simulate improvements
- Add RGBA color editing for visualization - Make some separator sections closed by default PiperOrigin-RevId: 646502122 Change-Id: Id863d983b7fb53e6bbe86a92833876e40b74a5d8
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
d8b85245a7
commit
5a513a0afb
+51
-43
@@ -752,6 +752,20 @@ void MakePhysicsSection(mj::Simulate* sim) {
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// add actuator group enable/disable
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mjui_add(&sim->ui0, defDisableActuator);
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// make some subsections closed by default
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for (int i=0; i < sim->ui0.sect[SECT_PHYSICS].nitem; i++) {
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mjuiItem* it = sim->ui0.sect[SECT_PHYSICS].item + i;
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// close less useful subsections
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if (it->type == mjITEM_SEPARATOR) {
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if (mju::strcmp_arr(it->name, "Actuator Group Enable") &&
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mju::strcmp_arr(it->name, "Contact Override") &&
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mju::strcmp_arr(it->name, "Physical Parameters")) {
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it->state = mjSEPCLOSED+1;
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}
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}
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}
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}
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@@ -759,50 +773,18 @@ void MakePhysicsSection(mj::Simulate* sim) {
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// make rendering section of UI
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void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
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mjuiDef defRendering[] = {
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{
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mjITEM_SECTION,
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"Rendering",
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mjPRESERVE,
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nullptr,
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"AR"
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},
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{
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mjITEM_SELECT,
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"Camera",
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2,
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&(sim->camera),
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"Free\nTracking"
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},
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{
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mjITEM_SELECT,
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"Label",
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2,
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&(sim->opt.label),
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{mjITEM_SECTION, "Rendering", mjPRESERVE, nullptr, "AR"},
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{mjITEM_SELECT, "Camera", 2, &(sim->camera), "Free\nTracking"},
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{mjITEM_SELECT, "Label", 2, &(sim->opt.label),
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"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
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"Actuator\nConstraint\nFlex\nSkin\nSelection\nSel Pnt\nContact\nForce\nIsland"
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},
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{
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mjITEM_SELECT,
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"Frame",
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2,
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&(sim->opt.frame),
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{mjITEM_SELECT, "Frame", 2, &(sim->opt.frame),
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"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
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},
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{
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mjITEM_BUTTON,
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"Copy camera",
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2,
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nullptr,
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""
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},
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{
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mjITEM_SEPARATOR,
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"Model Elements",
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1
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},
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{
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mjITEM_END
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}
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{mjITEM_BUTTON, "Copy camera", 2, nullptr, ""},
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{mjITEM_SEPARATOR, "Model Elements", 1},
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{mjITEM_END}
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};
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mjuiDef defOpenGL[] = {
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{mjITEM_SEPARATOR, "OpenGL Effects", 1},
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@@ -911,8 +893,8 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
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{mjITEM_EDITFLOAT, "Haze", 2, &(vis->map.haze), "1"},
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{mjITEM_EDITFLOAT, "Shadow clip", 2, &(vis->map.shadowclip), "1"},
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{mjITEM_EDITFLOAT, "Shadow scale", 2, &(vis->map.shadowscale), "1"},
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{mjITEM_SEPARATOR, "Scale", 1},
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{mjITEM_EDITNUM, "All [meansize]", 2, &(stat->meansize), "1"},
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{mjITEM_SEPARATOR, "Scale", mjPRESERVE},
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{mjITEM_EDITNUM, "All (meansize)", 2, &(stat->meansize), "1"},
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{mjITEM_EDITFLOAT, "Force width", 2, &(vis->scale.forcewidth), "1"},
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{mjITEM_EDITFLOAT, "Contact width", 2, &(vis->scale.contactwidth), "1"},
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{mjITEM_EDITFLOAT, "Contact height", 2, &(vis->scale.contactheight), "1"},
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@@ -929,17 +911,43 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
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{mjITEM_EDITFLOAT, "Frame width", 2, &(vis->scale.framewidth), "1"},
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{mjITEM_EDITFLOAT, "Constraint", 2, &(vis->scale.constraint), "1"},
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{mjITEM_EDITFLOAT, "Slider-crank", 2, &(vis->scale.slidercrank), "1"},
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{mjITEM_SEPARATOR, "RGBA", mjPRESERVE},
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{mjITEM_EDITFLOAT, "fog", 2, &(vis->rgba.fog), "4"},
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{mjITEM_EDITFLOAT, "haze", 2, &(vis->rgba.haze), "4"},
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{mjITEM_EDITFLOAT, "force", 2, &(vis->rgba.force), "4"},
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{mjITEM_EDITFLOAT, "inertia", 2, &(vis->rgba.inertia), "4"},
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{mjITEM_EDITFLOAT, "joint", 2, &(vis->rgba.joint), "4"},
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{mjITEM_EDITFLOAT, "actuator", 2, &(vis->rgba.actuator), "4"},
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{mjITEM_EDITFLOAT, "actnegative", 2, &(vis->rgba.actuatornegative), "4"},
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{mjITEM_EDITFLOAT, "actpositive", 2, &(vis->rgba.actuatorpositive), "4"},
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{mjITEM_EDITFLOAT, "com", 2, &(vis->rgba.com), "4"},
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{mjITEM_EDITFLOAT, "camera", 2, &(vis->rgba.camera), "4"},
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{mjITEM_EDITFLOAT, "light", 2, &(vis->rgba.light), "4"},
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{mjITEM_EDITFLOAT, "selectpoint", 2, &(vis->rgba.selectpoint), "4"},
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{mjITEM_EDITFLOAT, "connect", 2, &(vis->rgba.connect), "4"},
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{mjITEM_EDITFLOAT, "contactpoint", 2, &(vis->rgba.contactpoint), "4"},
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{mjITEM_EDITFLOAT, "contactforce", 2, &(vis->rgba.contactforce), "4"},
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{mjITEM_EDITFLOAT, "contactfriction", 2, &(vis->rgba.contactfriction), "4"},
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{mjITEM_EDITFLOAT, "contacttorque", 2, &(vis->rgba.contacttorque), "4"},
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{mjITEM_EDITFLOAT, "contactgap", 2, &(vis->rgba.contactgap), "4"},
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{mjITEM_EDITFLOAT, "rangefinder", 2, &(vis->rgba.rangefinder), "4"},
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{mjITEM_EDITFLOAT, "constraint", 2, &(vis->rgba.constraint), "4"},
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{mjITEM_EDITFLOAT, "slidercrank", 2, &(vis->rgba.slidercrank), "4"},
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{mjITEM_EDITFLOAT, "crankbroken", 2, &(vis->rgba.crankbroken), "4"},
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{mjITEM_EDITFLOAT, "frustum", 2, &(vis->rgba.frustum), "4"},
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{mjITEM_EDITFLOAT, "bv", 2, &(vis->rgba.bv), "4"},
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{mjITEM_EDITFLOAT, "bvactive", 2, &(vis->rgba.bvactive), "4"},
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{mjITEM_END}
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};
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// add rendering standard
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// add visualization section
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mjui_add(&sim->ui0, defVisualization);
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}
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// make group section of UI
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void MakeGroupSection(mj::Simulate* sim) {
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mjuiDef defGroup[] = {
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{mjITEM_SECTION, "Group enable", mjPRESERVE, nullptr, "AG"},
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{mjITEM_SECTION, "Group enable", mjPRESERVE, nullptr, "AG"},
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{mjITEM_SEPARATOR, "Geom groups", 1},
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{mjITEM_CHECKBYTE, "Geom 0", 2, sim->opt.geomgroup, " 0"},
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{mjITEM_CHECKBYTE, "Geom 1", 2, sim->opt.geomgroup+1, " 1"},
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