Merge HandleMouseEvents and HandleKeyboardEvents back into app.cc.
PiperOrigin-RevId: 825081195 Change-Id: I36445b8c452b15ca26056a52fd1844cf77083c0a
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
d001bd6525
commit
4620b9f23a
@@ -68,6 +68,8 @@ static constexpr toolbox::Window::Config kWindowConfig = {
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};
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static void ToggleFlag(mjtByte& flag) { flag = flag ? 0 : 1; }
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static void ToggleWindow(bool& window) {
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window = !window;
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ImGui::GetIO().WantSaveIniSettings = true;
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@@ -75,6 +77,17 @@ static void ToggleWindow(bool& window) {
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static void ShowPopup(bool& popup) { popup = true; }
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static void SelectParentPerturb(const mjModel* model, mjvPerturb& perturb) {
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if (perturb.select > 0) {
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perturb.select = model->body_parentid[perturb.select];
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perturb.flexselect = -1;
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perturb.skinselect = -1;
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if (perturb.select <= 0) {
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perturb.active = 0;
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}
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}
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}
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// FontAwesome icon codes.
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static constexpr const char* ICON_PLAY = "\xef\x81\x8b";
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static constexpr const char* ICON_PAUSE = "\xef\x81\x8c";
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@@ -215,9 +228,94 @@ void App::Render() {
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}
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void App::HandleMouseEvents() {
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::mujoco::toolbox::HandleMouseEvents(window_.get(), renderer_.get(),
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physics_.get(), perturb_, vis_options_,
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camera_, ui_.camera_idx);
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auto& io = ImGui::GetIO();
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if (io.WantCaptureMouse) {
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return;
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}
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mjModel* model = physics_->GetModel();
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mjData* data = physics_->GetData();
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mjvScene& scene = renderer_->GetScene();
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// Normalize mouse positions and movement to display size.
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const float mouse_x = io.MousePos.x / io.DisplaySize.x;
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const float mouse_y = io.MousePos.y / io.DisplaySize.y;
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const float mouse_dx = io.MouseDelta.x / io.DisplaySize.x;
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const float mouse_dy = io.MouseDelta.y / io.DisplaySize.y;
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const float mouse_scroll = io.MouseWheel / 50.0f;
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// Determine the mouse action based on which buttons are down.
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mjtMouse action = mjMOUSE_NONE;
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if (ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
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action = io.KeyShift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
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} else if (ImGui::IsMouseDown(ImGuiMouseButton_Right)) {
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action = io.KeyShift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
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} else if (ImGui::IsMouseDown(ImGuiMouseButton_Middle)) {
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action = mjMOUSE_ZOOM;
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} else {
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// If no mouse buttons are down, end any active perturbations.
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perturb_.active = 0;
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}
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// Mouse scroll.
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if (model && mouse_scroll != 0.0f) {
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mjv_moveCamera(model, mjMOUSE_ZOOM, 0, mouse_scroll, &scene, &camera_);
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}
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// Mouse drag.
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if (model && data && action != mjMOUSE_NONE &&
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(mouse_dx != 0.0f || mouse_dy != 0.0f)) {
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// If ctrl is pressed, move the perturbation, otherwise move the camera_.
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if (io.KeyCtrl) {
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if (perturb_.select > 0) {
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const int active =
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action == mjMOUSE_MOVE_V ? mjPERT_TRANSLATE : mjPERT_ROTATE;
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if (active != perturb_.active) {
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mjv_initPerturb(model, data, &scene, &perturb_);
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perturb_.active = active;
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}
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mjv_movePerturb(model, data, action, mouse_dx, mouse_dy, &scene,
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&perturb_);
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}
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} else {
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mjv_moveCamera(model, action, mouse_dx, mouse_dy, &scene, &camera_);
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}
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}
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// Left double click.
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if (data && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
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toolbox::PickResult picked =
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toolbox::Pick(mouse_x, mouse_y, window_.get(), renderer_.get(),
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physics_.get(), vis_options_);
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if (picked.body >= 0) {
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perturb_.select = picked.body;
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perturb_.flexselect = picked.flex;
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perturb_.skinselect = picked.skin;
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// Compute the local position of the selected object in the world.
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mjtNum tmp[3];
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mju_sub3(tmp, picked.point, data->xpos + 3 * picked.body);
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mju_mulMatTVec(perturb_.localpos, data->xmat + 9 * picked.body, tmp, 3, 3);
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} else {
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perturb_.select = 0;
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perturb_.flexselect = -1;
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perturb_.skinselect = -1;
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}
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}
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// Right double click.
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if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right)) {
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toolbox::PickResult picked =
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toolbox::Pick(mouse_x, mouse_y, window_.get(), renderer_.get(),
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physics_.get(), vis_options_);
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mju_copy3(camera_.lookat, picked.point);
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if (picked.body > 0 && io.KeyCtrl) {
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camera_.type = mjCAMERA_TRACKING;
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camera_.trackbodyid = picked.body;
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camera_.fixedcamid = -1;
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ui_.camera_idx = 1;
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}
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}
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}
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void App::ChangeSpeed(int delta) {
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@@ -247,6 +345,8 @@ void App::HandleKeyboardEvents() {
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return;
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}
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mjModel* model = physics_->GetModel();
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constexpr auto ImGuiMode_CtrlShift = ImGuiMod_Ctrl | ImGuiMod_Shift;
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// Menu shortcuts.
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@@ -347,9 +447,107 @@ void App::HandleKeyboardEvents() {
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}
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}
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::mujoco::toolbox::HandleKeyboardEvents(
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window_.get(), renderer_.get(), physics_.get(), perturb_, vis_options_,
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camera_, ui_.camera_idx);
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// Physics control shortcuts.
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if (ImGui_IsChordJustPressed(ImGuiKey_Space)) {
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physics_->TogglePause();
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Backspace)) {
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physics_->Reset();
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}
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// Camera shortcuts.
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if (model) {
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if (ImGui_IsChordJustPressed(ImGuiKey_Escape)) {
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ui_.camera_idx = toolbox::SetCamera(*model, camera_, 0);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftBracket)) {
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ui_.camera_idx = toolbox::SetCamera(*model, camera_,ui_.camera_idx - 1);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_RightBracket)) {
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ui_.camera_idx = toolbox::SetCamera(*model, camera_, ui_.camera_idx + 1);
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}
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}
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// Perturb shortcuts.
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if (ImGui_IsChordJustPressed(ImGuiKey_PageUp)) {
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SelectParentPerturb(model, perturb_);
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}
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// Visualization shortcuts.
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if (ImGui_IsChordJustPressed(ImGuiKey_F6)) {
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vis_options_.frame = (vis_options_.frame + 1) % mjNFRAME;
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} else if (ImGui_IsChordJustPressed(ImGuiKey_F7)) {
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vis_options_.label = (vis_options_.label + 1) % mjNLABEL;
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Comma)) {
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ToggleFlag(vis_options_.flags[mjVIS_ACTIVATION]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Backslash)) {
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ToggleFlag(vis_options_.flags[mjVIS_MESHBVH]);
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// } else if (ImGui_IsChordJustPressed(ImGuiKey_Backquote)) {
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// ToggleFlag(vis_options_.flags[mjVIS_BODYBVH]);
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// } else if (ImGui_IsChordJustPressed(ImGuiKey_Quote)) {
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// ToggleFlag(vis_options_.flags[mjVIS_SCLINERTIA]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Semicolon)) {
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ToggleFlag(vis_options_.flags[mjVIS_SKIN]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_U)) {
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ToggleFlag(vis_options_.flags[mjVIS_ACTUATOR]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Q)) {
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ToggleFlag(vis_options_.flags[mjVIS_CAMERA]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_M)) {
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ToggleFlag(vis_options_.flags[mjVIS_COM]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_F)) {
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ToggleFlag(vis_options_.flags[mjVIS_CONTACTFORCE]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_C)) {
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ToggleFlag(vis_options_.flags[mjVIS_CONTACTPOINT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_P)) {
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ToggleFlag(vis_options_.flags[mjVIS_CONTACTSPLIT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_H)) {
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ToggleFlag(vis_options_.flags[mjVIS_CONVEXHULL]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_E)) {
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ToggleFlag(vis_options_.flags[mjVIS_CONSTRAINT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_I)) {
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ToggleFlag(vis_options_.flags[mjVIS_ISLAND]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_J)) {
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ToggleFlag(vis_options_.flags[mjVIS_JOINT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Z)) {
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ToggleFlag(vis_options_.flags[mjVIS_LIGHT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_B)) {
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ToggleFlag(vis_options_.flags[mjVIS_PERTFORCE]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_O)) {
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ToggleFlag(vis_options_.flags[mjVIS_PERTOBJ]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Y)) {
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ToggleFlag(vis_options_.flags[mjVIS_RANGEFINDER]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_V)) {
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ToggleFlag(vis_options_.flags[mjVIS_TENDON]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_X)) {
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ToggleFlag(vis_options_.flags[mjVIS_TEXTURE]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_T)) {
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ToggleFlag(vis_options_.flags[mjVIS_TRANSPARENT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_K)) {
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ToggleFlag(vis_options_.flags[mjVIS_AUTOCONNECT]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_G)) {
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ToggleFlag(vis_options_.flags[mjVIS_STATIC]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_0 | ImGuiMod_Shift)) {
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ToggleFlag(vis_options_.sitegroup[0]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_1 | ImGuiMod_Shift)) {
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ToggleFlag(vis_options_.sitegroup[1]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_2 | ImGuiMod_Shift)) {
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ToggleFlag(vis_options_.sitegroup[2]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_3 | ImGuiMod_Shift)) {
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ToggleFlag(vis_options_.sitegroup[3]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_4 | ImGuiMod_Shift)) {
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ToggleFlag(vis_options_.sitegroup[4]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_5 | ImGuiMod_Shift)) {
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ToggleFlag(vis_options_.sitegroup[5]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_0)) {
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ToggleFlag(vis_options_.geomgroup[0]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_1)) {
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ToggleFlag(vis_options_.geomgroup[1]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_2)) {
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ToggleFlag(vis_options_.geomgroup[2]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_3)) {
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ToggleFlag(vis_options_.geomgroup[3]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_4)) {
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ToggleFlag(vis_options_.geomgroup[4]);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_5)) {
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ToggleFlag(vis_options_.geomgroup[5]);
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}
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}
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void App::LoadSettings() {
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@@ -15,8 +15,6 @@
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#include "experimental/toolbox/interaction.h"
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#include <algorithm>
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#include <imgui.h>
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#include "experimental/toolbox/imgui_widgets.h"
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#include "experimental/toolbox/physics.h"
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#include "experimental/toolbox/renderer.h"
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#include "experimental/toolbox/window.h"
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@@ -24,19 +22,6 @@
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namespace mujoco::toolbox {
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static void ToggleFlag(mjtByte& flag) { flag = flag ? 0 : 1; }
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static void SelectParentPerturb(const mjModel* model, mjvPerturb& perturb) {
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if (perturb.select > 0) {
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perturb.select = model->body_parentid[perturb.select];
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perturb.flexselect = -1;
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perturb.skinselect = -1;
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if (perturb.select <= 0) {
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perturb.active = 0;
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}
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}
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}
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PickResult Pick(float x, float y, Window* window, Renderer* renderer,
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Physics* physics, const mjvOption& vis_options) {
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const float w = static_cast<float>(window->GetWidth());
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@@ -71,211 +56,4 @@ int SetCamera(const mjModel& model, mjvCamera& camera, int request_idx) {
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return camera_idx;
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}
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void HandleMouseEvents(Window* window, Renderer* renderer,
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Physics* physics, mjvPerturb& perturb,
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mjvOption& vis_options, mjvCamera& camera,
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int& camera_idx) {
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auto& io = ImGui::GetIO();
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if (io.WantCaptureMouse) {
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return;
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}
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// Normalize mouse positions and movement to display size.
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const float mouse_x = io.MousePos.x / io.DisplaySize.x;
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const float mouse_y = io.MousePos.y / io.DisplaySize.y;
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const float mouse_dx = io.MouseDelta.x / io.DisplaySize.x;
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const float mouse_dy = io.MouseDelta.y / io.DisplaySize.y;
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const float mouse_scroll = io.MouseWheel / 50.0f;
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mjModel* model = physics->GetModel();
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mjData* data = physics->GetData();
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mjvScene& scene = renderer->GetScene();
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// Determine the mouse action based on which buttons are down.
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mjtMouse action = mjMOUSE_NONE;
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if (ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
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action = io.KeyShift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
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} else if (ImGui::IsMouseDown(ImGuiMouseButton_Right)) {
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action = io.KeyShift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
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} else if (ImGui::IsMouseDown(ImGuiMouseButton_Middle)) {
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action = mjMOUSE_ZOOM;
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} else {
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// If no mouse buttons are down, end any active perturbations.
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perturb.active = 0;
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}
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// Mouse scroll.
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if (model && mouse_scroll != 0.0f) {
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mjv_moveCamera(model, mjMOUSE_ZOOM, 0, mouse_scroll, &scene, &camera);
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}
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// Mouse drag.
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if (model && data && action != mjMOUSE_NONE &&
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(mouse_dx != 0.0f || mouse_dy != 0.0f)) {
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// If ctrl is pressed, move the perturbation, otherwise move the camera.
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if (io.KeyCtrl) {
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if (perturb.select > 0) {
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const int active =
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action == mjMOUSE_MOVE_V ? mjPERT_TRANSLATE : mjPERT_ROTATE;
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if (active != perturb.active) {
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mjv_initPerturb(model, data, &scene, &perturb);
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perturb.active = active;
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}
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mjv_movePerturb(model, data, action, mouse_dx, mouse_dy, &scene,
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&perturb);
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}
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} else {
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mjv_moveCamera(model, action, mouse_dx, mouse_dy, &scene, &camera);
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}
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}
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// Left double click.
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if (data && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
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PickResult picked =
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Pick(mouse_x, mouse_y, window, renderer, physics, vis_options);
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if (picked.body >= 0) {
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perturb.select = picked.body;
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perturb.flexselect = picked.flex;
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perturb.skinselect = picked.skin;
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// Compute the local position of the selected object in the world.
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mjtNum tmp[3];
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mju_sub3(tmp, picked.point, data->xpos + 3 * picked.body);
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mju_mulMatTVec(perturb.localpos, data->xmat + 9 * picked.body, tmp, 3, 3);
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} else {
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perturb.select = 0;
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perturb.flexselect = -1;
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perturb.skinselect = -1;
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}
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}
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// Right double click.
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if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right)) {
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PickResult picked =
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Pick(mouse_x, mouse_y, window, renderer, physics, vis_options);
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mju_copy3(camera.lookat, picked.point);
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if (picked.body > 0 && io.KeyCtrl) {
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camera.type = mjCAMERA_TRACKING;
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camera.trackbodyid = picked.body;
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camera.fixedcamid = -1;
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camera_idx = 1;
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}
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}
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}
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void HandleKeyboardEvents(Window* window, Renderer* renderer,
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Physics* physics, mjvPerturb& perturb,
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mjvOption& vis_options, mjvCamera& camera,
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int& camera_idx) {
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if (ImGui::GetIO().WantCaptureKeyboard) {
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return;
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}
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mjModel* model = physics->GetModel();
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// Physics control shortcuts.
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if (ImGui_IsChordJustPressed(ImGuiKey_Space)) {
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physics->TogglePause();
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} else if (ImGui_IsChordJustPressed(ImGuiKey_Backspace)) {
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physics->Reset();
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}
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// Camera shortcuts.
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if (model) {
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if (ImGui_IsChordJustPressed(ImGuiKey_Escape)) {
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camera_idx = SetCamera(*model, camera, 0);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftBracket)) {
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camera_idx = SetCamera(*model, camera, camera_idx - 1);
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} else if (ImGui_IsChordJustPressed(ImGuiKey_RightBracket)) {
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camera_idx = SetCamera(*model, camera, camera_idx + 1);
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}
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}
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// Perturb shortcuts.
|
||||
if (ImGui_IsChordJustPressed(ImGuiKey_PageUp)) {
|
||||
SelectParentPerturb(model, perturb);
|
||||
}
|
||||
|
||||
// Visualization shortcuts.
|
||||
if (ImGui_IsChordJustPressed(ImGuiKey_F6)) {
|
||||
vis_options.frame = (vis_options.frame + 1) % mjNFRAME;
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_F7)) {
|
||||
vis_options.label = (vis_options.label + 1) % mjNLABEL;
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_Comma)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_ACTIVATION]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_Backslash)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_MESHBVH]);
|
||||
// } else if (ImGui_IsChordJustPressed(ImGuiKey_Backquote)) {
|
||||
// ToggleFlag(vis_options.flags[mjVIS_BODYBVH]);
|
||||
// } else if (ImGui_IsChordJustPressed(ImGuiKey_Quote)) {
|
||||
// ToggleFlag(vis_options.flags[mjVIS_SCLINERTIA]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_Semicolon)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_SKIN]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_U)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_ACTUATOR]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_Q)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_CAMERA]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_M)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_COM]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_F)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_CONTACTFORCE]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_C)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_CONTACTPOINT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_P)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_CONTACTSPLIT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_H)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_CONVEXHULL]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_E)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_CONSTRAINT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_I)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_ISLAND]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_J)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_JOINT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_Z)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_LIGHT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_B)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_PERTFORCE]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_O)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_PERTOBJ]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_Y)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_RANGEFINDER]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_V)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_TENDON]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_X)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_TEXTURE]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_T)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_TRANSPARENT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_K)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_AUTOCONNECT]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_G)) {
|
||||
ToggleFlag(vis_options.flags[mjVIS_STATIC]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_0 | ImGuiMod_Shift)) {
|
||||
ToggleFlag(vis_options.sitegroup[0]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_1 | ImGuiMod_Shift)) {
|
||||
ToggleFlag(vis_options.sitegroup[1]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_2 | ImGuiMod_Shift)) {
|
||||
ToggleFlag(vis_options.sitegroup[2]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_3 | ImGuiMod_Shift)) {
|
||||
ToggleFlag(vis_options.sitegroup[3]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_4 | ImGuiMod_Shift)) {
|
||||
ToggleFlag(vis_options.sitegroup[4]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_5 | ImGuiMod_Shift)) {
|
||||
ToggleFlag(vis_options.sitegroup[5]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_0)) {
|
||||
ToggleFlag(vis_options.geomgroup[0]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_1)) {
|
||||
ToggleFlag(vis_options.geomgroup[1]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_2)) {
|
||||
ToggleFlag(vis_options.geomgroup[2]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_3)) {
|
||||
ToggleFlag(vis_options.geomgroup[3]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_4)) {
|
||||
ToggleFlag(vis_options.geomgroup[4]);
|
||||
} else if (ImGui_IsChordJustPressed(ImGuiKey_5)) {
|
||||
ToggleFlag(vis_options.geomgroup[5]);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace mujoco::toolbox
|
||||
|
||||
@@ -47,16 +47,6 @@ PickResult Pick(float x, float y, Window* window, Renderer* renderer,
|
||||
// available).
|
||||
int SetCamera(const mjModel& model, mjvCamera& camera, int request_idx);
|
||||
|
||||
// Handles canonical mouse events.
|
||||
void HandleMouseEvents(Window* window, Renderer* renderer, Physics* physics,
|
||||
mjvPerturb& perturb, mjvOption& vis_options,
|
||||
mjvCamera& camera, int& camera_idx);
|
||||
|
||||
// Handles canonical keyboard events.
|
||||
void HandleKeyboardEvents(Window* window, Renderer* renderer, Physics* physics,
|
||||
mjvPerturb& perturb, mjvOption& vis_options,
|
||||
mjvCamera& camera, int& camera_idx);
|
||||
|
||||
} // namespace mujoco::toolbox
|
||||
|
||||
#endif // MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_INTERACTION_H_
|
||||
|
||||
Reference in New Issue
Block a user