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Display real-time percentage in paused mode, if different than 100%

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PiperOrigin-RevId: 474519561
Change-Id: I54eea97f305dc9b57b9513d6ab5cd75368c2cd45
This commit is contained in:
Yuval Tassa
2022-09-15 03:25:43 -07:00
committed by Copybara-Service
parent 549437ca52
commit 0a0acb3419
1 changed files with 20 additions and 16 deletions
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simulate/simulate.cc
+20 -16
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@@ -1759,27 +1759,31 @@ void Simulate::render() {
this->loadrequest ? "loading" : "pause", nullptr, &this->con);
}
// show realtime label
if (this->run) {
// get desired and actual percent-of-real-time
float desiredRealtime = this->percentRealTime[this->realTimeIndex];
float actualRealtime = 100 / this->measuredSlowdown;
// get desired and actual percent-of-real-time
float desiredRealtime = this->percentRealTime[this->realTimeIndex];
float actualRealtime = 100 / this->measuredSlowdown;
// check if real-time tracking is misaligned by more than than 10%
bool misalignment = mju_abs(actualRealtime - desiredRealtime) > 0.1 * desiredRealtime;
// if running, check for misalignment of more than 10%
float realtime_offset = mju_abs(actualRealtime - desiredRealtime);
bool misaligned = this->run && realtime_offset > 0.1 * desiredRealtime;
// display realtime overlay if not 100% or there is misalignment
if (desiredRealtime != 100.0 || misalignment) {
char overlay[30];
if (misalignment) {
std::snprintf(overlay, sizeof(overlay), "%g%% (%-.1f%%)", desiredRealtime, actualRealtime);
} else {
std::snprintf(overlay, sizeof(overlay), "%g%%", desiredRealtime);
}
mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect, overlay, nullptr, &this->con);
// draw realtime overlay
if (desiredRealtime != 100.0 || misaligned) {
char rtlabel[30];
// print desired realtime
int labelsize = std::snprintf(rtlabel, sizeof(rtlabel), "%g%%", desiredRealtime);
// if misaligned, append to label
if (misaligned) {
std::snprintf(rtlabel+labelsize, sizeof(rtlabel)-labelsize, " (%-4.1f%%)", actualRealtime);
}
// draw overlay
mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect, rtlabel, nullptr, &this->con);
}
// show ui 0
if (this->ui0_enable) {
mjui_render(&this->ui0, &this->uistate, &this->con);