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Rename a few functions and variables to be a bit more Googley.

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PiperOrigin-RevId: 523963645
Change-Id: Ife7ed3f44aa83c64dfbdc3ca78ee6de2092b0d63
This commit is contained in:
Saran Tunyasuvunakool
2023-04-13 04:23:41 -07:00
committed by Copybara-Service
parent 2e23594fe8
commit 5646c905cd
5 changed files with 191 additions and 190 deletions
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simulate/simulate.cc
+119 -119
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@@ -138,7 +138,7 @@ const char help_title[] =
//-------------------------------- profiler, sensor, info, watch -----------------------------------
// init profiler figures
void profilerinit(mj::Simulate* sim) {
void InitializeProfiler(mj::Simulate* sim) {
// set figures to default
mjv_defaultFigure(&sim->figconstraint);
mjv_defaultFigure(&sim->figcost);
@@ -231,7 +231,7 @@ void profilerinit(mj::Simulate* sim) {
}
// update profiler figures
void profilerupdate(mj::Simulate* sim) {
void UpdateProfiler(mj::Simulate* sim) {
// update constraint figure
sim->figconstraint.linepnt[0] = mjMIN(mjMIN(sim->d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
for (int i=1; i<5; i++) {
@@ -338,7 +338,7 @@ void profilerupdate(mj::Simulate* sim) {
}
// show profiler figures
void profilershow(mj::Simulate* sim, mjrRect rect) {
void ShowProfiler(mj::Simulate* sim, mjrRect rect) {
mjrRect viewport = {
rect.left + rect.width - rect.width/4,
rect.bottom,
@@ -356,7 +356,7 @@ void profilershow(mj::Simulate* sim, mjrRect rect) {
// init sensor figure
void sensorinit(mj::Simulate* sim) {
void InitializeSensor(mj::Simulate* sim) {
mjvFigure& figsensor = sim->figsensor;
// set figure to default
@@ -386,7 +386,7 @@ void sensorinit(mj::Simulate* sim) {
}
// update sensor figure
void sensorupdate(mj::Simulate* sim) {
void UpdateSensor(mj::Simulate* sim) {
mjModel* m = sim->m;
mjvFigure& figsensor = sim->figsensor;
static const int maxline = 10;
@@ -436,7 +436,7 @@ void sensorupdate(mj::Simulate* sim) {
}
// show sensor figure
void sensorshow(mj::Simulate* sim, mjrRect rect) {
void ShowSensor(mj::Simulate* sim, mjrRect rect) {
// constant width with and without profiler
int width = sim->profiler ? rect.width/3 : rect.width/4;
@@ -451,7 +451,7 @@ void sensorshow(mj::Simulate* sim, mjrRect rect) {
}
// prepare info text
void infotext(mj::Simulate* sim,
void UpdateInfoText(mj::Simulate* sim,
char (&title)[mj::Simulate::kMaxFilenameLength],
char (&content)[mj::Simulate::kMaxFilenameLength],
double interval) {
@@ -507,12 +507,12 @@ void infotext(mj::Simulate* sim,
}
// sprintf forwarding, to avoid compiler warning in x-macro
void printfield(char (&str)[mjMAXUINAME], void* ptr) {
void PrintField(char (&str)[mjMAXUINAME], void* ptr) {
mju::sprintf_arr(str, "%g", *static_cast<mjtNum*>(ptr));
}
// update watch
void watch(mj::Simulate* sim) {
void UpdateWatch(mj::Simulate* sim) {
// clear
sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
@@ -525,7 +525,7 @@ void watch(mj::Simulate* sim) {
if (!mju::strcmp_arr(#NAME, sim->field) && \
!mju::strcmp_arr(#TYPE, "mjtNum")) { \
if (sim->index >= 0 && sim->index < sim->m->NR * NC) { \
printfield(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], sim->d->NAME + sim->index); \
PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], sim->d->NAME + sim->index); \
} else { \
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index"); \
} \
@@ -540,7 +540,7 @@ void watch(mj::Simulate* sim) {
//---------------------------------- UI construction -----------------------------------------------
// make physics section of UI
void makephysics(mj::Simulate* sim, int oldstate) {
void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
mjOption& opt = sim->m->opt;
mjuiDef defPhysics[] = {
@@ -608,7 +608,7 @@ void makephysics(mj::Simulate* sim, int oldstate) {
// make rendering section of UI
void makerendering(mj::Simulate* sim, int oldstate) {
void MakeRenderingSection(mj::Simulate* sim, int oldstate) {
mjuiDef defRendering[] = {
{
mjITEM_SECTION,
@@ -628,7 +628,7 @@ void makerendering(mj::Simulate* sim, int oldstate) {
mjITEM_SELECT,
"Label",
2,
&(sim->vopt.label),
&(sim->opt.label),
"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
"Actuator\nConstraint\nSkin\nSelection\nSel Pnt\nContact\nForce"
},
@@ -636,7 +636,7 @@ void makerendering(mj::Simulate* sim, int oldstate) {
mjITEM_SELECT,
"Frame",
2,
&(sim->vopt.frame),
&(sim->opt.frame),
"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
},
{
@@ -703,7 +703,7 @@ void makerendering(mj::Simulate* sim, int oldstate) {
} else {
mju::sprintf_arr(defFlag[0].other, "");
}
defFlag[0].pdata = sim->vopt.flags + i;
defFlag[0].pdata = sim->opt.flags + i;
mjui_add(&sim->ui0, defFlag);
}
@@ -729,8 +729,8 @@ void makerendering(mj::Simulate* sim, int oldstate) {
// make group section of UI
void makegroup(mj::Simulate* sim, int oldstate) {
mjvOption& vopt = sim->vopt;
void MakeGroupSection(mj::Simulate* sim, int oldstate) {
mjvOption& vopt = sim->opt;
mjuiDef defGroup[] = {
{mjITEM_SECTION, "Group enable", oldstate, nullptr, "AG"},
{mjITEM_SEPARATOR, "Geom groups", 1},
@@ -783,7 +783,7 @@ void makegroup(mj::Simulate* sim, int oldstate) {
}
// make joint section of UI
void makejoint(mj::Simulate* sim, int oldstate) {
void MakeJointSection(mj::Simulate* sim, int oldstate) {
mjuiDef defJoint[] = {
{mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ"},
@@ -803,7 +803,7 @@ void makejoint(mj::Simulate* sim, int oldstate) {
for (int i=0; i<sim->m->njnt && itemcnt<mjMAXUIITEM; i++)
if ((sim->m->jnt_type[i]==mjJNT_HINGE || sim->m->jnt_type[i]==mjJNT_SLIDE)) {
// skip if joint group is disabled
if (!sim->vopt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->jnt_group[i]))]) {
if (!sim->opt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->jnt_group[i]))]) {
continue;
}
@@ -832,7 +832,7 @@ void makejoint(mj::Simulate* sim, int oldstate) {
}
// make control section of UI
void makecontrol(mj::Simulate* sim, int oldstate) {
void MakeControlSection(mj::Simulate* sim, int oldstate) {
mjuiDef defControl[] = {
{mjITEM_SECTION, "Control", oldstate, nullptr, "AC"},
{mjITEM_BUTTON, "Clear all", 2},
@@ -851,7 +851,7 @@ void makecontrol(mj::Simulate* sim, int oldstate) {
int itemcnt = 1;
for (int i=0; i<sim->m->nu && itemcnt<mjMAXUIITEM; i++) {
// skip if actuator group is disabled
if (!sim->vopt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->actuator_group[i]))]) {
if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->actuator_group[i]))]) {
continue;
}
@@ -878,7 +878,7 @@ void makecontrol(mj::Simulate* sim, int oldstate) {
}
// make model-dependent UI sections
void makesections(mj::Simulate* sim) {
void MakeUiSections(mj::Simulate* sim) {
// get section open-close state, UI 0
int oldstate0[NSECT0];
for (int i=0; i<NSECT0; i++) {
@@ -902,24 +902,24 @@ void makesections(mj::Simulate* sim) {
sim->ui1.nsect = 0;
// make
makephysics(sim, oldstate0[SECT_PHYSICS]);
makerendering(sim, oldstate0[SECT_RENDERING]);
makegroup(sim, oldstate0[SECT_GROUP]);
makejoint(sim, oldstate1[SECT_JOINT]);
makecontrol(sim, oldstate1[SECT_CONTROL]);
MakePhysicsSection(sim, oldstate0[SECT_PHYSICS]);
MakeRenderingSection(sim, oldstate0[SECT_RENDERING]);
MakeGroupSection(sim, oldstate0[SECT_GROUP]);
MakeJointSection(sim, oldstate1[SECT_JOINT]);
MakeControlSection(sim, oldstate1[SECT_CONTROL]);
}
//---------------------------------- utility functions ---------------------------------------------
// align and scale view
void alignscale(mj::Simulate* sim) {
void AlignAndScaleView(mj::Simulate* sim) {
// use default free camera parameters
mjv_defaultFreeCamera(sim->m, &sim->cam);
}
// copy qpos to clipboard as key
void copykey(mj::Simulate* sim) {
void CopyKey(mj::Simulate* sim) {
char clipboard[5000] = "<key qpos='";
char buf[200];
@@ -935,12 +935,12 @@ void copykey(mj::Simulate* sim) {
}
// millisecond timer, for MuJoCo built-in profiler
mjtNum timer() {
mjtNum Timer() {
return Milliseconds(mj::Simulate::Clock::now().time_since_epoch()).count();
}
// clear all times
void cleartimers(mjData* d) {
void ClearTimeres(mjData* d) {
for (int i=0; i<mjNTIMER; i++) {
d->timer[i].duration = 0;
d->timer[i].number = 0;
@@ -948,7 +948,7 @@ void cleartimers(mjData* d) {
}
// copy current camera to clipboard as MJCF specification
void copycamera(mj::Simulate* sim) {
void CopyCamera(mj::Simulate* sim) {
mjvGLCamera* camera = sim->scn.camera;
char clipboard[500];
@@ -975,7 +975,7 @@ void copycamera(mj::Simulate* sim) {
}
// update UI 0 when MuJoCo structures change (except for joint sliders)
void updatesettings(mj::Simulate* sim) {
void UpdateSettings(mj::Simulate* sim) {
// physics flags
for (int i=0; i<mjNDISABLE; i++) {
sim->disable[i] = ((sim->m->opt.disableflags & (1<<i)) !=0);
@@ -1026,7 +1026,7 @@ int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
//---------------------------------- UI handlers ---------------------------------------------------
// determine enable/disable item state given category
int uiPredicate(int category, void* userdata) {
int UiPredicate(int category, void* userdata) {
mj::Simulate* sim = static_cast<mj::Simulate*>(userdata);
switch (category) {
@@ -1045,7 +1045,7 @@ int uiPredicate(int category, void* userdata) {
}
// set window layout
void uiLayout(mjuiState* state) {
void UiLayout(mjuiState* state) {
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
mjrRect* rect = state->rect;
@@ -1071,15 +1071,15 @@ void uiLayout(mjuiState* state) {
rect[3].height = rect[0].height;
}
void uiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
mjui_resize(ui, con);
mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
uiLayout(state);
UiLayout(state);
mjui_update(-1, -1, ui, state, con);
}
// handle UI event
void uiEvent(mjuiState* state) {
void UiEvent(mjuiState* state) {
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
mjModel* m = sim->m;
mjData* d = sim->d;
@@ -1158,8 +1158,8 @@ void uiEvent(mjuiState* state) {
}
// modify UI
uiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
// simulation section
@@ -1169,9 +1169,9 @@ void uiEvent(mjuiState* state) {
if (m) {
mj_resetData(m, d);
mj_forward(m, d);
profilerupdate(sim);
sensorupdate(sim);
updatesettings(sim);
UpdateProfiler(sim);
UpdateSensor(sim);
UpdateSettings(sim);
}
break;
@@ -1180,12 +1180,12 @@ void uiEvent(mjuiState* state) {
break;
case 3: // Align
alignscale(sim);
updatesettings(sim);
AlignAndScaleView(sim);
UpdateSettings(sim);
break;
case 4: // Copy pose
copykey(sim);
CopyKey(sim);
break;
case 5: // Adjust key
@@ -1201,9 +1201,9 @@ void uiEvent(mjuiState* state) {
4 * m->nmocap);
mju_copy(d->ctrl, m->key_ctrl + i * m->nu, m->nu);
mj_forward(m, d);
profilerupdate(sim);
sensorupdate(sim);
updatesettings(sim);
UpdateProfiler(sim);
UpdateSensor(sim);
UpdateSettings(sim);
} break;
case 7: // Save key
@@ -1259,7 +1259,7 @@ void uiEvent(mjuiState* state) {
}
// copy camera spec to clipboard (as MJCF element)
if (it->itemid == 3) {
copycamera(sim);
CopyCamera(sim);
}
}
@@ -1268,17 +1268,17 @@ void uiEvent(mjuiState* state) {
// remake joint section if joint group changed
if (it->name[0]=='J' && it->name[1]=='o') {
sim->ui1.nsect = SECT_JOINT;
makejoint(sim, sim->ui1.sect[SECT_JOINT].state);
MakeJointSection(sim, sim->ui1.sect[SECT_JOINT].state);
sim->ui1.nsect = NSECT1;
uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
// remake control section if actuator group changed
if (it->name[0]=='A' && it->name[1]=='c') {
sim->ui1.nsect = SECT_CONTROL;
makecontrol(sim, sim->ui1.sect[SECT_CONTROL].state);
MakeControlSection(sim, sim->ui1.sect[SECT_CONTROL].state);
sim->ui1.nsect = NSECT1;
uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
}
@@ -1323,11 +1323,11 @@ void uiEvent(mjuiState* state) {
case mjKEY_RIGHT: // step forward
if (m && !sim->run) {
cleartimers(d);
ClearTimeres(d);
mj_step(m, d);
profilerupdate(sim);
sensorupdate(sim);
updatesettings(sim);
UpdateProfiler(sim);
UpdateSensor(sim);
UpdateSettings(sim);
}
break;
@@ -1374,14 +1374,14 @@ void uiEvent(mjuiState* state) {
case mjKEY_F6: // cycle frame visualisation
if (m) {
sim->vopt.frame = (sim->vopt.frame + 1) % mjNFRAME;
sim->opt.frame = (sim->opt.frame + 1) % mjNFRAME;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
break;
case mjKEY_F7: // cycle label visualisation
if (m) {
sim->vopt.label = (sim->vopt.label + 1) % mjNLABEL;
sim->opt.label = (sim->opt.label + 1) % mjNLABEL;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
break;
@@ -1395,17 +1395,17 @@ void uiEvent(mjuiState* state) {
case '-': // slow down
{
int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
if (sim->realTimeIndex < numclicks-1 && !state->shift) {
sim->realTimeIndex++;
sim->speedChanged = true;
if (sim->real_time_index < numclicks-1 && !state->shift) {
sim->real_time_index++;
sim->speed_changed = true;
}
}
break;
case '=': // speed up
if (sim->realTimeIndex > 0 && !state->shift) {
sim->realTimeIndex--;
sim->speedChanged = true;
if (sim->real_time_index > 0 && !state->shift) {
sim->real_time_index--;
sim->speed_changed = true;
}
break;
}
@@ -1456,7 +1456,7 @@ void uiEvent(mjuiState* state) {
mjrRect r = state->rect[3];
mjtNum selpnt[3];
int selgeom, selskin;
int selbody = mjv_select(m, d, &sim->vopt,
int selbody = mjv_select(m, d, &sim->opt,
static_cast<mjtNum>(r.width)/r.height,
(state->x - r.left)/r.width,
(state->y - r.bottom)/r.height,
@@ -1549,7 +1549,7 @@ void uiEvent(mjuiState* state) {
// Redraw
if (state->type == mjEVENT_REDRAW) {
sim->render();
sim->Render();
return;
}
}
@@ -1563,26 +1563,26 @@ Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui)
uistate(this->platform_ui->state()) {}
//------------------------------------ apply pose perturbations ------------------------------------
void Simulate::applyposepertubations(int flg_paused) {
void Simulate::ApplyPosePerturbations(int flg_paused) {
if (this->m != nullptr) {
mjv_applyPerturbPose(this->m, this->d, &this->pert, flg_paused); // move mocap bodies only
}
}
//----------------------------------- apply force perturbations ------------------------------------
void Simulate::applyforceperturbations() {
void Simulate::ApplyForcePerturbations() {
if (this->m != nullptr) {
mjv_applyPerturbForce(this->m, this->d, &this->pert);
}
}
//------------------------- Tell the render thread to load a file and wait -------------------------
void Simulate::load(const char* file,
mjModel* mnew,
mjData* dnew) {
this->mnew = mnew;
this->dnew = dnew;
mju::strcpy_arr(this->filename, file);
void Simulate::Load(mjModel* m,
mjData* d,
const char* displayed_filename) {
this->mnew = m;
this->dnew = d;
mju::strcpy_arr(this->filename, displayed_filename);
{
std::unique_lock<std::mutex> lock(mtx);
@@ -1596,7 +1596,7 @@ void Simulate::load(const char* file,
}
//------------------------------------- load mjb or xml model --------------------------------------
void Simulate::loadmodel() {
void Simulate::LoadOnRenderThread() {
this->m = this->mnew;
this->d = this->dnew;
@@ -1617,12 +1617,12 @@ void Simulate::loadmodel() {
// align and scale view unless reloading the same file
if (this->filename[0] &&
mju::strcmp_arr(this->filename, this->previous_filename)) {
alignscale(this);
AlignAndScaleView(this);
mju::strcpy_arr(this->previous_filename, this->filename);
}
// update scene
mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
mjv_updateScene(this->m, this->d, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
// set window title to model name
if (this->m->names) {
@@ -1637,12 +1637,12 @@ void Simulate::loadmodel() {
this->ui0.sect[SECT_SIMULATION].item[5].slider.divisions = mjMAX(1, this->m->nkey - 1);
// rebuild UI sections
makesections(this);
MakeUiSections(this);
// full ui update
uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
updatesettings(this);
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
UpdateSettings(this);
// clear request
this->loadrequest = 0;
@@ -1656,7 +1656,7 @@ void Simulate::loadmodel() {
float error = mju_abs(mju_log(this->percentRealTime[click]) - desired);
if (error < min_error) {
min_error = error;
this->realTimeIndex = click;
this->real_time_index = click;
}
}
}
@@ -1666,7 +1666,7 @@ void Simulate::loadmodel() {
// prepare to render
void Simulate::prepare() {
void Simulate::PrepareScene() {
// data for FPS calculation
static std::chrono::time_point<Clock> lastupdatetm;
@@ -1682,11 +1682,11 @@ void Simulate::prepare() {
}
// update scene
mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
mjv_updateScene(this->m, this->d, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
// update watch
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
watch(this);
UpdateWatch(this);
mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
}
@@ -1697,7 +1697,7 @@ void Simulate::prepare() {
// update info text
if (this->info) {
infotext(this, this->info_title, this->info_content, interval);
UpdateInfoText(this, this->info_title, this->info_content, interval);
}
// update control
@@ -1707,23 +1707,23 @@ void Simulate::prepare() {
// update profiler
if (this->profiler && this->run) {
profilerupdate(this);
UpdateProfiler(this);
}
// update sensor
if (this->sensor && this->run) {
sensorupdate(this);
UpdateSensor(this);
}
// clear timers once profiler info has been copied
cleartimers(this->d);
ClearTimeres(this->d);
}
// render the ui to the window
void Simulate::render() {
void Simulate::Render() {
if (this->platform_ui->RefreshMjrContext(this->m, 50*(this->font+1))) {
uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// get 3D rectangle and reduced for profiler
@@ -1751,8 +1751,8 @@ void Simulate::render() {
}
// show last loading error
if (this->loadError[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
if (this->load_error[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
&this->platform_ui->mjr_context());
}
@@ -1774,8 +1774,8 @@ void Simulate::render() {
mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
// show last loading error
if (this->loadError[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
if (this->load_error[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
&this->platform_ui->mjr_context());
}
@@ -1786,8 +1786,8 @@ void Simulate::render() {
}
// get desired and actual percent-of-real-time
float desiredRealtime = this->percentRealTime[this->realTimeIndex];
float actualRealtime = 100 / this->measuredSlowdown;
float desiredRealtime = this->percentRealTime[this->real_time_index];
float actualRealtime = 100 / this->measured_slowdown;
// if running, check for misalignment of more than 10%
float realtime_offset = mju_abs(actualRealtime - desiredRealtime);
@@ -1840,12 +1840,12 @@ void Simulate::render() {
// show profiler
if (this->profiler) {
profilershow(this, rect);
ShowProfiler(this, rect);
}
// show sensor
if (this->sensor) {
sensorshow(this, smallrect);
ShowSensor(this, smallrect);
}
// take screenshot, save to file
@@ -1886,15 +1886,15 @@ void Simulate::render() {
void Simulate::renderloop() {
void Simulate::RenderLoop() {
// Set timer callback (milliseconds)
mjcb_time = timer;
mjcb_time = Timer;
// init abstract visualization
mjv_defaultCamera(&this->cam);
mjv_defaultOption(&this->vopt);
profilerinit(this);
sensorinit(this);
mjv_defaultOption(&this->opt);
InitializeProfiler(this);
InitializeSensor(this);
// make empty scene
mjv_defaultScene(&this->scn);
@@ -1923,30 +1923,30 @@ void Simulate::renderloop() {
this->ui0.spacing = mjui_themeSpacing(this->spacing);
this->ui0.color = mjui_themeColor(this->color);
this->ui0.predicate = uiPredicate;
this->ui0.predicate = UiPredicate;
this->ui0.rectid = 1;
this->ui0.auxid = 0;
this->ui1.spacing = mjui_themeSpacing(this->spacing);
this->ui1.color = mjui_themeColor(this->color);
this->ui1.predicate = uiPredicate;
this->ui1.predicate = UiPredicate;
this->ui1.rectid = 2;
this->ui1.auxid = 1;
// set GUI adapter callbacks
this->uistate.userdata = this;
this->platform_ui->SetEventCallback(uiEvent);
this->platform_ui->SetLayoutCallback(uiLayout);
this->platform_ui->SetEventCallback(UiEvent);
this->platform_ui->SetLayoutCallback(UiLayout);
// populate uis with standard sections
this->ui0.userdata = this;
this->ui1.userdata = this;
mjui_add(&this->ui0, defFile);
mjui_add(&this->ui0, this->defOption);
mjui_add(&this->ui0, this->defSimulation);
mjui_add(&this->ui0, this->defWatch);
uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
mjui_add(&this->ui0, this->def_option);
mjui_add(&this->ui0, this->def_simulation);
mjui_add(&this->ui0, this->def_watch);
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
// set VSync to initial value
this->platform_ui->SetVSync(this->vsync);
@@ -1958,7 +1958,7 @@ void Simulate::renderloop() {
// load model (not on first pass, to show "loading" label)
if (this->loadrequest==1) {
this->loadmodel();
this->LoadOnRenderThread();
} else if (this->loadrequest>1) {
this->loadrequest = 1;
}
@@ -1967,11 +1967,11 @@ void Simulate::renderloop() {
this->platform_ui->PollEvents();
// prepare to render
this->prepare();
this->PrepareScene();
} // std::lock_guard<std::mutex> (unblocks simulation thread)
// render while simulation is running
this->render();
this->Render();
}
this->exitrequest.store(true);