Implementation:Google deepmind Mujoco mjr makeContext

Knowledge Sources	MuJoCo MuJoCo API Reference
Domains	Rendering, OpenGL, GPU
Last Updated	2026-02-15 06:00 GMT

Overview

Concrete tool for initializing MuJoCo's OpenGL rendering context with textures, shaders, and framebuffers provided by the MuJoCo rendering API.

Description

The mjr_makeContext function initializes all GPU rendering resources: loads the GLAD OpenGL function pointers, uploads model textures, creates shaders, sets up offscreen FBOs with multisampled color and depth buffers, and generates font bitmaps at the specified scale. It automatically detects whether a window or headless context is active.

Usage

Call after creating an OpenGL context (GLFW window, EGL, or OSMesa) and loading a model. Must be called before any mjr_render calls.

Code Reference

Source Location

• Repository: mujoco
• File: src/render/render_context.c
• Lines: 1525-1677

Signature

void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
m	const mjModel*	Yes	Model (for textures and visual settings)
con	mjrContext*	Yes	Context struct to initialize
fontscale	int	Yes	Font scale enum: mjFONTSCALE_50, mjFONTSCALE_100, mjFONTSCALE_150, mjFONTSCALE_200, mjFONTSCALE_250, mjFONTSCALE_300

Outputs

Name	Type	Description
con (modified)	mjrContext*	Initialized with GPU textures, shaders, FBOs, fonts

Usage Examples

#include <mujoco/mujoco.h>
#include <GLFW/glfw3.h>

// Create GLFW window first
glfwInit();
GLFWwindow* window = glfwCreateWindow(1200, 900, "MuJoCo", NULL, NULL);
glfwMakeContextCurrent(window);

// Load model
mjModel* m = mj_loadXML("scene.xml", NULL, error, 1000);

// Create rendering context
mjrContext con;
mjr_makeContext(m, &con, mjFONTSCALE_150);

// ... rendering loop ...

// Cleanup
mjr_freeContext(&con);

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Rendering_Context_Setup

Requires Environment

• Environment:Google_deepmind_Mujoco_C_Build_Environment