Rename a few functions and variables to be a bit more Googley.
PiperOrigin-RevId: 523963645 Change-Id: Ife7ed3f44aa83c64dfbdc3ca78ee6de2092b0d63
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
2e23594fe8
commit
5646c905cd
+25
-25
@@ -40,27 +40,27 @@ class Simulate {
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Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui_adapter);
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// Apply UI pose perturbations to model and data
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void applyposepertubations(int flg_paused);
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void ApplyPosePerturbations(int flg_paused);
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// Apply UI force perturbations to model and data
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void applyforceperturbations();
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void ApplyForcePerturbations();
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// Request that the Simulate UI thread render a new model
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// optionally delete the old model and data when done
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void load(const char* file, mjModel* m, mjData* d);
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void Load(mjModel* m, mjData* d, const char* displayed_filename);
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// functions below are used by the renderthread
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// load mjb or xml model that has been requested by load()
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void loadmodel();
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void LoadOnRenderThread();
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// prepare to render
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void prepare();
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void PrepareScene();
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// render the ui to the window
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void render();
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void Render();
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// loop to render the UI (must be called from main thread because of MacOS)
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void renderloop();
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void RenderLoop();
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// constants
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static constexpr int kMaxFilenameLength = 1000;
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@@ -95,9 +95,9 @@ class Simulate {
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int run = 1;
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// atomics for cross-thread messages
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std::atomic_int exitrequest = false;
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std::atomic_int droploadrequest = false;
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std::atomic_int screenshotrequest = false;
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std::atomic_int exitrequest = 0;
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std::atomic_int droploadrequest = 0;
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std::atomic_int screenshotrequest = 0;
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std::atomic_int uiloadrequest = 0;
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// loadrequest
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@@ -107,15 +107,15 @@ class Simulate {
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int loadrequest = 0;
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// strings
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char loadError[kMaxFilenameLength] = "";
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char load_error[kMaxFilenameLength] = "";
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char dropfilename[kMaxFilenameLength] = "";
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char filename[kMaxFilenameLength] = "";
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char previous_filename[kMaxFilenameLength] = "";
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// time synchronization
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int realTimeIndex;
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bool speedChanged = true;
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float measuredSlowdown = 1.0;
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int real_time_index;
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bool speed_changed = true;
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float measured_slowdown = 1.0;
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// logarithmically spaced realtime slow-down coefficients (percent)
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static constexpr float percentRealTime[] = {
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100, 80, 66, 50, 40, 33, 25, 20, 16, 13,
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@@ -125,8 +125,8 @@ class Simulate {
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};
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// control noise
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double ctrlnoisestd = 0.0;
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double ctrlnoiserate = 0.0;
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double ctrl_noise_std = 0.0;
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double ctrl_noise_rate = 0.0;
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// watch
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char field[mjMAXUITEXT] = "qpos";
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@@ -142,7 +142,7 @@ class Simulate {
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// abstract visualization
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mjvScene scn = {};
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mjvCamera cam = {};
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mjvOption vopt = {};
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mjvOption opt = {};
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mjvPerturb pert = {};
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mjvFigure figconstraint = {};
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mjvFigure figcost = {};
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@@ -151,9 +151,9 @@ class Simulate {
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mjvFigure figsensor = {};
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// OpenGL rendering and UI
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int refreshRate = 60;
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int windowpos[2] = {0};
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int windowsize[2] = {0};
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int refresh_rate = 60;
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int window_pos[2] = {0};
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int window_size[2] = {0};
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std::unique_ptr<PlatformUIAdapter> platform_ui;
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mjuiState& uistate;
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mjUI ui0 = {};
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@@ -161,7 +161,7 @@ class Simulate {
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// Constant arrays needed for the option section of UI and the UI interface
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// TODO setting the size here is not ideal
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const mjuiDef defOption[14] = {
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const mjuiDef def_option[14] = {
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{mjITEM_SECTION, "Option", 1, nullptr, "AO"},
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{mjITEM_SELECT, "Spacing", 1, &this->spacing, "Tight\nWide"},
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{mjITEM_SELECT, "Color", 1, &this->color, "Default\nOrange\nWhite\nBlack"},
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@@ -184,7 +184,7 @@ class Simulate {
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// simulation section of UI
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const mjuiDef defSimulation[12] = {
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const mjuiDef def_simulation[12] = {
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{mjITEM_SECTION, "Simulation", 1, nullptr, "AS"},
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{mjITEM_RADIO, "", 2, &this->run, "Pause\nRun"},
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{mjITEM_BUTTON, "Reset", 2, nullptr, " #259"},
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@@ -194,14 +194,14 @@ class Simulate {
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{mjITEM_SLIDERINT, "Key", 3, &this->key, "0 0"},
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{mjITEM_BUTTON, "Load key", 3},
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{mjITEM_BUTTON, "Save key", 3},
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{mjITEM_SLIDERNUM, "Noise scale", 2, &this->ctrlnoisestd, "0 2"},
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{mjITEM_SLIDERNUM, "Noise rate", 2, &this->ctrlnoiserate, "0 2"},
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{mjITEM_SLIDERNUM, "Noise scale", 2, &this->ctrl_noise_std, "0 2"},
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{mjITEM_SLIDERNUM, "Noise rate", 2, &this->ctrl_noise_rate, "0 2"},
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{mjITEM_END}
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};
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// watch section of UI
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const mjuiDef defWatch[5] = {
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const mjuiDef def_watch[5] = {
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{mjITEM_SECTION, "Watch", 0, nullptr, "AW"},
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{mjITEM_EDITTXT, "Field", 2, this->field, "qpos"},
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{mjITEM_EDITINT, "Index", 2, &this->index, "1"},
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