Add overlay positions in the center of viewport edges, move PAUSE and LOADING... overlays to the top center.

PiperOrigin-RevId: 570054949
Change-Id: If0046df382e67ad3a48e7138a75e9e200c0626b9

doc/includes/references.h

@@ -1338,7 +1338,11 @@ typedef enum mjtGridPos_ {        // grid position for overlay
   mjGRID_TOPLEFT      = 0,        // top left
   mjGRID_TOPRIGHT,                // top right
   mjGRID_BOTTOMLEFT,              // bottom left
-  mjGRID_BOTTOMRIGHT              // bottom right
+  mjGRID_BOTTOMRIGHT,             // bottom right
+  mjGRID_TOP,                     // top center
+  mjGRID_BOTTOM,                  // bottom center
+  mjGRID_LEFT,                    // left center
+  mjGRID_RIGHT                    // right center
 } mjtGridPos;
 typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
   mjFB_WINDOW         = 0,        // default/window buffer

include/mujoco/mjrender.h

@@ -30,7 +30,11 @@ typedef enum mjtGridPos_ {        // grid position for overlay
   mjGRID_TOPLEFT      = 0,        // top left
   mjGRID_TOPRIGHT,                // top right
   mjGRID_BOTTOMLEFT,              // bottom left
-  mjGRID_BOTTOMRIGHT              // bottom right
+  mjGRID_BOTTOMRIGHT,             // bottom right
+  mjGRID_TOP,                     // top center
+  mjGRID_BOTTOM,                  // bottom center
+  mjGRID_LEFT,                    // left center
+  mjGRID_RIGHT                    // right center
 } mjtGridPos;
 
 

introspect/enums.py

@@ -610,6 +610,10 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGRID_TOPRIGHT', 1),
              ('mjGRID_BOTTOMLEFT', 2),
              ('mjGRID_BOTTOMRIGHT', 3),
+             ('mjGRID_TOP', 4),
+             ('mjGRID_BOTTOM', 5),
+             ('mjGRID_LEFT', 6),
+             ('mjGRID_RIGHT', 7),
          ]),
      )),
     ('mjtFramebuffer',

simulate/simulate.cc

@@ -2185,7 +2185,7 @@ void Simulate::Render() {
 
     // label
     if (this->loadrequest) {
-      mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect, "loading", nullptr,
+      mjr_overlay(mjFONT_BIG, mjGRID_TOP, smallrect, "LOADING...", nullptr,
                   &this->platform_ui->mjr_context());
     } else {
       char intro_message[Simulate::kMaxFilenameLength];
@@ -2283,10 +2283,11 @@ void Simulate::Render() {
                 &this->platform_ui->mjr_context());
   }
 
-  // make pause/loading label
+  // show pause/loading label
-  std::string pauseloadlabel;
   if (!this->run || this->loadrequest) {
-    pauseloadlabel = this->loadrequest ? "loading" : "pause";
+    const char* label = this->loadrequest ? "LOADING..." : "PAUSE";
+    mjr_overlay(mjFONT_BIG, mjGRID_TOP, smallrect, label, nullptr,
+                &this->platform_ui->mjr_context());
   }
 
   // get desired and actual percent-of-real-time
@@ -2301,22 +2302,18 @@ void Simulate::Render() {
   char rtlabel[30] = {'\0'};
   if (desiredRealtime != 100.0 || misaligned) {
     // print desired realtime
-    int labelsize = std::snprintf(rtlabel,
+    int labelsize = std::snprintf(rtlabel, sizeof(rtlabel), "%g%%", desiredRealtime);
-                                  sizeof(rtlabel), "%g%%", desiredRealtime);
 
     // if misaligned, append to label
     if (misaligned) {
-      std::snprintf(rtlabel+labelsize,
+      std::snprintf(rtlabel+labelsize, sizeof(rtlabel)-labelsize, " (%-4.1f%%)", actualRealtime);
-                    sizeof(rtlabel)-labelsize, " (%-4.1f%%)", actualRealtime);
     }
   }
 
-  // draw top left overlay
+  // show real-time overlay
-  if (!pauseloadlabel.empty() || rtlabel[0]) {
+  if (rtlabel[0]) {
-    std::string newline = !pauseloadlabel.empty() && rtlabel[0] ? "\n" : "";
+    mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect, rtlabel, nullptr,
-    std::string topleftlabel = rtlabel + newline + pauseloadlabel;
+                &this->platform_ui->mjr_context());
-    mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect,
-                topleftlabel.c_str(), nullptr, &this->platform_ui->mjr_context());
   }
 
   // show ui 0

src/render/render_gl2.c

@@ -479,6 +479,26 @@ static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
   case mjGRID_BOTTOMRIGHT:
     glViewport(viewport.left+viewport.width-skip-1-PAD-W,
                viewport.bottom+PAD, W, H);
+    break;
+
+  case mjGRID_TOP:
+    glViewport(viewport.left+(viewport.width-skip-W)/2-1-PAD,
+               viewport.bottom+viewport.height-1-PAD-H, W, H);
+    break;
+
+  case mjGRID_BOTTOM:
+    glViewport(viewport.left+(viewport.width-skip-W)/2-1-PAD,
+               viewport.bottom+PAD, W, H);
+    break;
+
+  case mjGRID_LEFT:
+    glViewport(viewport.left+skip+PAD,
+               viewport.bottom+(viewport.height-H)/2-1-PAD, W, H);
+    break;
+
+  case mjGRID_RIGHT:
+    glViewport(viewport.left+viewport.width-skip-1-PAD-W,
+               viewport.bottom+(viewport.height-H)/2-1-PAD, W, H);
   }
 
   // set projection in pixels

unity/Runtime/Bindings/MjBindings.cs

@@ -384,6 +384,10 @@ public enum mjtGridPos : int{
   mjGRID_TOPRIGHT = 1,
   mjGRID_BOTTOMLEFT = 2,
   mjGRID_BOTTOMRIGHT = 3,
+  mjGRID_TOP = 4,
+  mjGRID_BOTTOM = 5,
+  mjGRID_LEFT = 6,
+  mjGRID_RIGHT = 7,
 }
 public enum mjtFramebuffer : int{
   mjFB_WINDOW = 0,