warp.render
===========

.. currentmodule:: warp.render

The ``warp.render`` module provides a set of renderers that can be used for visualizing scenes involving shapes of various types.

Built on top of these stand-alone renderers, the ``warp.sim.render`` module provides renderers that can be used to
visualize scenes directly from ``warp.sim.ModelBuilder`` objects and update them from ``warp.sim.State`` objects.

Standalone Renderers
--------------------

The ``OpenGLRenderer`` provides an interactive renderer to play back animations in real time, the ``UsdRenderer``
provides a renderer that exports the scene to a USD file that can be rendered in a renderer of your choice.

.. autoclass:: UsdRenderer
    :members:


.. autoclass:: OpenGLRenderer
    :members:

Simulation Renderers
--------------------

Based on these renderers from ``warp.render``, the ``SimRendererUsd`` (which equals ``SimRenderer``) and
``SimRendererOpenGL`` classes from ``warp.sim.render`` are derived to populate the renderers directly from
``warp.sim.ModelBuilder`` scenes and update them from ``warp.sim.State`` objects.

.. currentmodule:: warp.sim.render

.. autoclass:: SimRendererUsd
    :members:

.. autoclass:: SimRendererOpenGL
    :members:

CUDA Graphics Interface
-----------------------

Warp provides a CUDA graphics interface that allows you to access OpenGL buffers from CUDA kernels.
This is useful for manipulating OpenGL array buffers without having to copy them back and forth between the CPU and GPU.

See the `CUDA documentation on OpenGL Interoperability <https://docs.nvidia.com/cuda/cuda-driver-api/group__CUDA__GL.html>`_ for more information.

.. currentmodule:: warp.context

.. autoclass:: RegisteredGLBuffer
    :members: