chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 6 Packages Projects Releases Wiki Activity

Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper.

Browse Source 
There are enough differences between how the two are structured that
having separate implementations makes things easier to implement
despite some minor code duplication.

PiperOrigin-RevId: 875287973
Change-Id: Id49e089e5e1944291ce79e79f8cb71d048a942cc
This commit is contained in:
Haroon Qureshi
2026-02-25 12:36:27 -08:00
committed by Copybara-Service
parent 53fadd9d63
commit 42d843a0fd
5 changed files with 715 additions and 490 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/platform/CMakeLists.txt
+1
View File
@@ -39,6 +39,7 @@ target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
PUBLIC
egl_utils.cc
egl_utils.h
enum_utils.h
file_dialog.h
gui.cc
gui.h
src/experimental/platform/enum_utils.h
+170
View File
@@ -0,0 +1,170 @@
// Copyright 2026 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
#include <array>
#include <bit>
#include <cstdio>
#include <string_view>
#include <utility>
// Provides compile-time utilities for C++ enums, inspired by magic_enum.
// https://github.com/Neargye/magic_enum.
//
// It provides two useful functions:
// - enum_to_string: converts an enum to a string.
// - entries_v: returns an array of pairs of enums and their names.
//
// It relies on non-standard language extensions, so use should be limited to
// non-critical debugging code only. Specifically, it makes assumptions about
// the format of __PRETTY_FUNCTION__ in order to extract the name of an enum
// from a template function.
namespace mujoco::platform::enum_utils {
// Range of values to check for valid enums. This range should be large enough
// to accommodate MuJoCo enums, but not flags. Any enum value that falls outside
// of this range will be ignored by this library.
constexpr int ENUM_MIN_VALUE = -1;
constexpr int ENUM_MAX_VALUE = 1024;
// Fixed-size string for use in compile-time expressions.
template <int N>
struct fixed_string {
constexpr fixed_string(std::string_view sv) noexcept {
for (int n = 0; n < N; ++n) str[n] = sv[n];
}
constexpr operator std::string_view() const noexcept {
return {str.data(), N};
}
std::array<char, N + 1> str{};
};
// Characters that are valid parts of an enum name.
constexpr auto is_valid_char(char ch) noexcept {
return (ch >= 'a' && ch <= 'z') || (ch >= 'A' && ch <= 'Z') || (ch == '_') ||
(ch >= '0' && ch <= '9');
}
// Extracts the name of an enum from a string generated by __PRETTY_FUNCTION__.
constexpr auto pretty_name(std::string_view sv) noexcept {
for (int n = sv.size() - 1; n > 0; --n) {
if (!is_valid_char(sv[n])) {
sv.remove_prefix(n + 1);
break;
}
}
if (sv[0] >= '0' && sv[0] <= '9') {
return std::string_view();
}
return sv;
}
// Returns the name of the V which is an enum value of type E.
template <typename E, E V>
constexpr auto n() noexcept {
#if defined(__GNUC__) || defined(__clang__)
return pretty_name({__PRETTY_FUNCTION__, sizeof(__PRETTY_FUNCTION__) - 2});
#elif defined(_MSC_VER)
return pretty_name({__FUNCSIG__, sizeof(__FUNCSIG__) - 17});
#endif
}
// Returns true if the value V is a valid enum value of type E.
template <typename E, int V>
constexpr auto is_valid() {
return !n<E, std::bit_cast<E>(V)>().empty();
}
// Returns the value of the Nth element of enum E.
template <typename E>
constexpr auto nth(int v) {
return std::bit_cast<E>(ENUM_MIN_VALUE + v);
}
// Returns the number of bits set to true in the given array.
template <int N>
constexpr auto count_values(const bool (&valid)[N]) {
int count = 0;
for (int n = 0; n < N; ++n)
if (valid[n]) ++count;
return count;
}
// Returns an array of the valid values of enum E. This is a subset of the
// values in the range defined by the index sequence. If an enum has a value
// outside this range, it will be ignored.
template <typename E, std::size_t... I>
constexpr auto values(std::index_sequence<I...>) noexcept {
constexpr bool valid[sizeof...(I)] = {is_valid<E, nth<E>(I)>()...};
constexpr auto num_valid = count_values(valid);
static_assert(num_valid > 0, "no support for empty enums");
std::array<E, num_valid> values = {};
for (int offset = 0, n = 0; n < num_valid; ++offset) {
if (valid[offset]) {
values[n] = nth<E>(offset);
++n;
}
}
return values;
}
// Returns an array of valid values of enum E. The possible range of values is
// defined by the range [ENUM_MIN_VALUE, ENUM_MAX_VALUE]. If the enum has a
// value outside this range, it will be ignored.
template <typename E>
constexpr auto values() noexcept {
constexpr int enum_size = ENUM_MAX_VALUE - ENUM_MIN_VALUE + 1;
return values<E>(std::make_index_sequence<enum_size>({}));
}
template <typename E>
inline constexpr auto values_v = values<E>();
// Returns the name of V which is an enum value of type E.
template <typename E, E V>
constexpr auto enum_name() {
constexpr auto name = n<E, V>();
return fixed_string<name.size()>(name);
}
template <typename E, E V>
inline constexpr auto enum_name_v = enum_name<E, V>();
// Returns an array of pairs of enum values and their names.
template <typename E, std::size_t... I>
constexpr auto entries(std::index_sequence<I...>) noexcept {
return std::array<std::pair<E, std::string_view>, sizeof...(I)>{
{{values_v<E>[I], enum_name_v<E, values_v<E>[I]>}...}};
}
template <typename E>
inline constexpr auto entries_v =
entries<E>(std::make_index_sequence<values_v<E>.size()>());
// Returns the name of the given enum value.
template <typename E>
constexpr std::string_view enum_to_string(E value) {
for (const auto& [key, name] : entries_v<E>) {
if (value == key) return name;
}
return {};
}
} // namespace mujoco::platform::enum_utils
#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
src/experimental/platform/gui_spec.cc
+304 -333
View File
@@ -26,7 +26,7 @@
// We limit the fields to the ones with a matching element by comparing the
// array size field (e.g. nbody) with the MATCH constexpr value.
#define X(TYPE, NAME, NELEM, SIZE) \
if constexpr (#NELEM == MATCH) table(#NAME, ptr->NAME, SIZE);
if constexpr (#NELEM == MATCH) table.DataPtr(#NAME, ptr->NAME, index, SIZE);
// Simple wrapper around MJMODEL_POINTERS that prepares values we need for the
// X macro above.
@@ -77,31 +77,6 @@ static std::string ElementName(mjsElement* element) {
return label;
}
static void QuatOrOrientation(ImGui_DataTable& table, const double quat[4],
const mjsOrientation& orientation,
const char* quat_name, const char* alt_name) {
auto alt =
[&](const char* label) { return std::string(alt_name) + "." + label; };
switch (orientation.type) {
case mjORIENTATION_QUAT:
table(quat_name, quat, 4);
break;
case mjORIENTATION_AXISANGLE:
table(alt("axisangle").c_str(), orientation.axisangle, 4);
break;
case mjORIENTATION_XYAXES:
table(alt("xyaxes").c_str(), orientation.xyaxes, 6);
break;
case mjORIENTATION_ZAXIS:
table(alt("zaxis").c_str(), orientation.zaxis, 3);
break;
case mjORIENTATION_EULER:
table(alt("euler").c_str(), orientation.euler, 3);
break;
}
}
static void AddDeleteButton(mjsElement* element,
const SpecElementCallbackFn& on_delete) {
if (on_delete) {
@@ -267,401 +242,399 @@ void ElementSpecGui(const mjSpec* spec, mjsElement* element) {
return;
}
ImGui_DataTable table;
table("Name", ElementName(element).c_str(), 1);
ImGui_SpecElementTable table;
switch (element->elemtype) {
case mjOBJ_BODY: {
const mjsBody* body = mjs_asBody(element);
table("childclass", body->childclass, 1); // childclass name
table("pos", body->pos, 3); // frame position
QuatOrOrientation(table, body->quat, body->alt, "quat", "alt"); // frame orientation
table("ipos", body->ipos, 3); // inertial frame position
QuatOrOrientation(table, body->iquat, body->ialt, "iquat", "ialt"); // inertial frame orientation
table("mass", body->mass, 1); // mass
table("inertia", body->inertia, 3); // diagonal inertia (in i-frame)
table("fullinertia", body->fullinertia, 6); // non-axis-aligned inertia matrix
table("mocap", body->mocap, 1); // is this a mocap body
table("gravcomp", body->gravcomp, 1); // gravity compensation
table("explicitinertial", body->explicitinertial, 1); // whether to save the body with explicit inertial clause
table("sleep", body->sleep, 1); // sleep policy
table("info", body->info, 1); // message appended to compiler errors
mjsBody* body = mjs_asBody(element);
table("childclass", body->childclass, "childclass name");
table("pos", body->pos, "frame position");
table("quat", body->quat, "alt", body->alt, "frame orientation");
table("ipos", body->ipos, "inertial frame position");
table("iquat", body->iquat, "ialt", body->ialt, "inertial frame orientation");
table("mass", body->mass, "mass");
table("inertia", body->inertia, "diagonal inertia (in i-frame)");
table("fullinertia", body->fullinertia, "non-axis-aligned inertia matrix");
table("mocap", body->mocap, "is this a mocap body");
table("gravcomp", body->gravcomp, "gravity compensation");
table("explicitinertial", body->explicitinertial, "whether to save the body with explicit inertial clause");
table("sleep", body->sleep, "sleep policy");
table("info", body->info, "message appended to compiler errors");
break;
}
case mjOBJ_JOINT: {
mjsJoint* joint = mjs_asJoint(element);
table("pos", joint->pos, 3); // anchor position
table("axis", joint->axis, 3); // joint axis
table("ref", joint->ref, 1); // value at reference configuration: qpos0
table("align", joint->align, 1); // align free joint with body com (mjtAlignFree)
table("stiffness", joint->stiffness, 1); // stiffness coefficient
table("springref", joint->springref, 1); // spring reference value: qpos_spring
table("springdamper", joint->springdamper, 2); // timeconst, dampratio
table("limited", joint->limited, 1); // does joint have limits (mjtLimited)
table("range", joint->range, 2); // joint limits
table("margin", joint->margin, 1); // margin value for joint limit detection
table("solref_limit", joint->solref_limit, mjNREF); // solver reference: joint limits
table("solimp_limit", joint->solimp_limit, mjNIMP); // solver impedance: joint limits
table("actfrclimited", joint->actfrclimited, 1); // are actuator forces on joint limited (mjtLimited)
table("actfrcrange", joint->actfrcrange, 2); // actuator force limits
table("armature", joint->armature, 1); // armature inertia (mass for slider)
table("damping", joint->damping, 1); // damping coefficient
table("frictionloss", joint->frictionloss, 1); // friction loss
table("solref_friction", joint->solref_friction, mjNREF); // solver reference: dof friction
table("solimp_friction", joint->solimp_friction, mjNIMP); // solver impedance: dof friction
table("group", joint->group, 1); // group
table("actgravcomp", joint->actgravcomp, 1); // is gravcomp force applied via actuators
table("info", joint->info, 1); // message appended to compiler errors
table("pos", joint->pos, "anchor position");
table("axis", joint->axis, "joint axis");
table("ref", joint->ref, "value at reference configuration: qpos0");
table("align", joint->align, "align free joint with body com (mjtAlignFree)");
table("stiffness", joint->stiffness, "stiffness coefficient");
table("springref", joint->springref, "spring reference value: qpos_spring");
table("springdamper", joint->springdamper, "timeconst, dampratio");
table("limited", joint->limited, "does joint have limits (mjtLimited)");
table("range", joint->range, "joint limits");
table("margin", joint->margin, "margin value for joint limit detection");
table("solref_limit", joint->solref_limit, "solver reference: joint limits");
table("solimp_limit", joint->solimp_limit, "solver impedance: joint limits");
table("actfrclimited", joint->actfrclimited, "are actuator forces on joint limited (mjtLimited)");
table("actfrcrange", joint->actfrcrange, "actuator force limits");
table("armature", joint->armature, "armature inertia (mass for slider)");
table("damping", joint->damping, "damping coefficient");
table("frictionloss", joint->frictionloss, "friction loss");
table("solref_friction", joint->solref_friction, "solver reference: dof friction");
table("solimp_friction", joint->solimp_friction, "solver impedance: dof friction");
table("group", joint->group, "group");
table("actgravcomp", joint->actgravcomp, "is gravcomp force applied via actuators");
table("info", joint->info, "message appended to compiler errors");
break;
}
case mjOBJ_ACTUATOR: {
mjsActuator* actuator = mjs_asActuator(element);
table("gaintype", actuator->gaintype, 1); // gain type
table("gainprm", actuator->gainprm, mjNGAIN); // gain parameters
table("biastype", actuator->biastype, 1); // bias type
table("biasprm", actuator->biasprm, mjNGAIN); // bias parameters
table("dyntype", actuator->dyntype, 1); // dynamics type
table("dynprm", actuator->dynprm, mjNDYN); // dynamics parameters
table("actdim", actuator->actdim, 1); // number of activation variables
table("actearly", actuator->actearly, 1); // apply next activations to qfrc
table("trntype", actuator->trntype, 1); // transmission type
table("gear", actuator->gear, 6); // length and transmitted force scaling
table("target", actuator->target, 1); // name of transmission target
table("refsite", actuator->refsite, 1); // reference site, for site transmission
table("slidersite", actuator->slidersite, 1); // site defining cylinder, for slider-crank
table("cranklength", actuator->cranklength, 1); // crank length, for slider-crank
table("lengthrange", actuator->lengthrange, 2); // transmission length range
table("inheritrange", actuator->inheritrange, 1); // automatic range setting for position and intvelocity
table("ctrllimited", actuator->ctrllimited, 1); // are control limits defined (mjtLimited)
table("ctrlrange", actuator->ctrlrange, 2); // control range
table("forcelimited", actuator->forcelimited, 1); // are force limits defined (mjtLimited)
table("forcerange", actuator->forcerange, 2); // force range
table("actlimited", actuator->actlimited, 1); // are activation limits defined (mjtLimited)
table("actrange", actuator->actrange, 2); // activation range
table("group", actuator->group, 1); // group
table("nsample", actuator->nsample, 1); // number of samples in history buffer
table("interp", actuator->interp, 1); // interpolation order (0=ZOH, 1=linear, 2=cubic)
table("delay", actuator->delay, 1); // delay time in seconds; 0: no delay
table("info", actuator->info, 1); // message appended to compiler errors
table("gaintype", actuator->gaintype, "gain type");
table("gainprm", actuator->gainprm, "gain parameters");
table("biastype", actuator->biastype, "bias type");
table("biasprm", actuator->biasprm, "bias parameters");
table("dyntype", actuator->dyntype, "dynamics type");
table("dynprm", actuator->dynprm, "dynamics parameters");
table("actdim", actuator->actdim, "number of activation variables");
table("actearly", actuator->actearly, "apply next activations to qfrc");
table("trntype", actuator->trntype, "transmission type");
table("gear", actuator->gear, "length and transmitted force scaling");
table("target", actuator->target, "name of transmission target");
table("refsite", actuator->refsite, "reference site, for site transmission");
table("slidersite", actuator->slidersite, "site defining cylinder, for slider-crank");
table("cranklength", actuator->cranklength, "crank length, for slider-crank");
table("lengthrange", actuator->lengthrange, "transmission length range");
table("inheritrange", actuator->inheritrange, "automatic range setting for position and intvelocity");
table("ctrllimited", actuator->ctrllimited, "are control limits defined (mjtLimited)");
table("ctrlrange", actuator->ctrlrange, "control range");
table("forcelimited", actuator->forcelimited, "are force limits defined (mjtLimited)");
table("forcerange", actuator->forcerange, "force range");
table("actlimited", actuator->actlimited, "are activation limits defined (mjtLimited)");
table("actrange", actuator->actrange, "activation range");
table("group", actuator->group, "group");
table("nsample", actuator->nsample, "number of samples in history buffer");
table("interp", actuator->interp, "interpolation order (0=ZOH, 1=linear, 2=cubic)");
table("delay", actuator->delay, "delay time in seconds; 0: no delay");
table("info", actuator->info, "message appended to compiler errors");
break;
}
case mjOBJ_SENSOR: {
mjsSensor* sensor = mjs_asSensor(element);
table("type", sensor->type, 1); // type of sensor
table("objtype", sensor->objtype, 1); // type of sensorized object
table("objname", sensor->objname, 1); // name of sensorized object
table("reftype", sensor->reftype, 1); // type of referenced object
table("refname", sensor->refname, 1); // name of referenced object
table("intprm", sensor->intprm, mjNSENS); // integer parameters
table("datatype", sensor->datatype, 1); // data type for sensor measurement
table("needstage", sensor->needstage, 1); // compute stage needed to simulate sensor
table("dim", sensor->dim, 1); // number of scalar outputs
table("cutoff", sensor->cutoff, 1); // cutoff for real and positive datatypes
table("noise", sensor->noise, 1); // noise stdev
table("nsample", sensor->nsample, 1); // number of samples in history buffer
table("interp", sensor->interp, 1); // interpolation order (0=ZOH, 1=linear, 2=cubic)
table("delay", sensor->delay, 1); // delay time in seconds
table("interval", sensor->interval, 2); // [period, time_prev] in seconds
table("info", sensor->info, 1); // message appended to compiler errors
table("type", sensor->type, "type of sensor");
table("objtype", sensor->objtype, "type of sensorized object");
table("objname", sensor->objname, "name of sensorized object");
table("reftype", sensor->reftype, "type of referenced object");
table("refname", sensor->refname, "name of referenced object");
table("intprm", sensor->intprm, "integer parameters");
table("datatype", sensor->datatype, "data type for sensor measurement");
table("needstage", sensor->needstage, "compute stage needed to simulate sensor");
table("dim", sensor->dim, "number of scalar outputs");
table("cutoff", sensor->cutoff, "cutoff for real and positive datatypes");
table("noise", sensor->noise, "noise stdev");
table("nsample", sensor->nsample, "number of samples in history buffer");
table("interp", sensor->interp, "interpolation order (0=ZOH, 1=linear, 2=cubic)");
table("delay", sensor->delay, "delay time in seconds");
table("interval", sensor->interval, "[period, time_prev] in seconds");
table("info", sensor->info, "message appended to compiler errors");
break;
}
case mjOBJ_SITE: {
mjsSite* site = mjs_asSite(element);
table("pos", site->pos, 3); // position
QuatOrOrientation(table, site->quat, site->alt, "quat", "alt"); // orientation
table("fromto", site->fromto, 6); // alternative for capsule, cylinder, box, ellipsoid
table("size", site->size, 3); // geom size
table("type", site->type, 1); // geom type
table("material", site->material, 1); // name of material
table("group", site->group, 1); // group
table("rgba", site->rgba, 4); // rgba when material is omitted
table("info", site->info, 1); // message appended to compiler errors
table("pos", site->pos, "position");
table("quat", site->quat, "alt", site->alt, "orientation");
table("fromto", site->fromto, "alternative for capsule, cylinder, box, ellipsoid");
table("size", site->size, "geom size");
table("type", site->type, "geom type");
table("material", site->material, "name of material");
table("group", site->group, "group");
table("rgba", site->rgba, "rgba when material is omitted");
table("info", site->info, "message appended to compiler errors");
break;
}
case mjOBJ_FRAME: {
mjsFrame* frame = mjs_asFrame(element);
table("childclass", frame->childclass, 1); // childclass name
table("pos", frame->pos, 3); // position
QuatOrOrientation(table, frame->quat, frame->alt, "quat", "alt"); // orientation
table("info", frame->info, 1); // message appended to compiler errors
table("childclass", frame->childclass, "childclass name");
table("pos", frame->pos, "position");
table("quat", frame->quat, "alt", frame->alt, "orientation");
table("info", frame->info, "message appended to compiler errors");
break;
}
case mjOBJ_GEOM: {
mjsGeom* geom = mjs_asGeom(element);
table("type", geom->type, 1); // geom type
table("pos", geom->pos, 3); // position
QuatOrOrientation(table, geom->quat, geom->alt, "quat", "alt"); // orientation
table("fromto", geom->fromto, 6); // alternative for capsule, cylinder, box, ellipsoid
table("size", geom->size, 3); // type-specific size
table("contype", geom->contype, 1); // contact type
table("conaffinity", geom->conaffinity, 1); // contact affinity
table("condim", geom->condim, 1); // contact dimensionality
table("priority", geom->priority, 1); // contact priority
table("friction", geom->friction, 3); // one-sided friction coefficients: slide, roll, spin
table("solmix", geom->solmix, 1); // solver mixing for contact pairs
table("solref", geom->solref, mjNREF); // solver reference
table("solimp", geom->solimp, mjNIMP); // solver impedance
table("margin", geom->margin, 1); // margin for contact detection
table("gap", geom->gap, 1); // include in solver if dist < margin-gap
table("mass", geom->mass, 1); // used to compute density
table("density", geom->density, 1); // used to compute mass and inertia from volume or surface
table("typeinertia", geom->typeinertia, 1); // selects between surface and volume inertia
table("fluid_ellipsoid", geom->fluid_ellipsoid, 1); // whether ellipsoid-fluid model is active
table("fluid_coefs", geom->fluid_coefs, 5); // ellipsoid-fluid interaction coefs
table("material", geom->material, 1); // name of material
table("rgba", geom->rgba, 4); // rgba when material is omitted
table("group", geom->group, 1); // group
table("hfieldname", geom->hfieldname, 1); // heightfield attached to geom
table("meshname", geom->meshname, 1); // mesh attached to geom
table("fitscale", geom->fitscale, 1); // scale mesh uniformly
table("info", geom->info, 1); // message appended to compiler errors
table("type", geom->type, "geom type");
table("pos", geom->pos, "position");
table("quat", geom->quat, "alt", geom->alt, "orientation");
table("fromto", geom->fromto, "alternative for capsule, cylinder, box, ellipsoid");
table("size", geom->size, "type-specific size");
table("contype", geom->contype, "contact type");
table("conaffinity", geom->conaffinity, "contact affinity");
table("condim", geom->condim, "contact dimensionality");
table("priority", geom->priority, "contact priority");
table("friction", geom->friction, "one-sided friction coefficients: slide, roll, spin");
table("solmix", geom->solmix, "solver mixing for contact pairs");
table("solref", geom->solref, "solver reference");
table("solimp", geom->solimp, "solver impedance");
table("margin", geom->margin, "margin for contact detection");
table("gap", geom->gap, "include in solver if dist < margin-gap");
table("mass", geom->mass, "used to compute density");
table("density", geom->density, "used to compute mass and inertia from volume or surface");
table("typeinertia", geom->typeinertia, "selects between surface and volume inertia");
table("fluid_ellipsoid", geom->fluid_ellipsoid, "whether ellipsoid-fluid model is active");
table("fluid_coefs", geom->fluid_coefs, "ellipsoid-fluid interaction coefs");
table("material", geom->material, "name of material");
table("rgba", geom->rgba, "rgba when material is omitted");
table("group", geom->group, "group");
table("hfieldname", geom->hfieldname, "heightfield attached to geom");
table("meshname", geom->meshname, "mesh attached to geom");
table("fitscale", geom->fitscale, "scale mesh uniformly");
table("info", geom->info, "message appended to compiler errors");
break;
}
case mjOBJ_LIGHT: {
mjsLight* light = mjs_asLight(element);
table("pos", light->pos, 3); // position
table("dir", light->dir, 3); // direction
table("mode", light->mode, 1); // tracking mode
table("targetbody", light->targetbody, 1); // target body for targeting
table("active", light->active, 1); // is light active
table("type", light->type, 1); // type of light
table("texture", light->texture, 1); // texture name for image lights
table("castshadow", light->castshadow, 1); // does light cast shadows
table("bulbradius", light->bulbradius, 1); // bulb radius, for soft shadows
table("intensity", light->intensity, 1); // intensity, in candelas
table("range", light->range, 1); // range of effectiveness
table("attenuation", light->attenuation, 3); // OpenGL attenuation (quadratic model)
table("cutoff", light->cutoff, 1); // OpenGL cutoff
table("exponent", light->exponent, 1); // OpenGL exponent
table("ambient", light->ambient, 3); // ambient color
table("diffuse", light->diffuse, 3); // diffuse color
table("specular", light->specular, 3); // specular color
table("info", light->info, 1); // message appended to compiler errorsx
table("pos", light->pos, "position");
table("dir", light->dir, "direction");
table("mode", light->mode, "tracking mode");
table("targetbody", light->targetbody, "target body for targeting");
table("active", light->active, "is light active");
table("type", light->type, "type of light");
table("texture", light->texture, "texture name for image lights");
table("castshadow", light->castshadow, "does light cast shadows");
table("bulbradius", light->bulbradius, "bulb radius, for soft shadows");
table("intensity", light->intensity, "intensity, in candelas");
table("range", light->range, "range of effectiveness");
table("attenuation", light->attenuation, "OpenGL attenuation (quadratic model)");
table("cutoff", light->cutoff, "OpenGL cutoff");
table("exponent", light->exponent, "OpenGL exponent");
table("ambient", light->ambient, "ambient color");
table("diffuse", light->diffuse, "diffuse color");
table("specular", light->specular, "specular color");
table("info", light->info, "message appended to compiler errorsx");
break;
}
case mjOBJ_CAMERA: {
mjsCamera* camera = mjs_asCamera(element);
table("pos", camera->pos, 3); // position
QuatOrOrientation(table, camera->quat, camera->alt, "quat", "alt"); // orientation
table("mode", camera->mode, 1); // tracking mode
table("targetbody", camera->targetbody, 1); // target body for tracking/targeting
table("proj", camera->proj, 1); // camera projection type
table("resolution", camera->resolution, 2); // resolution (pixel)
table("output", camera->output, 1); // bit flags for output type
table("fovy", camera->fovy, 1); // y-field of view
table("ipd", camera->ipd, 1); // inter-pupillary distance
table("intrinsic", camera->intrinsic, 4); // camera intrinsics (length)
table("sensor_size", camera->sensor_size, 2); // sensor size (length)
table("focal_length", camera->focal_length, 2); // focal length (length)
table("focal_pixel", camera->focal_pixel, 2); // focal length (pixel)
table("principal_length", camera->principal_length, 2); // principal point (length)
table("principal_pixel", camera->principal_pixel, 2); // principal point (pixel)
table("info", camera->info, 1); // message appended to compiler errors
table("pos", camera->pos, "position");
table("quat", camera->quat, "alt", camera->alt, "orientation");
table("mode", camera->mode, "tracking mode");
table("targetbody", camera->targetbody, "target body for tracking/targeting");
table("proj", camera->proj, "camera projection type");
table("resolution", camera->resolution, "resolution (pixel)");
table("output", camera->output, "bit flags for output type");
table("fovy", camera->fovy, "y-field of view");
table("ipd", camera->ipd, "inter-pupillary distance");
table("intrinsic", camera->intrinsic, "camera intrinsics (length)");
table("sensor_size", camera->sensor_size, "sensor size (length)");
table("focal_length", camera->focal_length, "focal length (length)");
table("focal_pixel", camera->focal_pixel, "focal length (pixel)");
table("principal_length", camera->principal_length, "principal point (length)");
table("principal_pixel", camera->principal_pixel, "principal point (pixel)");
table("info", camera->info, "message appended to compiler errors");
break;
}
case mjOBJ_MESH: {
mjsMesh* mesh = mjs_asMesh(element);
table("content_type", mesh->content_type, 1); // content type of file
table("file", mesh->file, 1); // mesh file
table("refpos", mesh->refpos, 3); // reference position
table("refquat", mesh->refquat, 4); // reference orientation
table("scale", mesh->scale, 3); // rescale mesh
table("inertia", mesh->inertia, 1); // inertia type (convex, legacy, exact, shell)
table("smoothnormal", mesh->smoothnormal, 1); // do not exclude large-angle faces from normals
table("needsdf", mesh->needsdf, 1); // compute sdf from mesh
table("maxhullvert", mesh->maxhullvert, 1); // maximum vertex count for the convex hull
table("material", mesh->material, 1); // name of material
table("info", mesh->info, 1); // message appended to compiler errors
table("content_type", mesh->content_type, "content type of file");
table("file", mesh->file, "mesh file");
table("refpos", mesh->refpos, "reference position");
table("refquat", mesh->refquat, "reference orientation");
table("scale", mesh->scale, "rescale mesh");
table("inertia", mesh->inertia, "inertia type (convex, legacy, exact, shell)");
table("smoothnormal", mesh->smoothnormal, "do not exclude large-angle faces from normals");
table("needsdf", mesh->needsdf, "compute sdf from mesh");
table("maxhullvert", mesh->maxhullvert, "maximum vertex count for the convex hull");
table("material", mesh->material, "name of material");
table("info", mesh->info, "message appended to compiler errors");
break;
}
case mjOBJ_HFIELD: {
mjsHField* hfield = mjs_asHField(element);
table("content_type", hfield->content_type, 1); // content type of file
table("file", hfield->file, 1); // file: (nrow, ncol, [elevation data])
table("size", hfield->size, 4); // hfield size (ignore referencing geom size)
table("nrow", hfield->nrow, 1); // number of rows
table("ncol", hfield->ncol, 1); // number of columns
table("info", hfield->info, 1); // message appended to compiler errors
table("content_type", hfield->content_type, "content type of file");
table("file", hfield->file, "file: (nrow, ncol, [elevation data])");
table("size", hfield->size, "hfield size (ignore referencing geom size)");
table("nrow", hfield->nrow, "number of rows");
table("ncol", hfield->ncol, "number of columns");
table("info", hfield->info, "message appended to compiler errors");
break;
}
case mjOBJ_SKIN: {
mjsSkin* skin = mjs_asSkin(element);
table("file", skin->file, 1); // skin file
table("material", skin->material, 1); // name of material used for rendering
table("rgba", skin->rgba, 4); // rgba when material is omitted
table("inflate", skin->inflate, 1); // inflate in normal direction
table("group", skin->group, 1); // group for visualization
table("info", skin->info, 1); // message appended to compiler errors
table("file", skin->file, "skin file");
table("material", skin->material, "name of material used for rendering");
table("rgba", skin->rgba, "rgba when material is omitted");
table("inflate", skin->inflate, "inflate in normal direction");
table("group", skin->group, "group for visualization");
table("info", skin->info, "message appended to compiler errors");
break;
}
case mjOBJ_FLEX: {
mjsFlex* flex = mjs_asFlex(element);
table("contype", flex->contype, 1); // contact type
table("conaffinity", flex->conaffinity, 1); // contact affinity
table("condim", flex->condim, 1); // contact dimensionality
table("priority", flex->priority, 1); // contact priority
table("friction", flex->friction, 3); // one-sided friction coefficients: slide, roll, spin
table("solmix", flex->solmix, 1); // solver mixing for contact pairs
table("solref", flex->solref, mjNREF); // solver reference
table("solimp", flex->solimp, mjNIMP); // solver impedance
table("margin", flex->margin, 1); // margin for contact detection
table("gap", flex->gap, 1); // include in solver if dist<margin-gap
table("dim", flex->dim, 1); // element dimensionality
table("radius", flex->radius, 1); // radius around primitive element
table("size", flex->size, 3); // vertex bounding box half sizes in qpos0
table("internal", flex->internal, 1); // enable internal collisions
table("flatskin", flex->flatskin, 1); // render flex skin with flat shading
table("selfcollide", flex->selfcollide, 1); // mode for flex self collision
table("vertcollide", flex->vertcollide, 1); // mode for vertex collision
table("passive", flex->passive, 1); // mode for passive collisions
table("activelayers", flex->activelayers, 1); // number of active element layers in 3D
table("group", flex->group, 1); // group for visualization
table("edgestiffness", flex->edgestiffness, 1); // edge stiffness
table("edgedamping", flex->edgedamping, 1); // edge damping
table("rgba", flex->rgba, 4); // rgba when material is omitted
table("material", flex->material, 1); // name of material used for rendering
table("young", flex->young, 1); // Young's modulus
table("poisson", flex->poisson, 1); // Poisson's ratio
table("damping", flex->damping, 1); // Rayleigh's damping
table("thickness", flex->thickness, 1); // thickness (2D only)
table("elastic2d", flex->elastic2d, 1); // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
table("info", flex->info, 1); // message appended to compiler errors
table("contype", flex->contype, "contact type");
table("conaffinity", flex->conaffinity, "contact affinity");
table("condim", flex->condim, "contact dimensionality");
table("priority", flex->priority, "contact priority");
table("friction", flex->friction, "one-sided friction coefficients: slide, roll, spin");
table("solmix", flex->solmix, "solver mixing for contact pairs");
table("solref", flex->solref, "solver reference");
table("solimp", flex->solimp, "solver impedance");
table("margin", flex->margin, "margin for contact detection");
table("gap", flex->gap, "include in solver if dist<margin-gap");
table("dim", flex->dim, "element dimensionality");
table("radius", flex->radius, "radius around primitive element");
table("size", flex->size, "vertex bounding box half sizes in qpos0");
table("internal", flex->internal, "enable internal collisions");
table("flatskin", flex->flatskin, "render flex skin with flat shading");
table("selfcollide", flex->selfcollide, "mode for flex self collision");
table("vertcollide", flex->vertcollide, "mode for vertex collision");
table("passive", flex->passive, "mode for passive collisions");
table("activelayers", flex->activelayers, "number of active element layers in 3D");
table("group", flex->group, "group for visualization");
table("edgestiffness", flex->edgestiffness, "edge stiffness");
table("edgedamping", flex->edgedamping, "edge damping");
table("rgba", flex->rgba, "rgba when material is omitted");
table("material", flex->material, "name of material used for rendering");
table("young", flex->young, "Young's modulus");
table("poisson", flex->poisson, "Poisson's ratio");
table("damping", flex->damping, "Rayleigh's damping");
table("thickness", flex->thickness, "thickness (2D only)");
table("elastic2d", flex->elastic2d, "2D passive forces; 0: none, 1: bending, 2: stretching, 3: both");
table("info", flex->info, "message appended to compiler errors");
break;
}
case mjOBJ_TENDON: {
mjsTendon* tendon = mjs_asTendon(element);
table("stiffness", tendon->stiffness, 1); // stiffness coefficient
table("springlength", tendon->springlength, 2); // spring resting length; {-1, -1}: use qpos_spring
table("damping", tendon->damping, 1); // damping coefficient
table("frictionloss", tendon->frictionloss, 1); // friction loss
table("solref_friction", tendon->solref_friction, mjNREF); // solver reference: tendon friction
table("solimp_friction", tendon->solimp_friction, mjNIMP); // solver impedance: tendon friction
table("armature", tendon->armature, 1); // inertia associated with tendon velocity
table("limited", tendon->limited, 1); // does tendon have limits (mjtLimited)
table("actfrclimited", tendon->actfrclimited, 1); // does tendon have actuator force limits
table("range", tendon->range, 2); // length limits
table("actfrcrange", tendon->actfrcrange, 2); // actuator force limits
table("margin", tendon->margin, 1); // margin value for tendon limit detection
table("solref_limit", tendon->solref_limit, mjNREF); // solver reference: tendon limits
table("solimp_limit", tendon->solimp_limit, mjNIMP); // solver impedance: tendon limits
table("material", tendon->material, 1); // name of material for rendering
table("width", tendon->width, 1); // width for rendering
table("rgba", tendon->rgba, 4); // rgba when material is omitted
table("group", tendon->group, 1); // group
table("info", tendon->info, 1); // message appended to errors
table("stiffness", tendon->stiffness, "stiffness coefficient");
table("springlength", tendon->springlength, "spring resting length; {-1, -1}: use qpos_spring");
table("damping", tendon->damping, "damping coefficient");
table("frictionloss", tendon->frictionloss, "friction loss");
table("solref_friction", tendon->solref_friction, "solver reference: tendon friction");
table("solimp_friction", tendon->solimp_friction, "solver impedance: tendon friction");
table("armature", tendon->armature, "inertia associated with tendon velocity");
table("limited", tendon->limited, "does tendon have limits (mjtLimited)");
table("actfrclimited", tendon->actfrclimited, "does tendon have actuator force limits");
table("range", tendon->range, "length limits");
table("actfrcrange", tendon->actfrcrange, "actuator force limits");
table("margin", tendon->margin, "margin value for tendon limit detection");
table("solref_limit", tendon->solref_limit, "solver reference: tendon limits");
table("solimp_limit", tendon->solimp_limit, "solver impedance: tendon limits");
table("material", tendon->material, "name of material for rendering");
table("width", tendon->width, "width for rendering");
table("rgba", tendon->rgba, "rgba when material is omitted");
table("group", tendon->group, "group");
table("info", tendon->info, "message appended to errors");
break;
}
case mjOBJ_TEXTURE: {
mjsTexture* texture = mjs_asTexture(element);
table("type", texture->type, 1); // texture type
table("colorspace", texture->colorspace, 1); // colorspace
table("builtin", texture->builtin, 1); // builtin type (mjtBuiltin)
table("mark", texture->mark, 1); // mark type (mjtMark)
table("rgb1", texture->rgb1, 3); // first color for builtin
table("rgb2", texture->rgb2, 3); // second color for builtin
table("markrgb", texture->markrgb, 3); // mark color
table("random", texture->random, 1); // probability of random dots
table("height", texture->height, 1); // height in pixels (square for cube and skybox)
table("width", texture->width, 1); // width in pixels
table("nchannel", texture->nchannel, 1); // number of channels
table("content_type", texture->content_type, 1); // content type of file
table("file", texture->file, 1); // png file to load; use for all sides of cube
table("gridsize", texture->gridsize, 2); // size of grid for composite file; (1,1)-repeat
// TODO: table("gridlayout", texture->gridlayout, 12); // row-major: L,R,F,B,U,D for faces; . for unused
table("cubefiles", texture->cubefiles, 1); // different file for each side of the cube
table("hflip", texture->hflip, 1); // horizontal flip
table("vflip", texture->vflip, 1); // vertical flip
table("info", texture->info, 1); // message appended to compiler errors
table("type", texture->type, "texture type");
table("colorspace", texture->colorspace, "colorspace");
table("builtin", texture->builtin, "builtin type (mjtBuiltin)");
table("mark", texture->mark, "mark type (mjtMark)");
table("rgb1", texture->rgb1, "first color for builtin");
table("rgb2", texture->rgb2, "second color for builtin");
table("markrgb", texture->markrgb, "mark color");
table("random", texture->random, "probability of random dots");
table("height", texture->height, "height in pixels (square for cube and skybox)");
table("width", texture->width, "width in pixels");
table("nchannel", texture->nchannel, "number of channels");
table("content_type", texture->content_type, "content type of file");
table("file", texture->file, "png file to load; use for all sides of cube");
table("gridsize", texture->gridsize, "size of grid for composite file; (1,1)-repeat");
table("gridlayout", texture->gridlayout, "row-major: L,R,F,B,U,D for faces; . for unused");
table("cubefiles", texture->cubefiles, "different file for each side of the cube");
table("hflip", texture->hflip, "horizontal flip");
table("vflip", texture->vflip, "vertical flip");
table("info", texture->info, "message appended to compiler errors");
break;
}
case mjOBJ_MATERIAL: {
mjsMaterial* material = mjs_asMaterial(element);
table("textures", material->textures, 1); // names of textures (empty: none)
table("texuniform", material->texuniform, 1); // make texture cube uniform
table("texrepeat", material->texrepeat, 2); // texture repetition for 2D mapping
table("emission", material->emission, 1); // emission
table("specular", material->specular, 1); // specular
table("shininess", material->shininess, 1); // shininess
table("reflectance", material->reflectance, 1); // reflectance
table("metallic", material->metallic, 1); // metallic
table("roughness", material->roughness, 1); // roughness
table("rgba", material->rgba, 4); // rgba
table("info", material->info, 1); // message appended to compiler errors
table("textures", material->textures, "names of textures (empty: none)");
table("texuniform", material->texuniform, "make texture cube uniform");
table("texrepeat", material->texrepeat, "texture repetition for 2D mapping");
table("emission", material->emission, "emission");
table("specular", material->specular, "specular");
table("shininess", material->shininess, "shininess");
table("reflectance", material->reflectance, "reflectance");
table("metallic", material->metallic, "metallic");
table("roughness", material->roughness, "roughness");
table("rgba", material->rgba, "rgba");
table("info", material->info, "message appended to compiler errors");
break;
}
case mjOBJ_PAIR: {
mjsPair* pair = mjs_asPair(element);
table("geomname1", pair->geomname1, 1); // name of geom 1
table("geomname2", pair->geomname2, 1); // name of geom 2
table("condim", pair->condim, 1); // contact dimensionality
table("solref", pair->solref, mjNREF); // solver reference, normal direction
table("solreffriction", pair->solreffriction, mjNREF); // solver reference, frictional directions
table("solimp", pair->solimp, mjNIMP); // solver impedance
table("margin", pair->margin, 1); // margin for contact detection
table("gap", pair->gap, 1); // include in solver if dist<margin-gap
table("friction", pair->friction, 5); // full contact friction
table("info", pair->info, 1); // message appended to errors
table("geomname1", pair->geomname1, "name of geom 1");
table("geomname2", pair->geomname2, "name of geom 2");
table("condim", pair->condim, "contact dimensionality");
table("solref", pair->solref, "solver reference, normal direction");
table("solreffriction", pair->solreffriction, "solver reference, frictional directions");
table("solimp", pair->solimp, "solver impedance");
table("margin", pair->margin, "margin for contact detection");
table("gap", pair->gap, "include in solver if dist<margin-gap");
table("friction", pair->friction, "full contact friction");
table("info", pair->info, "message appended to errors");
break;
}
case mjOBJ_EQUALITY: {
mjsEquality* equality = mjs_asEquality(element);
table("type", equality->type, 1); // constraint type
table("data", equality->data, mjNEQDATA); // type-dependent data
table("active", equality->active, 1); // is equality initially active
table("name1", equality->name1, 1); // name of object 1
table("name2", equality->name2, 1); // name of object 2
table("objtype", equality->objtype, 1); // type of both objects
table("solref", equality->solref, mjNREF); // solver reference
table("solimp", equality->solimp, mjNIMP); // solver impedance
table("info", equality->info, 1); // message appended to errors
table("type", equality->type, "constraint type");
table("data", equality->data, "type-dependent data");
table("active", equality->active, "is equality initially active");
table("name1", equality->name1, "name of object 1");
table("name2", equality->name2, "name of object 2");
table("objtype", equality->objtype, "type of both objects");
table("solref", equality->solref, "solver reference");
table("solimp", equality->solimp, "solver impedance");
table("info", equality->info, "message appended to errors");
break;
}
case mjOBJ_EXCLUDE: {
mjsExclude* exclude = mjs_asExclude(element);
table("bodyname1", exclude->bodyname1, 1); // name of geom 1
table("bodyname2", exclude->bodyname2, 1); // name of geom 2
table("info", exclude->info, 1); // message appended to errors
table("bodyname1", exclude->bodyname1, "name of geom 1");
table("bodyname2", exclude->bodyname2, "name of geom 2");
table("info", exclude->info, "message appended to errors");
break;
}
case mjOBJ_NUMERIC: {
mjsNumeric* numeric = mjs_asNumeric(element);
table("data", numeric->data, 1); // initialization data
table("size", numeric->size, 1); // array size, can be bigger than data size
table("info", numeric->info, 1); // message appended to errors
table("data", numeric->data, "initialization data");
table("size", numeric->size, "array size, can be bigger than data size");
table("info", numeric->info, "message appended to errors");
break;
}
case mjOBJ_TEXT: {
mjsText* text = mjs_asText(element);
table("data", text->data, 1); // text string
table("info", text->info, 1); // message appended to compiler errors
table("data", text->data, "text string");
table("info", text->info, "message appended to compiler errors");
break;
}
case mjOBJ_TUPLE: {
mjsTuple* tuple = mjs_asTuple(element);
table("objtype", tuple->objtype, 1); // object types
table("objname", tuple->objname, 1); // object names
table("objprm", tuple->objprm, 1); // object parameters
table("info", tuple->info, 1); // message appended to compiler errors
table("objtype", tuple->objtype, "object types");
table("objname", tuple->objname, "object names");
table("objprm", tuple->objprm, "object parameters");
table("info", tuple->info, "message appended to compiler errors");
break;
}
case mjOBJ_KEY: {
mjsKey* key = mjs_asKey(element);
table("time", key->time, 1); // time
table("qpos", key->qpos, 1); // qpos
table("qvel", key->qvel, 1); // qvel
table("act", key->act, 1); // act
table("mpos", key->mpos, 1); // mocap pos
table("mquat", key->mquat, 1); // mocap quat
table("ctrl", key->ctrl, 1); // ctrl
table("info", key->info, 1); // message appended to compiler errors
table("time", key->time, "time");
table("qpos", key->qpos, "qpos");
table("qvel", key->qvel, "qvel");
table("act", key->act, "act");
table("mpos", key->mpos, "mocap pos");
table("mquat", key->mquat, "mocap quat");
table("ctrl", key->ctrl, "ctrl");
table("info", key->info, "message appended to compiler errors");
break;
}
case mjOBJ_PLUGIN: {
mjsPlugin* plugin = mjs_asPlugin(element);
table("name", plugin->name, 1); // instance name
table("plugin_name", plugin->plugin_name, 1); // plugin name
table("active", plugin->active, 1); // is the plugin active
table("info", plugin->info, 1); // message appended to compiler errors
table("name", plugin->name, "instance name");
table("plugin_name", plugin->plugin_name, "plugin name");
table("active", plugin->active, "is the plugin active");
table("info", plugin->info, "message appended to compiler errors");
break;
}
default:
@@ -675,9 +648,8 @@ void ElementModelGui(const mjModel* model, mjsElement* element) {
return;
}
ImGui_DataTable table;
table("Name", ElementName(element).c_str(), 1);
table.SetArrayIndex(mjs_getId(element));
ImGui_DataPtrTable table;
const int index = mjs_getId(element);
MJMODEL_POINTERS_PREAMBLE(model);
switch (element->elemtype) {
@@ -767,9 +739,8 @@ void ElementDataGui(const mjData* data, mjsElement* element) {
return;
}
ImGui_DataTable table;
table("Name", ElementName(element).c_str(), 1);
table.SetArrayIndex(mjs_getId(element));
ImGui_DataPtrTable table;
const int index = mjs_getId(element);
switch (element->elemtype) {
case mjOBJ_BODY: {
src/experimental/platform/imgui_widgets.cc
+125 -108
View File
@@ -61,143 +61,65 @@ KeyValues ReadIniSection(const std::string& contents,
return key_values;
}
ImGui_DataTable::ImGui_DataTable(float w1, float w2) {
ImGui_DataPtrTable::ImGui_DataPtrTable(float w1, float w2) {
ImGui::BeginTable("##PropertiesTable", 2);
const float width = ImGui::GetContentRegionAvail().x;
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w1);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w2);
}
ImGui_DataTable::~ImGui_DataTable() { ImGui::EndTable(); }
ImGui_DataPtrTable::~ImGui_DataPtrTable() { ImGui::EndTable(); }
void ImGui_DataTable::SetArrayIndex(int index) { index_ = index; }
void ImGui_DataTable::SetPrefix(const char* prefix) {
void ImGui_DataPtrTable::SetPrefix(const char* prefix) {
prefix_ = strlen(prefix);
}
void ImGui_DataTable::operator()(const char* label, const uintptr_t* ptr,
int n) {
void ImGui_DataPtrTable::DataPtr(const char* label, const uintptr_t* ptr,
int index, int n) {
for (int i = 0; i < n; ++i) {
MakeLabel(label, i, n);
ImGui::Text("(%s)", &ptr[index_ + i] ? "[ptr]" : "null");
ImGui::Text("(%s)", &ptr[index + i] ? "[ptr]" : "null");
}
}
void ImGui_DataTable::operator()(const char* label, const char* ptr, int n) {
if (n == 1) {
MakeLabel(label);
ImGui::Text("%s", &ptr[index_]);
} else {
mju_error("char cannot be converted to a vector");
}
void ImGui_DataPtrTable::DataPtr(const char* label, const char* ptr, int index,
int n) {
MakeLabel(label);
ScopedStyle style;
style.Color(ImGuiCol_Text, ImColor(255, 0, 0, 255));
ImGui::Text("%s", "(char not implemented, please report bug)");
}
void ImGui_DataTable::operator()(const char* label, const mjtByte* ptr, int n) {
void ImGui_DataPtrTable::DataPtr(const char* label, const mjtByte* ptr, int index,
int n) {
for (int i = 0; i < n; ++i) {
MakeLabel(label, i, n);
ImGui::Text("%s", ptr[index_ + i] ? "true" : "false");
ImGui::Text("%s", ptr[index + i] ? "true" : "false");
}
}
void ImGui_DataTable::operator()(const char* label, const mjtByte& val, int n) {
MakeLabel(label, 0, 1);
ImGui::Text("%s", val ? "true" : "false");
void ImGui_DataPtrTable::DataPtr(const char* label, const mjtSize* ptr, int index,
int n) {
Numeric(label, ptr, index, n);
}
void ImGui_DataTable::operator()(const char* label, const mjtSize* ptr, int n) {
Numeric(label, ptr, n);
void ImGui_DataPtrTable::DataPtr(const char* label, const int* ptr, int index,
int n) {
Numeric(label, ptr, index, n);
}
void ImGui_DataTable::operator()(const char* label, const int* ptr, int n) {
Numeric(label, ptr, n);
void ImGui_DataPtrTable::DataPtr(const char* label, const float* ptr, int index,
int n) {
Numeric(label, ptr, index, n);
}
void ImGui_DataTable::operator()(const char* label, const float* ptr, int n) {
Numeric(label, ptr, n);
}
void ImGui_DataTable::operator()(const char* label, const double* ptr, int n) {
Numeric(label, ptr, n);
}
void ImGui_DataTable::operator()(const char* label, const mjtSize& val, int n) {
Scalar(label, val, n);
}
void ImGui_DataTable::operator()(const char* label, const int& val, int n) {
Scalar(label, val, n);
}
void ImGui_DataTable::operator()(const char* label, const float& val, int n) {
Scalar(label, val, n);
}
void ImGui_DataTable::operator()(const char* label, const double& val, int n) {
Scalar(label, val, n);
}
void ImGui_DataTable::operator()(const char* label, const std::string* ptr,
int n) {
for (int i = 0; i < n; ++i) {
MakeLabel(label, i, n);
ImGui::Text("%s", ptr[i].c_str());
}
}
void ImGui_DataTable::operator()(const char* label,
const std::vector<std::string>* ptr, int n) {
if (n == 1) {
for (int i = 0; i < ptr->size(); ++i) {
MakeLabel(label, i, ptr->size());
ImGui::Text("%s", ptr->at(i).c_str());
}
} else {
mju_error("data type is vector; cannot also be an array");
}
}
void ImGui_DataTable::operator()(const char* label, const std::vector<int>* ptr,
int n) {
if (n == 1) {
const int size = ptr->size();
if (size == 0) {
(*this)(label, "[empty]", 1);
} else {
std::string tmp = "[" + std::to_string(size) + " values]";
(*this)(label, tmp.c_str(), 1);
}
} else {
mju_error("data type is vector; cannot also be an array");
}
}
void ImGui_DataTable::operator()(const char* label,
const std::vector<double>* ptr, int n) {
if (n == 1) {
const int size = ptr->size();
if (size == 0) {
(*this)(label, "[empty]", 1);
} else {
std::string tmp = "[" + std::to_string(size) + " values]";
(*this)(label, tmp.c_str(), 1);
}
} else {
mju_error("data type is vector; cannot also be an array");
}
void ImGui_DataPtrTable::DataPtr(const char* label, const double* ptr, int index,
int n) {
Numeric(label, ptr, index, n);
}
template <typename T>
void ImGui_DataTable::Scalar(const char* label, const T& value, int n) {
if (n == 1) {
Numeric(label, &value, n);
} else {
mju_error("scalar cannot be converted to a vector");
}
}
template <typename T>
void ImGui_DataTable::Numeric(const char* label, const T* ptr, int n) {
const T* addr = ptr + index_ * n;
void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int n) {
const T* addr = ptr + index * n;
using U = std::conditional_t<std::is_floating_point_v<T>, float, int>;
@@ -269,7 +191,7 @@ void ImGui_DataTable::Numeric(const char* label, const T* ptr, int n) {
}
}
void ImGui_DataTable::MakeLabel(const char* label, int index, int total) {
void ImGui_DataPtrTable::MakeLabel(const char* label, int index, int total) {
if (total == 1) {
ImGui::TableNextColumn();
ImGui::Text("%s", &label[prefix_]);
@@ -283,6 +205,101 @@ void ImGui_DataTable::MakeLabel(const char* label, int index, int total) {
}
}
void ImGui_SpecElementTable::operator()(const char* label, mjtByte& val,
const char* tooltip) {
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
ImGui::Text("%s", val ? "true" : "false");
}
void ImGui_SpecElementTable::operator()(const char* label, mjtSize& val,
const char* tooltip) {
Scalar(label, val, tooltip);
}
void ImGui_SpecElementTable::operator()(const char* label, int& val,
const char* tooltip) {
Scalar(label, val, tooltip);
}
void ImGui_SpecElementTable::operator()(const char* label, float& val,
const char* tooltip) {
Scalar(label, val, tooltip);
}
void ImGui_SpecElementTable::operator()(const char* label, double& val,
const char* tooltip) {
Scalar(label, val, tooltip);
}
void ImGui_SpecElementTable::operator()(const char* label, std::string* ptr,
const char* tooltip) {
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
ImGui::Text("%s", ptr ? ptr->c_str() : "");
}
void ImGui_SpecElementTable::operator()(const char* label,
std::vector<int>* ptr,
const char* tooltip) {
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
if (ptr == nullptr || ptr->empty()) {
ImGui::Text("[empty]");
} else {
ImGui::Text("[%zu values]", ptr->size());
}
}
void ImGui_SpecElementTable::operator()(const char* label,
std::vector<double>* ptr,
const char* tooltip) {
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
if (ptr == nullptr || ptr->empty()) {
ImGui::Text("[empty]");
} else {
ImGui::Text("[%zu values]", ptr->size());
}
}
void ImGui_SpecElementTable::operator()(const char* label,
std::vector<std::string>* ptr,
const char* tooltip) {
for (int i = 0; i < ptr->size(); ++i) {
MakeLabel(label, i, ptr->size());
ImGui::SetItemTooltip("%s", tooltip);
ImGui::Text("%s", ptr->at(i).c_str());
}
}
void ImGui_SpecElementTable::operator()(const char* name, double (&quat)[4],
const char* alt,
mjsOrientation& orientation,
const char* tooltip) {
auto alt_name = [&](const char* label) {
return std::string(alt) + "." + label;
};
switch (orientation.type) {
case mjORIENTATION_QUAT:
(*this)(name, quat, tooltip);
break;
case mjORIENTATION_AXISANGLE:
(*this)(alt_name("axisangle").c_str(), orientation.axisangle, tooltip);
break;
case mjORIENTATION_XYAXES:
(*this)(alt_name("xyaxes").c_str(), orientation.xyaxes, tooltip);
break;
case mjORIENTATION_ZAXIS:
(*this)(alt_name("zaxis").c_str(), orientation.zaxis, tooltip);
break;
case mjORIENTATION_EULER:
(*this)(alt_name("euler").c_str(), orientation.euler, tooltip);
break;
}
}
bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
float f = *value;
const bool res = ImGui::SliderFloat(name, &f, min, max);
src/experimental/platform/imgui_widgets.h
+115 -49
View File
@@ -15,6 +15,7 @@
#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
#include <cstddef>
#include <cstdint>
#include <optional>
#include <string>
@@ -26,6 +27,7 @@
#include <imgui.h>
#include <imgui_internal.h>
#include <mujoco/mujoco.h>
#include "experimental/platform/enum_utils.h"
namespace mujoco::platform {
@@ -148,73 +150,137 @@ struct ScopedStyle {
};
// Helper for displaying rows of key/value pairs in an ImGui table.
//
// Designed specifically to be used to display mjSpec, mjModel, and mjData
// values.
//
// To add a value to the table, call the operator() function with the label,
// the value, and (optionally) the dimensionality of the value (e.g. for vectors
// and matrices). To support generic code, even scalar values should be passed
// to operator() with n = 1.
class ImGui_DataTable {
class ImGui_DataPtrTable {
public:
// Starts the table (i.e. ImGui::BeginTable()) with two columns of the
// specified widths.
ImGui_DataTable(float w1 = 0.25f, float w2 = 0.75f);
ImGui_DataPtrTable(float w1 = 0.25f, float w2 = 0.75f);
// Ends the table (e.g. ImGui::EndTable().
~ImGui_DataTable();
~ImGui_DataPtrTable();
ImGui_DataTable(const ImGui_DataTable& other) = delete;
ImGui_DataTable& operator=(const ImGui_DataTable& other) = delete;
ImGui_DataPtrTable(const ImGui_DataPtrTable& other) = delete;
ImGui_DataPtrTable& operator=(const ImGui_DataPtrTable& other) = delete;
// Sets the offset into an array of values (e.g. for pointers in mjModel and
// mjData). This is only used for the display functions that take a pointer.
void SetArrayIndex(int index);
// Displays a labelled value in the table. These functions are intended
// specifically for displaying data from mjModel and mjData which store data
// in contiguous arrays. Each value to be displayed is at a given
// index into the array (based on the object's ID) and then has a
// dimensionality of n.
void DataPtr(const char* label, const char* ptr, int index, int n);
void DataPtr(const char* label, const mjtByte* ptr, int index, int n);
void DataPtr(const char* label, const mjtSize* ptr, int index, int n);
void DataPtr(const char* label, const int* ptr, int index, int n);
void DataPtr(const char* label, const float* ptr, int index, int n);
void DataPtr(const char* label, const double* ptr, int index, int n);
void DataPtr(const char* label, const uintptr_t* ptr, int index, int n);
// Sets the prefix that will be removed from all labels. Note: that we simply
// remove the first N characters of the label without actually comparing
// against this prefix.
// against this prefix. This works well with mjModel and mjData because
// data belonging to a given object type has a common prefix (e.g. all joints
// properties are prefixed with "jnt_").
void SetPrefix(const char* prefix);
// Displays a labelled value in the table.
void operator()(const char* label, const uintptr_t* ptr, int n);
void operator()(const char* label, const char* ptr, int n);
void operator()(const char* label, const mjtByte* ptr, int n);
void operator()(const char* label, const mjtSize* ptr, int n);
void operator()(const char* label, const int* ptr, int n);
void operator()(const char* label, const float* ptr, int n);
void operator()(const char* label, const double* ptr, int n);
// Displays a single scalar value in the table. Assumes n == 1. This should
// only be used for mjSpec objects and, therefore, will ignore the array index
// if set.
void operator()(const char* label, const mjtByte& val, int n);
void operator()(const char* label, const mjtSize& val, int n);
void operator()(const char* label, const int& val, int n);
void operator()(const char* label, const float& val, int n);
void operator()(const char* label, const double& val, int n);
// Overloads for C++ container types. Assumes its only used for mjSpec objects
// and, therefore, will ignore the array index if set.
void operator()(const char* label, const std::string* ptr, int n);
void operator()(const char* label, const std::vector<int>* ptr, int n);
void operator()(const char* label, const std::vector<double>* ptr, int n);
void operator()(const char* label, const std::vector<std::string>* ptr, int n);
private:
protected:
template <typename T>
void Numeric(const char* label, const T* ptr, int n);
template <typename T>
void Scalar(const char* label, const T& value, int n);
void Numeric(const char* label, const T* ptr, int index, int n);
void MakeLabel(const char* label, int index = 0, int total = 1);
int prefix_ = 0;
int index_ = 0;
};
// Helper for displaying mjSpec elements in an ImGui table.
class ImGui_SpecElementTable : public ImGui_DataPtrTable {
public:
// Scalar values used by mjSpec elements.
void operator()(const char* label, mjtByte& val, const char* tooltip);
void operator()(const char* label, mjtSize& val, const char* tooltip);
void operator()(const char* label, int& val, const char* tooltip);
void operator()(const char* label, float& val, const char* tooltip);
void operator()(const char* label, double& val, const char* tooltip);
// C++ container values used by mjSpec elements.
void operator()(const char* label, std::string* ptr, const char* tooltip);
void operator()(const char* label, std::vector<int>* ptr,
const char* tooltip);
void operator()(const char* label, std::vector<double>* ptr,
const char* tooltip);
void operator()(const char* label, std::vector<std::string>* ptr,
const char* tooltip);
// C-style array values used by mjSpec elements.
template <std::size_t N>
void operator()(const char* label, char (&val)[N], const char* tooltip) {
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
ImGui::Text("%s", std::string(val, N).c_str());
}
template <std::size_t N>
void operator()(const char* label, mjtByte (&val)[N], const char* tooltip) {
for (int i = 0; i < N; ++i) {
MakeLabel(label, i, N);
ImGui::SetItemTooltip("%s", tooltip);
ImGui::Text("%s", val[i] ? "true" : "false");
}
}
template <std::size_t N>
void operator()(const char* label, int (&val)[N], const char* tooltip) {
Vector(label, val, N, tooltip);
}
template <std::size_t N>
void operator()(const char* label, float (&val)[N], const char* tooltip) {
Vector(label, val, N, tooltip);
}
template <std::size_t N>
void operator()(const char* label, double (&val)[N], const char* tooltip) {
Vector(label, val, N, tooltip);
}
// Special handling for treating enum values as integers.
template <typename T, typename U=std::enable_if_t<std::is_enum_v<T>, T>>
void operator()(const char* label, T& val, const char* tooltip) {
auto v = enum_utils::enum_to_string(val);
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
ImGui::Text("%s", v.data());
}
// Special handling for quaternion/orientation pairs.
void operator()(const char* name, double (&quat)[4], const char* alt,
mjsOrientation& orientation, const char* tooltip);
private:
template <typename T>
void Scalar(const char* label, T& val, const char* tooltip) {
MakeLabel(label);
ImGui::SetItemTooltip("%s", tooltip);
if constexpr (std::is_enum_v<T>) {
ImGui::Text("%d", (int)val);
} else if constexpr (std::is_integral_v<T>) {
ImGui::Text("%d", (int)val);
} else if constexpr (std::is_floating_point_v<T>) {
ImGui::Text("%f", (float)val);
}
}
template <typename T>
void Vector(const char* label, T* ptr, int n, const char* tooltip) {
for (int i = 0; i < n; ++i) {
MakeLabel(label, i, n);
ImGui::SetItemTooltip("%s", tooltip);
if constexpr (std::is_enum_v<T>) {
ImGui::Text("%d", (int)ptr[i]);
} else if constexpr (std::is_integral_v<T>) {
ImGui::Text("%d", (int)ptr[i]);
} else if constexpr (std::is_floating_point_v<T>) {
ImGui::Text("%f", (float)ptr[i]);
}
}
}
};
// ImGui Slider that supports both float and double types.
bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max);