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Display all other elements under "Elements" or "Assets" group. Show properties for mjSpec, mjModel, and mjData for selected elements. PiperOrigin-RevId: 874614195 Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
5fc580a8ba
commit
1d6ff2cece
@@ -14,9 +14,13 @@
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#include "experimental/platform/imgui_widgets.h"
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#include <cstdint>
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#include <cstring>
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#include <sstream>
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#include <string>
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#include <type_traits>
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#include <unordered_map>
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#include <vector>
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#include <imgui.h>
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#include <mujoco/mujoco.h>
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@@ -57,6 +61,228 @@ KeyValues ReadIniSection(const std::string& contents,
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return key_values;
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}
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ImGui_DataTable::ImGui_DataTable(float w1, float w2) {
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ImGui::BeginTable("##PropertiesTable", 2);
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const float width = ImGui::GetContentRegionAvail().x;
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ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w1);
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ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w2);
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}
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ImGui_DataTable::~ImGui_DataTable() { ImGui::EndTable(); }
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void ImGui_DataTable::SetArrayIndex(int index) { index_ = index; }
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void ImGui_DataTable::SetPrefix(const char* prefix) {
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prefix_ = strlen(prefix);
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}
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void ImGui_DataTable::operator()(const char* label, const uintptr_t* ptr,
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int n) {
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for (int i = 0; i < n; ++i) {
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MakeLabel(label, i, n);
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ImGui::Text("(%s)", &ptr[index_ + i] ? "[ptr]" : "null");
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}
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}
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void ImGui_DataTable::operator()(const char* label, const char* ptr, int n) {
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if (n == 1) {
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MakeLabel(label);
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ImGui::Text("%s", &ptr[index_]);
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} else {
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mju_error("char cannot be converted to a vector");
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}
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}
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void ImGui_DataTable::operator()(const char* label, const mjtByte* ptr, int n) {
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for (int i = 0; i < n; ++i) {
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MakeLabel(label, i, n);
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ImGui::Text("%s", ptr[index_ + i] ? "true" : "false");
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}
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}
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void ImGui_DataTable::operator()(const char* label, const mjtByte& val, int n) {
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MakeLabel(label, 0, 1);
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ImGui::Text("%s", val ? "true" : "false");
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}
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void ImGui_DataTable::operator()(const char* label, const mjtSize* ptr, int n) {
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Numeric(label, ptr, n);
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}
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void ImGui_DataTable::operator()(const char* label, const int* ptr, int n) {
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Numeric(label, ptr, n);
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}
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void ImGui_DataTable::operator()(const char* label, const float* ptr, int n) {
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Numeric(label, ptr, n);
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}
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void ImGui_DataTable::operator()(const char* label, const double* ptr, int n) {
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Numeric(label, ptr, n);
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}
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void ImGui_DataTable::operator()(const char* label, const mjtSize& val, int n) {
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Scalar(label, val, n);
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}
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void ImGui_DataTable::operator()(const char* label, const int& val, int n) {
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Scalar(label, val, n);
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}
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void ImGui_DataTable::operator()(const char* label, const float& val, int n) {
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Scalar(label, val, n);
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}
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void ImGui_DataTable::operator()(const char* label, const double& val, int n) {
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Scalar(label, val, n);
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}
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void ImGui_DataTable::operator()(const char* label, const std::string* ptr,
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int n) {
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for (int i = 0; i < n; ++i) {
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MakeLabel(label, i, n);
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ImGui::Text("%s", ptr[i].c_str());
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}
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}
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void ImGui_DataTable::operator()(const char* label,
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const std::vector<std::string>* ptr, int n) {
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if (n == 1) {
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for (int i = 0; i < ptr->size(); ++i) {
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MakeLabel(label, i, ptr->size());
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ImGui::Text("%s", ptr->at(i).c_str());
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}
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} else {
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mju_error("data type is vector; cannot also be an array");
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}
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}
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void ImGui_DataTable::operator()(const char* label, const std::vector<int>* ptr,
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int n) {
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if (n == 1) {
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const int size = ptr->size();
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if (size == 0) {
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(*this)(label, "[empty]", 1);
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} else {
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std::string tmp = "[" + std::to_string(size) + " values]";
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(*this)(label, tmp.c_str(), 1);
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}
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} else {
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mju_error("data type is vector; cannot also be an array");
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}
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}
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void ImGui_DataTable::operator()(const char* label,
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const std::vector<double>* ptr, int n) {
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if (n == 1) {
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const int size = ptr->size();
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if (size == 0) {
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(*this)(label, "[empty]", 1);
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} else {
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std::string tmp = "[" + std::to_string(size) + " values]";
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(*this)(label, tmp.c_str(), 1);
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}
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} else {
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mju_error("data type is vector; cannot also be an array");
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}
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}
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template <typename T>
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void ImGui_DataTable::Scalar(const char* label, const T& value, int n) {
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if (n == 1) {
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Numeric(label, &value, n);
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} else {
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mju_error("scalar cannot be converted to a vector");
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}
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}
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template <typename T>
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void ImGui_DataTable::Numeric(const char* label, const T* ptr, int n) {
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const T* addr = ptr + index_ * n;
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using U = std::conditional_t<std::is_floating_point_v<T>, float, int>;
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// special treatment for NaNs.
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if constexpr (std::is_same_v<U, float>) {
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if (*addr != *addr) {
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MakeLabel(label);
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ImGui::Text("nan");
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return;
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}
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}
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constexpr const char* fmt1 =
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std::is_floating_point_v<U> ? "%f" : "%d";
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constexpr const char* fmt2 =
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std::is_floating_point_v<U> ? "%f %f" : "%d %d";
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constexpr const char* fmt3 =
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std::is_floating_point_v<U> ? "%f %f %f" : "%d %d %d";
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constexpr const char* fmt4 =
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std::is_floating_point_v<U> ? "%f %f %f %f" : "%d %d %d %d";
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auto text1 = [&](int offset) {
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ImGui::Text(fmt1, (U)(addr[offset]));
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};
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auto text2 = [&](int offset) {
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ImGui::Text(fmt2, (U)(addr[offset + 0]), (U)(addr[offset + 1]));
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};
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auto text3 = [&](int offset) {
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ImGui::Text(fmt3, (U)(addr[offset + 0]), (U)(addr[offset + 1]),
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(U)(addr[offset + 2]));
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};
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auto text4 = [&](int offset) {
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ImGui::Text(fmt4, (U)(addr[offset + 0]), (U)(addr[offset + 1]),
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(U)(addr[offset + 2]), (U)(addr[offset + 3]));
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};
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if (n == 1) {
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MakeLabel(label);
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text1(0);
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} else if (n == 2) {
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MakeLabel(label);
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text2(0);
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} else if (n == 3) {
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MakeLabel(label);
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text3(0);
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} else if (n == 4) {
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MakeLabel(label);
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text4(0);
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} else if (n == 6) {
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MakeLabel(label);
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text3(0);
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ImGui::TableNextColumn();
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ImGui::TableNextColumn();
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text3(3);
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} else if (n == 9) {
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MakeLabel(label);
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text3(0);
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ImGui::TableNextColumn();
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ImGui::TableNextColumn();
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text3(3);
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ImGui::TableNextColumn();
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ImGui::TableNextColumn();
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text3(6);
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} else {
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for (int i = 0; i < n; ++i) {
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MakeLabel(label, i, n);
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text1(i);
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}
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}
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}
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void ImGui_DataTable::MakeLabel(const char* label, int index, int total) {
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if (total == 1) {
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ImGui::TableNextColumn();
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ImGui::Text("%s", &label[prefix_]);
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ImGui::TableNextColumn();
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} else {
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const std::string tmp =
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std::string(&label[prefix_]) + "[" + std::to_string(index) + "]";
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ImGui::TableNextColumn();
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ImGui::Text("%s", tmp.c_str());
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ImGui::TableNextColumn();
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}
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}
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bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
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float f = *value;
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const bool res = ImGui::SliderFloat(name, &f, min, max);
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