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Improve island visualization colors and logic.

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- Make island visualization off by default
- Give it the keyboard shortcut 'N'
- Use HSV island coloring

PiperOrigin-RevId: 796375514
Change-Id: I3cc8d6f8142412c771b2b8e57e82e70000727770
This commit is contained in:
Yuval Tassa
2025-08-18 05:02:57 -07:00
committed by Copybara-Service
parent b66175eba6
commit 7c10a62f21
2 changed files with 79 additions and 32 deletions
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src/engine/engine_vis_init.c
+1 -1
View File
@@ -83,7 +83,7 @@ const char* mjVISSTRING[mjNVISFLAG][3] = {
{"Perturb Force", "0", "B"},
{"Perturb Object", "1", "O"},
{"Contact Point", "0", "C"},
{"Island", "1", ""}, // TODO(b/295296178): turn off after islands are on by default.
{"Island", "0", "N"},
{"Contact Force", "0", "F"},
{"Contact Split", "0", "P"},
{"Transparent", "0", "T"},
src/engine/engine_vis_visualize.c
+78 -31
View File
@@ -89,14 +89,55 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
// advance counter
#define FINISH { scn->ngeom++; }
// convert HSV to RGB
static void hsv2rgb(float *RGB, float H, float S, float V) {
float R, G, B;
if (S <= 0) {
R = G = B = V;
} else {
float hh = H * 6;
int i = (int)hh;
float ff = hh - i;
float p = V * (1 - S);
float q = V * (1 - (S * ff));
float t = V * (1 - (S * (1 - ff)));
if (i == 0) {
R=V; G=t; B=p;
} else if (i == 1) {
R=q; G=V; B=p;
} else if (i == 2) {
R=p; G=V; B=t;
} else if (i == 3) {
R=p; G=q; B=V;
} else if (i == 4) {
R=t; G=p; B=V;
} else {
R=V; G=p; B=q;
}
}
RGB[0] = R;
RGB[1] = G;
RGB[2] = B;
}
static const float kIslandSaturation = 0.8;
static const float kIslandValue = 0.7;
// assign pseudo-random rgba to constraint island using Halton sequence
static void islandColor(float rgba[4], int islanddofadr) {
rgba[0] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 2);
rgba[1] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 3);
rgba[2] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 5);
static void islandColor(float rgba[4], int h) {
float hue = mju_Halton(h + 1, 2);
float saturation = h >= 0 ? kIslandSaturation : 0;
hsv2rgb(rgba, hue, saturation, kIslandValue);
rgba[3] = 1;
}
// make a triangle in thisgeom at coordinates v0, v1, v2 with a given color
static void makeTriangle(mjvGeom* thisgeom, const mjtNum v0[3], const mjtNum v1[3],
const mjtNum v2[3], const float rgba[4]) {
@@ -111,6 +152,8 @@ static void makeTriangle(mjvGeom* thisgeom, const mjtNum v0[3], const mjtNum v1[
mjv_initGeom(thisgeom, mjGEOM_TRIANGLE, lengths, v0, xmat, rgba);
}
// add contact-related geoms in mjvObject
static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
const mjvOption* vopt, mjvScene* scn) {
@@ -150,9 +193,10 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
int efc_adr = d->contact[i].efc_address;
// override standard colors if visualizing islands
if (vopt->flags[mjVIS_ISLAND] && d->nisland && efc_adr >= 0) {
// set color using island's first dof
islandColor(thisgeom->rgba, d->island_dofadr[d->efc_island[efc_adr]]);
if (vopt->flags[mjVIS_ISLAND] && efc_adr >= 0) {
// set hue using island's first dof
int h = d->nisland > 0 ? d->island_dofadr[d->efc_island[efc_adr]] : -1;
islandColor(thisgeom->rgba, h);
}
// otherwise regular colors (different for included and excluded contacts)
@@ -568,8 +612,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// set texcoord
if (m->flex_texcoordadr[i] >= 0) {
thisgeom->texcoord = 1;
}
else {
} else {
thisgeom->matid = -1;
}
@@ -1452,23 +1495,24 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// copy rbound from model
thisgeom->modelrbound = (float)m->geom_rbound[i];
// set material properties, override if visualizing islands
// set material properties
float* rgba = m->geom_rgba+4*i;
float rgba_island[4] = {.5, .5, .5, 1};
int geom_matid = m->geom_matid[i];
if (vopt->flags[mjVIS_ISLAND] && d->nisland) {
geom_matid = -1;
rgba = rgba_island;
setMaterial(m, thisgeom, geom_matid, rgba, vopt->flags);
// override if visualizing islands
if (vopt->flags[mjVIS_ISLAND]) {
int weld_id = m->body_weldid[m->geom_bodyid[i]];
if (m->body_dofnum[weld_id]) {
int island = d->dof_island[m->body_dofadr[weld_id]];
if (island > -1) {
// color using island's first dof
islandColor(rgba_island, d->island_dofadr[island]);
}
// strip materials off moving geom
thisgeom->matid = -1;
// set hue using first island dof, -1 if no island
int island = d->nisland ? d->dof_island[m->body_dofadr[weld_id]] : -1;
int h = island >= 0 ? d->island_dofadr[island] : -1;
islandColor(thisgeom->rgba, h);
}
}
setMaterial(m, thisgeom, geom_matid, rgba, vopt->flags);
// set texcoord
if ((m->geom_type[i] == mjGEOM_MESH || m->geom_type[i] == mjGEOM_SDF) &&
@@ -1945,21 +1989,24 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// construct geom
mjv_connector(thisgeom, mjGEOM_CAPSULE, sz[0], d->wrap_xpos+3*j, d->wrap_xpos+3*j+3);
// set material properties, override if visualizing islands
// set material properties
float* rgba = m->tendon_rgba+4*i;
float rgba_island[4] = {.5, .5, .5, 1};
int tendon_matid = m->tendon_matid[i];
if (vopt->flags[mjVIS_ISLAND] && d->nisland) {
tendon_matid = -1;
rgba = rgba_island;
if (d->tendon_efcadr[i] != -1) {
// set color using island's first dof
int island = d->efc_island[d->tendon_efcadr[i]];
islandColor(rgba_island, d->island_dofadr[island]);
}
}
setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);
// override if visualizing islands
if (vopt->flags[mjVIS_ISLAND]) {
// strip material
thisgeom->matid = -1;
// set hue with first island dof, if constrained
int h = -1;
if (d->nisland && d->tendon_efcadr[i] >= 0) {
h = d->island_dofadr[d->efc_island[d->tendon_efcadr[i]]];
}
islandColor(thisgeom->rgba, h);
}
// vopt->label: only the first segment
if (vopt->label == mjLABEL_TENDON && j == d->ten_wrapadr[i]) {
makeLabel(m, mjOBJ_TENDON, i, thisgeom->label);