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Remove dependencies on mjvScene for interactions.

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Interactions (like moving the camera or mouse picking) no longer depend
on needing an mjvScene. Instead, everything is done relative to the
camera directly.

This duplicates some code in engine_vis_visualize which we will try to
resolve and recombine at a future time.

PiperOrigin-RevId: 828461259
Change-Id: If26329c1a7c37516f0213b18056c3e31760f60ae
This commit is contained in:
Haroon Qureshi
2025-11-05 07:32:31 -08:00
committed by Copybara-Service
parent 2245210e87
commit 30a99de3b9
3 changed files with 612 additions and 45 deletions
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src/experimental/studio/app.cc
+33 -36
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@@ -58,16 +58,15 @@ namespace mujoco::studio {
static constexpr toolbox::Window::Config kWindowConfig = {
#if defined(USE_FILAMENT_VULKAN)
.render_config = toolbox::Window::RenderConfig::kFilamentVulkan,
.render_config = toolbox::Window::RenderConfig::kFilamentVulkan,
#elif defined(USE_FILAMENT_OPENGL)
.render_config = toolbox::Window::RenderConfig::kFilamentOpenGL,
.render_config = toolbox::Window::RenderConfig::kFilamentOpenGL,
#elif defined(USE_CLASSIC_OPENGL)
.render_config = toolbox::Window::RenderConfig::kClassicOpenGL,
.render_config = toolbox::Window::RenderConfig::kClassicOpenGL,
#endif
.enable_keyboard = true,
.enable_keyboard = true,
};
static void ToggleFlag(mjtByte& flag) { flag = flag ? 0 : 1; }
static void ToggleWindow(bool& window) {
@@ -233,10 +232,6 @@ void App::HandleMouseEvents() {
return;
}
mjModel* model = physics_->GetModel();
mjData* data = physics_->GetData();
mjvScene& scene = renderer_->GetScene();
// Normalize mouse positions and movement to display size.
const float mouse_x = io.MousePos.x / io.DisplaySize.x;
const float mouse_y = io.MousePos.y / io.DisplaySize.y;
@@ -258,35 +253,36 @@ void App::HandleMouseEvents() {
}
// Mouse scroll.
if (model && mouse_scroll != 0.0f) {
mjv_moveCamera(model, mjMOUSE_ZOOM, 0, mouse_scroll, &scene, &camera_);
if (Model() && mouse_scroll != 0.0f) {
toolbox::MoveCamera(Model(), Data(), &camera_, mjMOUSE_ZOOM, 0,
mouse_scroll);
}
// Mouse drag.
if (model && data && action != mjMOUSE_NONE &&
if (Model() && Data() && action != mjMOUSE_NONE &&
(mouse_dx != 0.0f || mouse_dy != 0.0f)) {
// If ctrl is pressed, move the perturbation, otherwise move the camera_.
if (io.KeyCtrl) {
if (perturb_.select > 0) {
const int active =
const mjtPertBit active =
action == mjMOUSE_MOVE_V ? mjPERT_TRANSLATE : mjPERT_ROTATE;
if (active != perturb_.active) {
mjv_initPerturb(model, data, &scene, &perturb_);
perturb_.active = active;
toolbox::InitPerturb(Model(), Data(), &camera_, &perturb_, active);
}
mjv_movePerturb(model, data, action, mouse_dx, mouse_dy, &scene,
&perturb_);
toolbox::MovePerturb(Model(), Data(), &camera_, &perturb_, action,
mouse_dx, mouse_dy);
}
} else {
mjv_moveCamera(model, action, mouse_dx, mouse_dy, &scene, &camera_);
toolbox::MoveCamera(Model(), Data(), &camera_, action, mouse_dx,
mouse_dy);
}
}
// Left double click.
if (data && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
toolbox::PickResult picked = toolbox::Pick(
model, data, &camera_, mouse_x, mouse_y, window_->GetAspectRatio(),
&renderer_->GetScene(), &vis_options_);
if (Data() && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
toolbox::PickResult picked =
toolbox::Pick(Model(), Data(), &camera_, mouse_x, mouse_y,
window_->GetAspectRatio(), &vis_options_);
if (picked.body >= 0) {
perturb_.select = picked.body;
perturb_.flexselect = picked.flex;
@@ -294,8 +290,9 @@ void App::HandleMouseEvents() {
// Compute the local position of the selected object in the world.
mjtNum tmp[3];
mju_sub3(tmp, picked.point, data->xpos + 3 * picked.body);
mju_mulMatTVec(perturb_.localpos, data->xmat + 9 * picked.body, tmp, 3, 3);
mju_sub3(tmp, picked.point, Data()->xpos + 3 * picked.body);
mju_mulMatTVec(perturb_.localpos, Data()->xmat + 9 * picked.body, tmp, 3,
3);
} else {
perturb_.select = 0;
perturb_.flexselect = -1;
@@ -305,9 +302,9 @@ void App::HandleMouseEvents() {
// Right double click.
if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right)) {
toolbox::PickResult picked = toolbox::Pick(
model, data, &camera_, mouse_x, mouse_y, window_->GetAspectRatio(),
&renderer_->GetScene(), &vis_options_);
toolbox::PickResult picked =
toolbox::Pick(Model(), Data(), &camera_, mouse_x, mouse_y,
window_->GetAspectRatio(), &vis_options_);
mju_copy3(camera_.lookat, picked.point);
if (picked.body > 0 && io.KeyCtrl) {
camera_.type = mjCAMERA_TRACKING;
@@ -422,28 +419,28 @@ void App::HandleKeyboardEvents() {
// Camera wasd controls.
if (!ui_.classic_ui) {
mjvScene& scene = renderer_->GetScene();
mjModel* model = Model();
const mjModel* model = Model();
const mjData* data = Data();
// Move (dolly) forward/backward using W and S keys.
if (ImGui::IsKeyDown(ImGuiKey_W)) {
mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, 0, 0.01, &scene, &camera_);
toolbox::MoveCamera(model, data, &camera_, mjMOUSE_MOVE_H_REL, 0, 0.01);
} else if (ImGui::IsKeyDown(ImGuiKey_S)) {
mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, 0, -0.01, &scene, &camera_);
toolbox::MoveCamera(model, data, &camera_, mjMOUSE_MOVE_H_REL, 0, -0.01);
}
// Strafe (truck) left/right using A dna D keys.
if (ImGui::IsKeyDown(ImGuiKey_A)) {
mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, -0.01, 0, &scene, &camera_);
toolbox::MoveCamera(model, data, &camera_, mjMOUSE_MOVE_H_REL, -0.01, 0);
} else if (ImGui::IsKeyDown(ImGuiKey_D)) {
mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, 0.01, 0, &scene, &camera_);
toolbox::MoveCamera(model, data, &camera_, mjMOUSE_MOVE_H_REL, 0.01, 0);
}
// Move (pedestal) up/down using Q and E keys.
if (ImGui::IsKeyDown(ImGuiKey_Q)) {
mjv_moveCamera(model, mjMOUSE_MOVE_V_REL, 0, 0.01, &scene, &camera_);
toolbox::MoveCamera(model, data, &camera_, mjMOUSE_MOVE_V_REL, 0, 0.01);
} else if (ImGui::IsKeyDown(ImGuiKey_E)) {
mjv_moveCamera(model, mjMOUSE_MOVE_V_REL, 0, -0.01, &scene, &camera_);
toolbox::MoveCamera(model, data, &camera_, mjMOUSE_MOVE_V_REL, 0, -0.01);
}
}
@@ -459,7 +456,7 @@ void App::HandleKeyboardEvents() {
if (ImGui_IsChordJustPressed(ImGuiKey_Escape)) {
ui_.camera_idx = toolbox::SetCamera(model, &camera_, 0);
} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftBracket)) {
ui_.camera_idx = toolbox::SetCamera(model, &camera_,ui_.camera_idx - 1);
ui_.camera_idx = toolbox::SetCamera(model, &camera_, ui_.camera_idx - 1);
} else if (ImGui_IsChordJustPressed(ImGuiKey_RightBracket)) {
ui_.camera_idx = toolbox::SetCamera(model, &camera_, ui_.camera_idx + 1);
}