(model)
return (
      3 * max_nframes +  # 1 geom per axis for each frame.
      4 * model.ngeom +  # geom itself + contacts + 2 * split contact forces.
      3 * model.nbody +  # COM + inertia box + perturbation force.
      model.nsite +
      model.ntendon +
      model.njnt +
      model.nu +
      model.nskin +
      model.ncam +
      model.nlight)
Estimates the maximum number of renderable geoms for a given model.
Estimates the maximum number of renderable geoms for a given model.
Estimates the maximum number of renderable geoms for a given model .
def _estimate_max_renderable_geoms(model):
  """Estimates the maximum number of renderable geoms for a given model."""
  # Only one type of object frame can be rendered at once.
  max_nframes = max(
      [model.nbody, model.ngeom, model.nsite, model.ncam, model.nlight])
  # This is probably an underestimate, but it is unlikely that all possible
  # rendering options will be enabled simultaneously, or that all renderable
  # geoms will be present within the viewing frustum at the same time.
  return (
      3 * max_nframes +  # 1 geom per axis for each frame.
      4 * model.ngeom +  # geom itself + contacts + 2 * split contact forces.
      3 * model.nbody +  # COM + inertia box + perturbation force.
      model.nsite +
      model.ntendon +
      model.njnt +
      model.nu +
      model.nskin +
      model.ncam +
      model.nlight)
def _estimate_max_renderable_geoms ( model ) : # Only one type of object frame can be rendered at once. max_nframes = max ( [ model . nbody , model . ngeom , model . nsite , model . ncam , model . nlight ] ) # This is probably an underestimate, but it is unlikely that all possible # rendering options will be enabled simultaneously, or that all renderable # geoms will be present within the viewing frustum at the same time. return ( 3 * max_nframes + # 1 geom per axis for each frame. 4 * model . ngeom + # geom itself + contacts + 2 * split contact forces. 3 * model . nbody + # COM + inertia box + perturbation force. model . nsite + model . ntendon + model . njnt + model . nu + model . nskin + model . ncam + model . nlight )