stable/installation.html#build-dependencies-visualization-rendering-only) for more information.
+- ``use-rpath``: On Linux and MacOS, when dynamically linking, set the RPATH of the final binary.
+- ``viewer``: enables the Rust-native MuJoCo viewer.
+
+  - ``viewer-ui``: enables the (additional) user UI within the viewer.
+
+- ``cpp-viewer``: enables the Rust wrapper around the C++ MuJoCo viewer.
+  This requires static linking to a modified fork of MuJoCo, as described in :ref:`installation`.
+- ``renderer``: enables offscreen rendering for writing RGB and
+  depth data to memory or file.
+
+By default, ``viewer``, ``viewer-ui`` and ``renderer`` are enabled.
 
-## NOTE
-This project is WIP but functional. I accept pull requests about bug fixes
-and feature requests. If you have any questions, please open a **discussion**.
 
 ## Example
 This example shows how to launch the viewer and print the coordinates
 of a moving ball to the terminal.
 Other examples can be found under the ``examples/`` directory.
 
-
 ```rust
 //! Example of using views.
 //! The example shows how to obtain a [`MjJointInfo`] struct that can be used