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In simulate, by default, keep updating profiler and sensor figures in Pause mode. Add UI option to disable.

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PiperOrigin-RevId: 564710460
Change-Id: I893535e258ec2485d2ec997ecadfbdafba05bb99
This commit is contained in:
Yuval Tassa
2023-09-12 07:05:26 -07:00
committed by Copybara-Service
parent 2f14a7c102
commit 48eb75ae92
2 changed files with 7 additions and 4 deletions
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simulate/simulate.cc
+3 -2
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@@ -14,6 +14,7 @@
#include "simulate.h"
#include <algorithm>
#include <atomic>
#include <chrono>
#include <cstdio>
@@ -1638,8 +1639,8 @@ void Simulate::Sync() {
return;
}
bool update_profiler = this->profiler && (this->run || !this->m_);
bool update_sensor = this->sensor && (this->run || !this->m_);
bool update_profiler = this->profiler && (this->pause_update || this->run);
bool update_sensor = this->sensor && (this->pause_update || this->run);
for (int i = 0; i < m_->njnt; ++i) {
std::optional<std::pair<mjtNum, mjtNum>> range;
simulate/simulate.h
+4 -2
View File
@@ -155,6 +155,7 @@ class Simulate {
int info = 0;
int profiler = 0;
int sensor = 0;
int pause_update = 1;
int fullscreen = 0;
int vsync = 1;
int busywait = 0;
@@ -187,7 +188,7 @@ class Simulate {
int real_time_index = 0;
bool speed_changed = true;
float measured_slowdown = 1.0;
// logarithmically spaced realtime slow-down coefficients (percent)
// logarithmically spaced real-time slow-down coefficients (percent)
static constexpr float percentRealTime[] = {
100, 80, 66, 50, 40, 33, 25, 20, 16, 13,
10, 8, 6.6, 5.0, 4, 3.3, 2.5, 2, 1.6, 1.3,
@@ -232,7 +233,7 @@ class Simulate {
// Constant arrays needed for the option section of UI and the UI interface
// TODO setting the size here is not ideal
const mjuiDef def_option[14] = {
const mjuiDef def_option[15] = {
{mjITEM_SECTION, "Option", 1, nullptr, "AO"},
{mjITEM_SELECT, "Spacing", 1, &this->spacing, "Tight\nWide"},
{mjITEM_SELECT, "Color", 1, &this->color, "Default\nOrange\nWhite\nBlack"},
@@ -243,6 +244,7 @@ class Simulate {
{mjITEM_CHECKINT, "Info", 2, &this->info, " #291"},
{mjITEM_CHECKINT, "Profiler", 2, &this->profiler, " #292"},
{mjITEM_CHECKINT, "Sensor", 2, &this->sensor, " #293"},
{mjITEM_CHECKINT, "Pause update", 2, &this->pause_update, ""},
#ifdef __APPLE__
{mjITEM_CHECKINT, "Fullscreen", 0, &this->fullscreen, " #294"},
#else