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Refactor simulation state history tracking into a SimHistory class.

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PiperOrigin-RevId: 836578736
Change-Id: I94a852b2d2a36cdd081371f25385dbb466dd8d4b
This commit is contained in:
Haroon Qureshi
2025-11-25 02:37:06 -08:00
committed by Copybara-Service
parent 6d9d59cb98
commit 67b09f9afb
6 changed files with 211 additions and 97 deletions
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src/experimental/studio/app.cc
+11 -14
View File
@@ -446,14 +446,14 @@ void App::HandleKeyboardEvents() {
SetSpeedIndex(tmp_.speed_index - 1);
} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftArrow)) {
if (physics_->GetStepControl().IsPaused()) {
physics_->LoadHistory(ui_.scrub_idx - 1);
physics_->LoadHistory(physics_->GetHistoryIndex() - 1);
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_RightArrow)) {
if (physics_->GetStepControl().IsPaused()) {
if (ui_.scrub_idx == 0) {
if (physics_->GetHistoryIndex() == 0) {
physics_->GetStepControl().RequestSingleStep();
} else {
physics_->LoadHistory(ui_.scrub_idx + 1);
physics_->LoadHistory(physics_->GetHistoryIndex() + 1);
}
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_Space)) {
@@ -1258,43 +1258,40 @@ void App::StatusBarGui() {
ImGui::Text("%s", " |");
// Frame scrubber.
const int max_history =
std::min<int>(physics_->GetStepCount(), physics_->GetHistorySize());
toolbox::ScopedStyle style;
style.Var(ImGuiStyleVar_FrameBorderSize, 0);
style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]);
ImGui::SameLine();
if (ImGui::Button(ICON_PREV_FRAME)) {
ui_.scrub_idx = std::max(-max_history, ui_.scrub_idx - 1);
physics_->LoadHistory(ui_.scrub_idx);
physics_->LoadHistory(physics_->GetHistoryIndex() - 1);
}
ImGui::SetItemTooltip("%s", "Previous Frame");
style.Reset();
ImGui::SameLine();
ImGui::SetNextItemWidth(450);
if (ImGui::SliderInt("##ScrubIndex", &ui_.scrub_idx, -max_history, 0)) {
physics_->LoadHistory(ui_.scrub_idx);
int index = physics_->GetHistoryIndex();
int history_size = physics_->GetSimHistory().Size();
if (ImGui::SliderInt("##ScrubIndex", &index, 1 - history_size, 0)) {
physics_->LoadHistory(index);
}
style.Var(ImGuiStyleVar_FrameBorderSize, 0);
style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]);
ImGui::SameLine();
if (ImGui::Button(ICON_NEXT_FRAME)) {
if (ui_.scrub_idx == 0) {
if (physics_->GetHistoryIndex() == 0) {
physics_->GetStepControl().RequestSingleStep();
} else {
ui_.scrub_idx = std::min(0, ui_.scrub_idx + 1);
physics_->LoadHistory(ui_.scrub_idx);
physics_->LoadHistory(physics_->GetHistoryIndex() + 1);
}
}
ImGui::SetItemTooltip("%s", "Next Frame");
ImGui::SameLine();
if (ImGui::Button(ICON_CURR_FRAME)) {
ui_.scrub_idx = 0;
physics_->LoadHistory(ui_.scrub_idx);
physics_->LoadHistory(0);
}
ImGui::SetItemTooltip("%s", "Current Frame");
src/experimental/studio/app.h
-1
View File
@@ -74,7 +74,6 @@ class App {
int watch_index = 0;
int camera_idx = toolbox::kTumbleCameraIdx;
int key_idx = 0;
int scrub_idx = 0;
Style style = kLight;
using Dict = std::unordered_map<std::string, std::string>;