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Move pause handling into StepControl.

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Also moves perturbation handling up to the App.

Combined, this makes Physics::Update only about advancing the StepControl and resonding to its Status.

PiperOrigin-RevId: 836569506
Change-Id: I148c787f0e1c18baac3e3038ee6ad0e337eb92a8
This commit is contained in:
Haroon Qureshi
2025-11-25 02:07:23 -08:00
committed by Copybara-Service
parent 711a388b3d
commit 6d9d59cb98
5 changed files with 87 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/studio/app.cc
+23 -12
View File
@@ -252,7 +252,16 @@ bool App::Update() {
// Only update the simulation if a popup window is not open. Note that the
// simulation itself will only update if it is not paused.
if (!tmp_.modal_open) {
if (physics_->Update(&perturb_)) {
// Apply any active perturbations.
if (!physics_->GetStepControl().IsPaused() && Model() && Data()) {
mju_zero(Data()->xfrc_applied, 6 * Model()->nbody);
mjv_applyPerturbPose(Model(), Data(), &perturb_, 0);
mjv_applyPerturbForce(Model(), Data(), &perturb_);
} else {
mjv_applyPerturbPose(Model(), Data(), &perturb_, 1);
}
if (physics_->Update()) {
profiler_.Update(Model(), Data());
}
}
@@ -436,19 +445,19 @@ void App::HandleKeyboardEvents() {
} else if (ImGui_IsChordJustPressed(ImGuiKey_Equal)) {
SetSpeedIndex(tmp_.speed_index - 1);
} else if (ImGui_IsChordJustPressed(ImGuiKey_LeftArrow)) {
if (physics_->IsPaused()) {
if (physics_->GetStepControl().IsPaused()) {
physics_->LoadHistory(ui_.scrub_idx - 1);
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_RightArrow)) {
if (physics_->IsPaused()) {
if (physics_->GetStepControl().IsPaused()) {
if (ui_.scrub_idx == 0) {
physics_->RequestSingleStep();
physics_->GetStepControl().RequestSingleStep();
} else {
physics_->LoadHistory(ui_.scrub_idx + 1);
}
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_Space)) {
physics_->TogglePause();
physics_->GetStepControl().TogglePause();
} else if (ImGui_IsChordJustPressed(ImGuiKey_Backspace)) {
physics_->Reset();
} else if (ImGui_IsChordJustPressed(ImGuiKey_PageUp)) {
@@ -1054,7 +1063,8 @@ void App::InfoGui() {
}
solver_err = mju_log10(mju_max(mjMINVAL, solver_err));
auto type = physics_->IsPaused() ? mjTIMER_FORWARD : mjTIMER_STEP;
auto type =
physics_->GetStepControl().IsPaused() ? mjTIMER_FORWARD : mjTIMER_STEP;
auto cpu =
Data()->timer[type].duration / mjMAX(1, Data()->timer[type].number);
auto mempct = 100 * Data()->maxuse_arena / (double)(Data()->narena);
@@ -1110,9 +1120,9 @@ void App::ToolBarGui() {
ImGui::TableNextColumn();
// Play/pause button.
const bool paused = physics_->IsPaused();
const bool paused = physics_->GetStepControl().IsPaused();
if (ImGui::Button(paused ? ICON_PLAY : ICON_PAUSE, ImVec2(144, 32))) {
physics_->TogglePause();
physics_->GetStepControl().TogglePause();
}
ImGui::SetItemTooltip("%s", paused ? "Play" : "Pause");
@@ -1209,7 +1219,7 @@ void App::StatusBarGui() {
ImGui::Text("Not loaded");
} else if (Model() == nullptr) {
ImGui::Text("Not loaded");
} else if (physics_->IsPaused()) {
} else if (physics_->GetStepControl().IsPaused()) {
ImGui::Text("Paused");
} else {
const float desired_realtime = physics_->GetStepControl().GetSpeed();
@@ -1273,7 +1283,7 @@ void App::StatusBarGui() {
ImGui::SameLine();
if (ImGui::Button(ICON_NEXT_FRAME)) {
if (ui_.scrub_idx == 0) {
physics_->RequestSingleStep();
physics_->GetStepControl().RequestSingleStep();
} else {
ui_.scrub_idx = std::min(0, ui_.scrub_idx + 1);
physics_->LoadHistory(ui_.scrub_idx);
@@ -1326,8 +1336,9 @@ void App::MainMenuGui() {
ImGui::EndMenu();
}
if (ImGui::BeginMenu("Simulation")) {
if (ImGui::MenuItem("Pause", "Space", physics_->IsPaused())) {
physics_->TogglePause();
if (ImGui::MenuItem("Pause", "Space",
physics_->GetStepControl().IsPaused())) {
physics_->GetStepControl().TogglePause();
}
if (ImGui::MenuItem("Reset", "Backspace")) {
physics_->Reset();
src/experimental/toolbox/physics.cc
+16 -46
View File
@@ -17,7 +17,6 @@
#include <algorithm>
#include <chrono>
#include <climits>
#include <cstring>
#include <functional>
#include <ratio>
#include <string>
@@ -62,14 +61,14 @@ bool Physics::ProcessPendingLoad() {
model_ = LoadMujocoModel(model_file, vfs_);
if (!model_) {
error_ = "Error loading model!";
paused_ = true;
step_control_.Pause();
model_ = LoadMujocoModel("", vfs_);
}
data_ = mj_makeData(model_);
if (!data_) {
error_ = "Error making data!";
paused_ = true;
step_control_.Pause();
}
on_model_loaded_(model_file);
@@ -89,7 +88,7 @@ void Physics::Clear() {
history_.clear();
history_cursor_ = 0;
steps_ = 0;
GetStepControl().SetSpeed(100.f);
step_control_.SetSpeed(100.f);
error_ = "";
}
@@ -102,7 +101,7 @@ void Physics::Reset() {
history_cursor_ = 0;
}
bool Physics::Update(const mjvPerturb* perturb) {
bool Physics::Update() {
ProcessPendingLoad();
if (!model_ || !data_) {
@@ -116,42 +115,17 @@ bool Physics::Update(const mjvPerturb* perturb) {
}
}
if (!IsPaused()) {
mju_zero(data_->xfrc_applied, 6 * model_->nbody);
mjv_applyPerturbPose(model_, data_, perturb, 0);
mjv_applyPerturbForce(model_, data_, perturb);
} else {
mjv_applyPerturbPose(model_, data_, perturb, 1);
}
if (IsPaused() && !single_step_) {
// run mj_forward, to update rendering and joint sliders
mj_forward(model_, data_);
if (pause_update_) {
mju_copy(data_->qacc_warmstart, data_->qacc, model_->nv);
}
// When unpaused make sure we sync to immediately and step once. Without
// this we could step many times before rendering resulting in a noticeable
// delay before the simulation restarts (especially for large slowdowns)
GetStepControl().ForceSync();
} else {
if (single_step_) {
GetStepControl().ForceSync();
single_step_ = false;
}
StepControl::Status status = GetStepControl().Advance(model_, data_);
if (status == StepControl::Status::kOk) {
AddToHistory();
} else if (status == StepControl::Status::kAutoReset) {
Reset();
} else if (status == StepControl::Status::kDiverged) {
for (mjtWarning w : StepControl::kDivergedWarnings) {
if (data_->warning[w].number > 0) {
paused_ = true;
error_ = mju_warningText(w, data_->warning[w].lastinfo);
}
StepControl::Status status = step_control_.Advance(model_, data_);
if (status == StepControl::Status::kOk) {
AddToHistory();
} else if (status == StepControl::Status::kPaused) {
// do nothing
} else if (status == StepControl::Status::kAutoReset) {
Reset();
} else if (status == StepControl::Status::kDiverged) {
for (mjtWarning w : StepControl::kDivergedWarnings) {
if (data_->warning[w].number > 0) {
error_ = mju_warningText(w, data_->warning[w].lastinfo);
}
}
}
@@ -169,10 +143,6 @@ bool Physics::UpdateState(mjtNum* state, unsigned int state_sig) {
return true;
}
void Physics::TogglePause() { paused_ = !paused_; }
void Physics::RequestSingleStep() { single_step_ = true; }
void Physics::InitHistory() {
const int state_size = mj_stateSize(model_, mjSTATE_INTEGRATION);
@@ -210,7 +180,7 @@ int Physics::LoadHistory(int offset) {
}
// Pause simulation when entering history mode.
paused_ = true;
step_control_.Pause();
// Ensure the offset is within a valid range. It's a negative value since
// we will be going backwards from the "latest" frame.
src/experimental/toolbox/physics.h
+1 -25
View File
@@ -21,7 +21,6 @@
#include <string_view>
#include <vector>
#include <mujoco/mujoco.h>
#include "experimental/toolbox/step_control.h"
@@ -53,24 +52,11 @@ class Physics {
void Reset();
// Advances the state of the simulation.
bool Update(const mjvPerturb* perturb);
bool Update();
// Sets the state of the simulation.
bool UpdateState(mjtNum* state, unsigned int state_sig);
// Renders the state of the simulation.
void Render();
// Returns true if the simulation is paused.
bool IsPaused() { return paused_; }
// Pauses/unpauses the simulation.
void TogglePause();
// If the simulation is paused, will perform a single step on the next
// Update() call.
void RequestSingleStep();
// Returns the number of steps the simulation has taken.
int GetStepCount() const { return steps_; }
@@ -83,9 +69,6 @@ class Physics {
// Calling this function will automatically pause the simulation.
int LoadHistory(int offset);
// Selects the parent of the currently selected perturb object.
void SelectParentPerturb();
// Returns the MuJoCo data structures owned by this Simulation object.
mjModel* GetModel() { return model_; }
mjData* GetData() { return data_; }
@@ -106,13 +89,6 @@ class Physics {
OnModelLoadedFn on_model_loaded_;
// If true and paused, d->qacc_warmstart is set to d->qacc after mj_forward
// which has the effect of making the constraint solver eventually converge
// while the simulation is paused.
bool pause_update_ = false;
bool paused_ = false;
bool single_step_ = false;
int steps_ = 0;
std::optional<std::string> pending_load_;
const mjVFS* vfs_;
src/experimental/toolbox/step_control.cc
+20 -1
View File
@@ -52,6 +52,24 @@ StepControl::Status StepControl::Advance(const mjModel* m, mjData* d) {
return Status::kOk;
}
if (paused_) {
// When we eventually unpause, we need to make sure we sync to immediately
// and step once. Without this we could step many times before rendering
// resulting in a noticeable delay before the simulation restarts
// (especially for large slowdowns).
force_sync_ = true;
if (!single_step_) {
// Run mj_forward to update rendering and joint sliders.
mj_forward(m, d);
if (pause_update_) {
mju_copy(d->qacc_warmstart, d->qacc, m->nv);
}
return Status::kPaused;
}
single_step_ = false;
}
const Clock::time_point start_cpu = Clock::now();
const double slowdown = 100. / std::clamp<double>(speed_, 0.001, 100.);
double elapsed_cpu = Seconds(start_cpu - sync_cpu_).count();
@@ -119,8 +137,9 @@ StepControl::Status StepControl::Advance(const mjModel* m, mjData* d) {
if (mjDISABLED(mjDSBL_AUTORESET)) {
for (mjtWarning w : kDivergedWarnings) {
// Stop stepping if the simulation diverged.
if (d->warning[w].number > 0) {
// Stop stepping if the simulation diverged.
paused_ = true;
return Status::kDiverged;
}
}
src/experimental/toolbox/step_control.h
+27
View File
@@ -31,6 +31,9 @@ class StepControl {
enum class Status {
kOk,
// Simulation was not stepped because it is paused.
kPaused,
// Simulation diverged with autoreset enabled.
kAutoReset,
@@ -58,6 +61,18 @@ class StepControl {
void GetNoiseParameters(float& noise_scale, float& noise_rate) const;
void SetNoiseParameters(float noise_scale, float noise_rate);
// Returns true if the simulation is paused.
bool IsPaused() { return paused_; }
// Pauses/unpauses the simulation.
void Pause() { paused_ = true; }
void Unpause() { paused_ = false; }
void TogglePause() { paused_ = !paused_; }
// If the simulation is paused, will perform a single step on the next
// Advance() call.
void RequestSingleStep() { single_step_ = true; }
private:
std::string AdvanceOneStep(const mjModel* m, mjData* d);
@@ -86,6 +101,18 @@ class StepControl {
// Maximum mis-alignment before re-sync (simulation seconds)
double sync_misalign_ = .1;
// Whether or not the simulation is paused.
bool paused_ = false;
// Perform only a single step on the next call to Advance() if the simulation
// is paused.
bool single_step_ = false;
// If true and paused, d->qacc_warmstart is set to d->qacc after mj_forward
// which has the effect of making the constraint solver eventually converge
// while the simulation is paused.
bool pause_update_ = false;
};
} // namespace mujoco::toolbox