Implementation:Google deepmind Mujoco mjr render

Knowledge Sources	MuJoCo MuJoCo API Reference
Domains	Rendering, OpenGL, 3D_Graphics
Last Updated	2026-02-15 06:00 GMT

Overview

Concrete tool for rendering a 3D scene to an OpenGL framebuffer provided by the MuJoCo rendering API.

Description

The mjr_render function renders the contents of an mjvScene into the specified viewport rectangle of the active OpenGL framebuffer. It handles the full rendering pipeline: shadow mapping, 3D geometry with lighting, transparency, skybox, and fog. Works with both on-screen window buffers and offscreen FBOs.

Usage

Call after mjv_updateScene to render the current frame. Use with mjr_setBuffer to target offscreen rendering.

Code Reference

Source Location

• Repository: mujoco
• File: src/render/render_gl3.c
• Lines: 818-905

Signature

void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
viewport	mjrRect	Yes	Render rectangle {left, bottom, width, height}
scn	mjvScene*	Yes	Abstract scene to render
con	const mjrContext*	Yes	GPU rendering context

Outputs

Name	Type	Description
framebuffer	OpenGL	Rendered pixels in the active framebuffer at the specified viewport

Usage Examples

// Get viewport and render
mjrRect viewport = {0, 0, 0, 0};
glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
mjr_render(viewport, &scn, &con);
glfwSwapBuffers(window);

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Scene_Rendering

Requires Environment

• Environment:Google_deepmind_Mujoco_C_Build_Environment