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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
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src/experimental/studio/app.cc
+23 -12
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@@ -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();