platform/ux: general C++ platform UX updates & spec adjustments.

* Enhances ImGui dialogs to support keyboard shortcuts (Enter/Escape) and filters. * Adjusts GUI layouts for simulation speed and compiler settings. * Exposes additional model fields in the XML spec generator. PiperOrigin-RevId: 951988061 Change-Id: I4927c12a8882ba4e91e6098355ec2f5db35c2747
2026-07-22 02:45:52 -07:00
parent 782c00bc49
commit 0b1ed5b356
6 changed files with 121 additions and 71 deletions
@@ -34,15 +34,18 @@ static DialogResult ImGui_FileDialog(std::string_view path) {
  ImGui::Text("Filename");
  ImGui::SameLine();
  ImGui::SetNextItemWidth(600);
-  if (ImGui::InputText("##Filename", buf, kBufferSize, ImGuiInputTextFlags_EnterReturnsTrue)) {
+  if (ImGui::InputText("##Filename", buf, kBufferSize,
+                       ImGuiInputTextFlags_EnterReturnsTrue)) {
    status = DialogResult::kAccepted;
  }
-  if (ImGui::Button("OK", ImVec2(120, 0)) || ImGui::IsKeyChordPressed(ImGuiKey_Enter)) {
+  if (ImGui::Button("OK", ImVec2(120, 0)) ||
+      ImGui::IsKeyChordPressed(ImGuiKey_Enter)) {
    status = DialogResult::kAccepted;
  }
  ImGui::SetItemDefaultFocus();
  ImGui::SameLine();
-  if (ImGui::Button("Cancel", ImVec2(120, 0)) || ImGui::IsKeyChordPressed(ImGuiKey_Escape)) {
+  if (ImGui::Button("Cancel", ImVec2(120, 0)) ||
+      ImGui::IsKeyChordPressed(ImGuiKey_Escape)) {
    status = DialogResult::kCancelled;
  }

@@ -55,8 +55,7 @@ static DialogResult RunZenity(std::vector<std::string>& args) {
                      .path = std::string(buffer)};
 }

-static void UpdateArgs(std::vector<std::string>& args,
-                       std::string_view path,
+static void UpdateArgs(std::vector<std::string>& args, std::string_view path,
                       std::span<std::string_view> filters = {}) {
  if (!path.empty() && path.front() != 0) {
    args.push_back("--filename=" + std::string(path.data()));
@@ -40,20 +40,40 @@ struct SpeedStatus {
  float measured;
 };

+// Reports whether the measured step speed has drifted from the desired speed
+// enough for the toolbar to surface it, plus the measured value itself.
 static SpeedStatus IsSpeedMisaligned(const StepControl& step_control) {
+  static bool misaligned = false;
+
  const float desired = step_control.GetSpeed();
  const float measured = step_control.GetSpeedMeasured();
-  return {std::abs(measured - desired) > 0.1f * desired, measured};
+  const float deviation = std::abs(measured - desired);
+
+  // Hysteresis: a raw threshold flips at exactly the 10% band edge, and
+  // measurement noise straddling it would toggle the preview text (and with it
+  // the combo width) every few frames causing layout flicker. Require the state
+  // to leave a wider band before switching back: become misaligned past 12%,
+  // return to aligned only under 8%, and follow an extreme deviation (>20%)
+  // immediately.
+  const bool misaligned_now = deviation > 0.1f * desired;
+  misaligned = misaligned ? (deviation > 0.08f * desired)
+                          : (deviation > 0.12f * desired);
+  if (misaligned_now != misaligned && deviation > 0.2f * desired) {
+    misaligned = misaligned_now;  // far outside both bands: follow immediately
+  }
+
+  return {misaligned, measured};
 }
 }  // namespace

 static ImVec2 GetFlexElementSize(int num_cols) {
-  const float width = (GetStableAvailWidth() / num_cols) -
-                      ImGui::GetStyle().FramePadding.x * 2;
+  const float width =
+      (GetStableAvailWidth() / num_cols) - ImGui::GetStyle().FramePadding.x * 2;
  return ImVec2(width, 0);
 }

-bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags, float arrow_scale) {
+bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags,
+                   float arrow_scale) {
  const bool is_framed = (flags & ImGuiTreeNodeFlags_Framed) != 0;

  ImGuiContext& g = *GImGui;
@@ -64,7 +84,8 @@ bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags, float arrow_scal
  const ImGuiID id = window->GetID(label);

  // Control the bar height via FramePadding.y.
-  // Main (framed): a bit of padding. Sub (unframed): less padding to be visually thinner.
+  // Main (framed): a bit of padding. Sub (unframed): less padding to be
+  // visually thinner.
  const float pad_y = (is_framed ? 3.0f : 2.0f) * style.FontScaleDpi;
  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding,
                      ImVec2(style.FramePadding.x, pad_y));
@@ -73,25 +94,27 @@ bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags, float arrow_scal
  // TreeNodeBehavior.
  ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(0, 0, 0, 0));

-  // Record cursor position before the widget so we can compute the arrow position.
+  // Record cursor position before the widget so we can compute the arrow
+  // position.
  const ImVec2 cursor_before = ImGui::GetCursorScreenPos();

  // Use TreeNodeBehavior (the same function CollapsingHeader uses internally).
  // This gives us proper click-to-toggle and open/close state management.
-  // We do NOT add _Leaf here so toggling works, and we don't add _NoTreePushOnOpen
-  // so the callers' TreePop() still works.
+  // We do NOT add _Leaf here so toggling works, and we don't add
+  // _NoTreePushOnOpen so the callers' TreePop() still works.
  //
-  // For unframed nodes, add _FramePadding so TreeNodeBehavior uses FramePadding.y
-  // for layout (making arrow Y position predictable = cursor.y + pad_y).
-  // Also add _SpanAvailWidth for consistent full-width hit testing.
+  // For unframed nodes, add _FramePadding so TreeNodeBehavior uses
+  // FramePadding.y for layout (making arrow Y position predictable = cursor.y +
+  // pad_y). Also add _SpanAvailWidth for consistent full-width hit testing.
  ImGuiTreeNodeFlags effective_flags = flags;
  if (!is_framed) {
-    effective_flags |= ImGuiTreeNodeFlags_FramePadding |
-                       ImGuiTreeNodeFlags_SpanAvailWidth;
+    effective_flags |=
+        ImGuiTreeNodeFlags_FramePadding | ImGuiTreeNodeFlags_SpanAvailWidth;
  }
  bool is_open = ImGui::TreeNodeBehavior(id, effective_flags, label);

-  // Restore style state before manual rendering (so we get the correct text color).
+  // Restore style state before manual rendering (so we get the correct text
+  // color).
  ImGui::PopStyleColor();
  ImGui::PopStyleVar();

@@ -100,7 +123,8 @@ bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags, float arrow_scal
  const ImU32 text_col = ImGui::GetColorU32(ImGuiCol_Text);

  // Match position offsets used by TreeNodeBehavior.
-  // Arrow coordinate: (cursor_before.x + FramePadding.x, cursor_before.y + pad_y)
+  // Arrow coordinate: (cursor_before.x + FramePadding.x, cursor_before.y +
+  // pad_y)
  const float pad_x = style.FramePadding.x;
  const float arrow_x = cursor_before.x + pad_x;
  const float arrow_y = cursor_before.y + pad_y;
@@ -110,13 +134,15 @@ bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags, float arrow_scal
  const float custom_size = full_arrow_size * arrow_scale;
  const float offset = (full_arrow_size - custom_size) * 0.5f;
  const ImGuiDir arrow_dir = is_open ? ImGuiDir_Down : ImGuiDir_Right;
-  ImGui::RenderArrow(dl, ImVec2(arrow_x + offset, arrow_y + offset),
-                     text_col, arrow_dir, arrow_scale);
+  ImGui::RenderArrow(dl, ImVec2(arrow_x + offset, arrow_y + offset), text_col,
+                     arrow_dir, arrow_scale);

  // Render text manually.
  // text_offset_x = FontSize + padding.x * (display_frame ? 3 : 2)
-  const float text_offset_x = full_arrow_size + pad_x * (is_framed ? 3.0f : 2.0f);
-  ImGui::RenderText(ImVec2(cursor_before.x + text_offset_x, cursor_before.y + pad_y), label);
+  const float text_offset_x =
+      full_arrow_size + pad_x * (is_framed ? 3.0f : 2.0f);
+  ImGui::RenderText(
+      ImVec2(cursor_before.x + text_offset_x, cursor_before.y + pad_y), label);

  return is_open;
 }
@@ -158,7 +184,8 @@ void SetupTheme(GuiTheme theme) {
    c[ImGuiCol_SliderGrab] = ImVec4(0.28, 0.40, 0.58, 1.00);
    c[ImGuiCol_SliderGrabActive] = ImVec4(0.35, 0.50, 0.72, 1.00);

-    // Buttons: slightly lighter than frame background (0.22) to provide subtle but visible contrast.
+    // Buttons: slightly lighter than frame background (0.22) to provide subtle
+    // but visible contrast.
    c[ImGuiCol_Button] = ImVec4(0.28, 0.29, 0.33, 1.00);
    c[ImGuiCol_ButtonHovered] = ImVec4(0.34, 0.36, 0.40, 1.00);
    c[ImGuiCol_ButtonActive] = ImVec4(0.32, 0.45, 0.66, 1.00);
@@ -238,7 +265,8 @@ void SetupTheme(GuiTheme theme) {
    c[ImGuiCol_SliderGrab] = accent;
    c[ImGuiCol_SliderGrabActive] = ImVec4(0.30, 0.52, 0.82, 1.00);

-    // Buttons: slightly darker than frame background (0.93) to provide subtle but visible contrast.
+    // Buttons: slightly darker than frame background (0.93) to provide subtle
+    // but visible contrast.
    c[ImGuiCol_Button] = ImVec4(0.86, 0.87, 0.89, 1.00);
    c[ImGuiCol_ButtonHovered] = accent_hover;
    c[ImGuiCol_ButtonActive] = accent;
@@ -360,16 +388,23 @@ ImVec4 ConfigureDockingLayout(bool show_toolbar, bool show_status_bar) {
  const float kOptionsRelWidth = 0.15f;
  const float kInspectorRelWidth = 0.22f;
  const float kPropertiesRelHeight = 0.3f;
-  const float kToolsBarHeight =
-      show_toolbar ? 36.f * scale * font_scale : 0.0f;
+  const float kToolsBarHeight = show_toolbar ? 36.f * scale * font_scale : 0.0f;
  const float kStatusBarHeight =
      show_status_bar ? 32.f * scale * font_scale : 0.0f;

-  const ImVec2 dockspace_pos{viewport->WorkPos.x,
-                             viewport->WorkPos.y + kToolsBarHeight};
+  // Lay out from the absolute viewport origin with an explicitly computed
+  // menu bar height, NOT from WorkPos/WorkSize: the work area only reflects
+  // the menu bar's reservation from the previous frame, so any hiccup in
+  // that reservation shifts the whole dock layout by a menu-bar height for
+  // a frame and every docked window re-clips (visible as UI-wide flicker).
+  // The menu bar's height equals the frame height by definition.
+  const float menu_bar_height = ImGui::GetFrameHeight();
+  const ImVec2 toolbar_pos{viewport->Pos.x, viewport->Pos.y + menu_bar_height};
+  const ImVec2 dockspace_pos{
+      viewport->Pos.x, viewport->Pos.y + menu_bar_height + kToolsBarHeight};
  const ImVec2 dockspace_size{
-      viewport->WorkSize.x,
-      viewport->WorkSize.y - kToolsBarHeight - kStatusBarHeight};
+      viewport->Size.x,
+      viewport->Size.y - menu_bar_height - kToolsBarHeight - kStatusBarHeight};

  ImGuiID root = ImGui::GetID("Root");
  const bool first_time = (ImGui::DockBuilderGetNode(root) == nullptr);
@@ -444,12 +479,12 @@ ImVec4 ConfigureDockingLayout(bool show_toolbar, bool show_status_bar) {
    style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
    style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
    style.Var(ImGuiStyleVar_WindowMinSize, ImVec2(1, 1));
-    const float toolbar_vpad =
-        std::max(0.f, (36.f * scale * font_scale - ImGui::GetFrameHeight()) * 0.5f);
+    const float toolbar_vpad = std::max(
+        0.f, (36.f * scale * font_scale - ImGui::GetFrameHeight()) * 0.5f);
    style.Var(ImGuiStyleVar_WindowPadding, ImVec2(4 * scale, toolbar_vpad));
-    ImGui::SetNextWindowPos(viewport->WorkPos, ImGuiCond_Always);
-    ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, 36.f * scale * font_scale),
-                             ImGuiCond_Always);
+    ImGui::SetNextWindowPos(toolbar_pos, ImGuiCond_Always);
+    ImGui::SetNextWindowSize(
+        ImVec2(viewport->Size.x, 36.f * scale * font_scale), ImGuiCond_Always);
    ImGui::Begin("ToolBar", nullptr, kFixedFlags);
    ImGui::End();
  }
@@ -470,8 +505,8 @@ ImVec4 ConfigureDockingLayout(bool show_toolbar, bool show_status_bar) {

  ImGuiDockNode* central = ImGui::DockBuilderGetCentralNode(root);
  if (central) {
-    return ImVec4(central->Pos.x, central->Pos.y,
-                  central->Size.x, central->Size.y);
+    return ImVec4(central->Pos.x, central->Pos.y, central->Size.x,
+                  central->Size.y);
  }
  const int settings_width = dockspace_size.x * kOptionsRelWidth;
  const int inspector_width = dockspace_size.x * kInspectorRelWidth;
@@ -486,13 +521,15 @@ void StepControlGui(StepControl* step_control, int& speed_index) {
  platform::ScopedStyle style;

  bool is_dark = ImGui::GetStyle().Colors[ImGuiCol_WindowBg].x < 0.5f;
-  const ImColor yellow = is_dark ? ImColor(158, 115, 18, 255) : ImColor(255, 215, 0, 255);
-  const ImColor green = is_dark ? ImColor(40, 125, 60, 255) : ImColor(40, 180, 40, 255);
+  const ImColor yellow =
+      is_dark ? ImColor(158, 115, 18, 255) : ImColor(255, 215, 0, 255);
+  const ImColor green =
+      is_dark ? ImColor(40, 125, 60, 255) : ImColor(40, 180, 40, 255);

  auto make_button = [&](const char* icon, StepControl::PauseState target_state,
                         ImColor color, ImDrawFlags corners,
-                         const char* tooltip = "",
-                         float hover_alpha = 1.f, float width_scale = 1.f) {
+                         const char* tooltip = "", float hover_alpha = 1.f,
+                         float width_scale = 1.f) {
    ImVec2 size(0, 0);
    if (width_scale != 1.f) {
      const ImGuiStyle& s = ImGui::GetStyle();
@@ -523,6 +560,7 @@ void StepControlGui(StepControl* step_control, int& speed_index) {
                             ImGui::GetStyle().FramePadding.y));

  const auto [misaligned, measured] = IsSpeedMisaligned(*step_control);
+
  char speed_preview[64];
  if (misaligned) {
    snprintf(speed_preview, sizeof(speed_preview), "%s %s (%-4.1f%%)",
@@ -532,7 +570,12 @@ void StepControlGui(StepControl* step_control, int& speed_index) {
             kPercentRealTime[speed_index]);
  }

-  ImGui::SetNextItemWidth(ImGui::CalcTextSize(speed_preview).x +
+  // Size the combo for the worst-case text so toggling the measured-speed
+  // suffix (or its digit count changing) never shifts the toolbar layout.
+  char speed_sizing[64];
+  snprintf(speed_sizing, sizeof(speed_sizing), "%s %s (-99.9%%)",
+           ICON_FA_TACHOMETER, kPercentRealTime[speed_index]);
+  ImGui::SetNextItemWidth(ImGui::CalcTextSize(speed_sizing).x +
                          ImGui::GetStyle().FramePadding.x * 2.f);
  if (ImGui::BeginCombo("##Speed", speed_preview,
                        ImGuiComboFlags_NoArrowButton)) {
@@ -589,8 +632,9 @@ bool LabelSelectionGui(mjvOption* opts) {

  bool changed = false;
  const std::string label_preview =
-      opts->label == 0 ? std::string(ICON_LABEL) + " Label"
-                       : std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
+      opts->label == 0
+          ? std::string(ICON_LABEL) + " Label"
+          : std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
  ImGui::SetNextItemWidth(GetExpectedLabelWidth());
  if (ImGui::BeginCombo("##Label", label_preview.c_str(),
                        ImGuiComboFlags_NoArrowButton)) {
@@ -613,8 +657,9 @@ bool FrameSelectionGui(mjvOption* opts) {

  bool changed = false;
  const std::string frame_preview =
-      opts->frame == 0 ? std::string(ICON_FRAME) + " Frame"
-                       : std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
+      opts->frame == 0
+          ? std::string(ICON_FRAME) + " Frame"
+          : std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
  ImGui::SetNextItemWidth(GetExpectedLabelWidth());
  if (ImGui::BeginCombo("##Frame", frame_preview.c_str(),
                        ImGuiComboFlags_NoArrowButton)) {
@@ -631,7 +676,7 @@ bool FrameSelectionGui(mjvOption* opts) {
 }

 std::string GetCameraName(const mjModel* model, const mjvCamera& camera,
-                                 int index) {
+                          int index) {
  static constexpr char kCameraTumbleName[] = "Free: tumble";
  static constexpr char kCameraWasdName[] = "Free: wasd";
  static constexpr char kCameraUnnamedName[] = "Unnamed";
@@ -961,9 +1006,7 @@ void PhysicsGui(mjModel* model, float min_width) {
  const char* opts3[] = {"PGS", "CG", "Newton"};
  ImGui::Combo("Solver", &opt.solver, opts3, IM_ARRAYSIZE(opts3));

-
-  if (SectionHeader("Algorithmic Parameters",
-                    ImGuiTreeNodeFlags_DefaultOpen)) {
+  if (SectionHeader("Algorithmic Parameters", ImGuiTreeNodeFlags_DefaultOpen)) {
    ImGui_Input("Timestep", &opt.timestep, {0, 1, 0.01, 0.1});
    ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10});
    ImGui_Input("Tolerance", &opt.tolerance, {0, 1, 1e-7, 1e-6});
@@ -1525,8 +1568,7 @@ void CountsGui(const mjModel* model, mjData* data, ImVec2 plot_size) {
  }
 }

-void InfoGui(const mjModel* model, const mjData* data, bool paused,
-             float fps) {
+void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps) {
  const int num_islands = std::clamp(data->nisland, 1, mjNISLAND);

  // compute solver error (maximum over islands)
@@ -1594,7 +1636,8 @@ void InfoGui(const mjModel* model, const mjData* data, bool paused,
  ImGui::Columns();
 }

-void ProfilerGui(const mjModel* model, mjData* data, SimProfiler* profiler, bool show_iter) {
+void ProfilerGui(const mjModel* model, mjData* data, SimProfiler* profiler,
+                 bool show_iter) {
  ImVec2 avail = ImGui::GetContentRegionAvail();
  const float pad = ImGui::GetStyle().ItemSpacing.x;
  const float aspect = avail.y > 0 ? avail.x / avail.y : 1.0f;
@@ -279,8 +279,9 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
  // if editor, assert that element == editor->GetActiveElement();
  mjsElement* ref_element = editor ? editor->GetRefElement() : element;

-  #define FIELD(NAME, TIP) table(#NAME, elem->NAME, ref->NAME, TIP);
-  #define QFIELD(NAME, ALT, TIP) table(#NAME, #ALT, elem->NAME, ref->NAME, elem->ALT, ref->ALT, TIP);
+#define FIELD(NAME, TIP) table(#NAME, elem->NAME, ref->NAME, TIP);
+#define QFIELD(NAME, ALT, TIP) \
+  table(#NAME, #ALT, elem->NAME, ref->NAME, elem->ALT, ref->ALT, TIP);

  ImGui_SpecElementTable table(editor == nullptr);
  switch (element->elemtype) {
@@ -297,7 +298,8 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
      FIELD(fullinertia, "non-axis-aligned inertia matrix");
      FIELD(mocap, "is this a mocap body");
      FIELD(gravcomp, "gravity compensation");
-      FIELD(explicitinertial, "whether to save the body with explicit inertial clause");
+      FIELD(explicitinertial,
+            "whether to save the body with explicit inertial clause");
      FIELD(sleep, "sleep policy");
      FIELD(info, "message appended to compiler errors");
      break;
@@ -347,7 +349,8 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
      FIELD(slidersite, "site defining cylinder, for slider-crank");
      FIELD(cranklength, "crank length, for slider-crank");
      FIELD(lengthrange, "transmission length range");
-      FIELD(inheritrange, "automatic range setting for position and intvelocity");
+      FIELD(inheritrange,
+            "automatic range setting for position and intvelocity");
      FIELD(ctrllimited, "are control limits defined (mjtLimited)");
      FIELD(ctrlrange, "control range");
      FIELD(forcelimited, "are force limits defined (mjtLimited)");
@@ -549,7 +552,8 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
      FIELD(poisson, "Poisson's ratio");
      FIELD(damping, "Rayleigh's damping");
      FIELD(thickness, "thickness (2D only)");
-      FIELD(elastic2d, "2D passive forces; 0: none, 1: bending, 2: stretching, 3: both");
+      FIELD(elastic2d,
+            "2D passive forces; 0: none, 1: bending, 2: stretching, 3: both");
      FIELD(info, "message appended to compiler errors");
      break;
    }
@@ -705,7 +709,7 @@ void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
      break;
  }

-  #undef FIELD
+#undef FIELD

  if (editor && table.WasModified()) {
    editor->CommitChanges(element);
@@ -226,8 +226,7 @@ void ImGui_SpecElementTable::operator()(const char* label, mjtByte& val,
 }

 void ImGui_SpecElementTable::operator()(const char* label, bool& val,
-                                        const bool& ref,
-                                        const char* tooltip) {
+                                        const bool& ref, const char* tooltip) {
  Label(label, tooltip);
  Input(val, ref);
 }
@@ -550,8 +549,8 @@ void SetNextWindowPosInside(OverlayPos pos, ImVec4 rect) {

 }  // namespace

-bool BeginOverlay(const char* id, OverlayPos pos, ImVec4 rect,
-                  float min_width, float alpha) {
+bool BeginOverlay(const char* id, OverlayPos pos, ImVec4 rect, float min_width,
+                  float alpha) {
  SetNextWindowPosInside(pos, rect);

  if (min_width > 0.0f) {
@@ -574,8 +573,8 @@ void EndOverlay() {
 }

 void TextOverlay(const char* id, OverlayPos pos, ImVec4 workspace_rect,
-                 const char* text, ImVec4 color, float font_scale,
-                 float alpha, float min_width) {
+                 const char* text, ImVec4 color, float font_scale, float alpha,
+                 float min_width) {
  float scale = ImGui::GetWindowDpiScale();
  float padding = 30.0f * scale;
  float max_width = std::max(0.0f, workspace_rect.z - 20.0f);
@@ -590,8 +589,8 @@ void TextOverlay(const char* id, OverlayPos pos, ImVec4 workspace_rect,
    if (font_scale != 1.0f) {
      ImGui::SetWindowFontScale(font_scale);
    }
-    bool has_color = color.x != 0 || color.y != 0 || color.z != 0 ||
-                     color.w != 0;
+    bool has_color =
+        color.x != 0 || color.y != 0 || color.z != 0 || color.w != 0;
    if (has_color) {
      ImGui::PushStyleColor(ImGuiCol_Text, color);
    }
@@ -69,5 +69,7 @@ void ForEachPlugin(const std::function<void(T*)>& fn) {
 MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::GuiPlugin, "gui plugin");
 MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::ModelPlugin, "model plugin");
 MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::ScenePlugin, "scene plugin");
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::KeyHandlerPlugin, "key handler plugin");
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::SpecEditorPlugin, "spec editor plugin");
+MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::KeyHandlerPlugin,
+                         "key handler plugin");
+MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::SpecEditorPlugin,
+                         "spec editor plugin");