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Rename member history_ to sim_history_.

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PiperOrigin-RevId: 878906079
Change-Id: I1327f0216bc5042e62c598f2b7f15f6a26c192dc
This commit is contained in:
Haroon Qureshi
2026-03-05 01:23:12 -08:00
committed by Copybara-Service
parent 870f9fea24
commit 5506fbf506
2 changed files with 13 additions and 13 deletions
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src/experimental/studio/app.cc
+12 -12
View File
@@ -154,7 +154,7 @@ void App::Recompile() {
mj_recompile(model_holder_->spec(), model_holder_->vfs(), mj_recompile(model_holder_->spec(), model_holder_->vfs(),
model_holder_->model(), model_holder_->data()); model_holder_->model(), model_holder_->data());
const int state_size = mj_stateSize(model(), mjSTATE_INTEGRATION); const int state_size = mj_stateSize(model(), mjSTATE_INTEGRATION);
history_.Init(state_size); sim_history_.Init(state_size);
} }
void App::RequestModelLoad(std::string model_file) { void App::RequestModelLoad(std::string model_file) {
@@ -216,7 +216,7 @@ void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
mjModel* model = model_holder_->model(); mjModel* model = model_holder_->model();
renderer_->Init(model); renderer_->Init(model);
const int state_size = mj_stateSize(model, mjSTATE_INTEGRATION); const int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
history_.Init(state_size); sim_history_.Init(state_size);
if (!preserve_camera_on_load_) { if (!preserve_camera_on_load_) {
const int model_cam = model->vis.global.cameraid; const int model_cam = model->vis.global.cameraid;
@@ -331,7 +331,7 @@ void App::UpdatePhysics() {
if (stepped) { if (stepped) {
profiler_.Update(model(), data()); profiler_.Update(model(), data());
std::span<mjtNum> state = history_.AddToHistory(); std::span<mjtNum> state = sim_history_.AddToHistory();
if (!state.empty()) { if (!state.empty()) {
mj_getState(model(), data(), state.data(), mjSTATE_INTEGRATION); mj_getState(model(), data(), state.data(), mjSTATE_INTEGRATION);
} }
@@ -339,7 +339,7 @@ void App::UpdatePhysics() {
} }
void App::LoadHistory(int offset) { void App::LoadHistory(int offset) {
std::span<mjtNum> state = history_.SetIndex(offset); std::span<mjtNum> state = sim_history_.SetIndex(offset);
if (!state.empty()) { if (!state.empty()) {
// Pause simulation when entering history mode. // Pause simulation when entering history mode.
step_control_.SetPauseState(PauseState::kNormalPaused); step_control_.SetPauseState(PauseState::kNormalPaused);
@@ -611,14 +611,14 @@ void App::HandleKeyboardEvents() {
SetSpeedIndex(tmp_.speed_index - 1); SetSpeedIndex(tmp_.speed_index - 1);
} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftArrow)) { } else if (ImGui_IsChordJustPressed(ImGuiKey_LeftArrow)) {
if (step_control_.GetPauseState() == PauseState::kNormalPaused) { if (step_control_.GetPauseState() == PauseState::kNormalPaused) {
LoadHistory(history_.GetIndex() - 1); LoadHistory(sim_history_.GetIndex() - 1);
} }
} else if (ImGui_IsChordJustPressed(ImGuiKey_RightArrow)) { } else if (ImGui_IsChordJustPressed(ImGuiKey_RightArrow)) {
if (step_control_.GetPauseState() == PauseState::kNormalPaused) { if (step_control_.GetPauseState() == PauseState::kNormalPaused) {
if (history_.GetIndex() == 0) { if (sim_history_.GetIndex() == 0) {
step_control_.RequestSingleStep(); step_control_.RequestSingleStep();
} else { } else {
LoadHistory(history_.GetIndex() + 1); LoadHistory(sim_history_.GetIndex() + 1);
} }
} }
} else if (ImGui_IsChordJustPressed(ImGuiMod_Ctrl | ImGuiKey_Space)) { } else if (ImGui_IsChordJustPressed(ImGuiMod_Ctrl | ImGuiKey_Space)) {
@@ -1698,15 +1698,15 @@ void App::StatusBarGui() {
style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]); style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]);
ImGui::SameLine(); ImGui::SameLine();
if (ImGui::Button(ICON_PREV_FRAME)) { if (ImGui::Button(ICON_PREV_FRAME)) {
LoadHistory(history_.GetIndex() - 1); LoadHistory(sim_history_.GetIndex() - 1);
} }
ImGui::SetItemTooltip("%s", "Previous Frame"); ImGui::SetItemTooltip("%s", "Previous Frame");
style.Reset(); style.Reset();
ImGui::SameLine(); ImGui::SameLine();
ImGui::SetNextItemWidth(450); ImGui::SetNextItemWidth(450);
int index = history_.GetIndex(); int index = sim_history_.GetIndex();
if (ImGui::SliderInt("##ScrubIndex", &index, 1 - history_.Size(), 0)) { if (ImGui::SliderInt("##ScrubIndex", &index, 1 - sim_history_.Size(), 0)) {
LoadHistory(index); LoadHistory(index);
} }
@@ -1714,10 +1714,10 @@ void App::StatusBarGui() {
style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]); style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]);
ImGui::SameLine(); ImGui::SameLine();
if (ImGui::Button(ICON_NEXT_FRAME)) { if (ImGui::Button(ICON_NEXT_FRAME)) {
if (history_.GetIndex() == 0) { if (sim_history_.GetIndex() == 0) {
step_control_.RequestSingleStep(); step_control_.RequestSingleStep();
} else { } else {
LoadHistory(history_.GetIndex() + 1); LoadHistory(sim_history_.GetIndex() + 1);
} }
} }
ImGui::SetItemTooltip("%s", "Next Frame"); ImGui::SetItemTooltip("%s", "Next Frame");
src/experimental/studio/app.h
+1 -1
View File
@@ -251,7 +251,7 @@ class App {
platform::StepControl step_control_; platform::StepControl step_control_;
platform::SimProfiler profiler_; platform::SimProfiler profiler_;
platform::SimHistory history_; platform::SimHistory sim_history_;
platform::SpecEditor spec_editor_; platform::SpecEditor spec_editor_;
std::vector<std::string> search_paths_; std::vector<std::string> search_paths_;
std::vector<std::byte> pixels_; std::vector<std::byte> pixels_;