From 42d843a0fdc8b9f4496b97a3a87b80310bbb3f9d Mon Sep 17 00:00:00 2001 From: Haroon Qureshi Date: Wed, 25 Feb 2026 12:36:27 -0800 Subject: [PATCH] Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper. 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 --- src/experimental/platform/CMakeLists.txt | 1 + src/experimental/platform/enum_utils.h | 170 ++++++ src/experimental/platform/gui_spec.cc | 637 ++++++++++----------- src/experimental/platform/imgui_widgets.cc | 233 ++++---- src/experimental/platform/imgui_widgets.h | 164 ++++-- 5 files changed, 715 insertions(+), 490 deletions(-) create mode 100644 src/experimental/platform/enum_utils.h diff --git a/src/experimental/platform/CMakeLists.txt b/src/experimental/platform/CMakeLists.txt index 8ba7aa6f..ecb9e6f2 100644 --- a/src/experimental/platform/CMakeLists.txt +++ b/src/experimental/platform/CMakeLists.txt @@ -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 diff --git a/src/experimental/platform/enum_utils.h b/src/experimental/platform/enum_utils.h new file mode 100644 index 00000000..a6e8ec0b --- /dev/null +++ b/src/experimental/platform/enum_utils.h @@ -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 +#include +#include +#include +#include + +// 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 +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 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 +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 +constexpr auto is_valid() { + return !n(V)>().empty(); +} + +// Returns the value of the Nth element of enum E. +template +constexpr auto nth(int v) { + return std::bit_cast(ENUM_MIN_VALUE + v); +} + +// Returns the number of bits set to true in the given array. +template +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 +constexpr auto values(std::index_sequence) noexcept { + constexpr bool valid[sizeof...(I)] = {is_valid(I)>()...}; + constexpr auto num_valid = count_values(valid); + static_assert(num_valid > 0, "no support for empty enums"); + + std::array values = {}; + for (int offset = 0, n = 0; n < num_valid; ++offset) { + if (valid[offset]) { + values[n] = nth(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 +constexpr auto values() noexcept { + constexpr int enum_size = ENUM_MAX_VALUE - ENUM_MIN_VALUE + 1; + return values(std::make_index_sequence({})); +} + +template +inline constexpr auto values_v = values(); + +// Returns the name of V which is an enum value of type E. +template +constexpr auto enum_name() { + constexpr auto name = n(); + return fixed_string(name); +} + +template +inline constexpr auto enum_name_v = enum_name(); + +// Returns an array of pairs of enum values and their names. +template +constexpr auto entries(std::index_sequence) noexcept { + return std::array, sizeof...(I)>{ + {{values_v[I], enum_name_v[I]>}...}}; +} + +template +inline constexpr auto entries_v = + entries(std::make_index_sequence.size()>()); + +// Returns the name of the given enum value. +template +constexpr std::string_view enum_to_string(E value) { + for (const auto& [key, name] : entries_v) { + if (value == key) return name; + } + return {}; +} + +} // namespace mujoco::platform::enum_utils + +#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_ diff --git a/src/experimental/platform/gui_spec.cc b/src/experimental/platform/gui_spec.cc index eeb74581..31158ec8 100644 --- a/src/experimental/platform/gui_spec.cc +++ b/src/experimental/platform/gui_spec.cc @@ -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 distdim, 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 distdim, "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 distfriction, 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 distfriction, "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: { diff --git a/src/experimental/platform/imgui_widgets.cc b/src/experimental/platform/imgui_widgets.cc index def513e9..30faf4dc 100644 --- a/src/experimental/platform/imgui_widgets.cc +++ b/src/experimental/platform/imgui_widgets.cc @@ -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* 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* 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* 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 -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 -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, 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* 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* 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* 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); diff --git a/src/experimental/platform/imgui_widgets.h b/src/experimental/platform/imgui_widgets.h index 7fd64ca8..dc8bf077 100644 --- a/src/experimental/platform/imgui_widgets.h +++ b/src/experimental/platform/imgui_widgets.h @@ -15,6 +15,7 @@ #ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_ #define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_ +#include #include #include #include @@ -26,6 +27,7 @@ #include #include #include +#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* ptr, int n); - void operator()(const char* label, const std::vector* ptr, int n); - void operator()(const char* label, const std::vector* ptr, int n); - - private: + protected: template - void Numeric(const char* label, const T* ptr, int n); - - template - 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* ptr, + const char* tooltip); + void operator()(const char* label, std::vector* ptr, + const char* tooltip); + void operator()(const char* label, std::vector* ptr, + const char* tooltip); + + // C-style array values used by mjSpec elements. + template + 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 + 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 + void operator()(const char* label, int (&val)[N], const char* tooltip) { + Vector(label, val, N, tooltip); + } + template + void operator()(const char* label, float (&val)[N], const char* tooltip) { + Vector(label, val, N, tooltip); + } + template + 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 , 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 + void Scalar(const char* label, T& val, const char* tooltip) { + MakeLabel(label); + ImGui::SetItemTooltip("%s", tooltip); + if constexpr (std::is_enum_v) { + ImGui::Text("%d", (int)val); + } else if constexpr (std::is_integral_v) { + ImGui::Text("%d", (int)val); + } else if constexpr (std::is_floating_point_v) { + ImGui::Text("%f", (float)val); + } + } + + template + 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) { + ImGui::Text("%d", (int)ptr[i]); + } else if constexpr (std::is_integral_v) { + ImGui::Text("%d", (int)ptr[i]); + } else if constexpr (std::is_floating_point_v) { + 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);