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Merge pull request #2097 from emotodorov:ui

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PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
This commit is contained in:
Copybara-Service
2024-09-27 13:16:01 -07:00
parent 25e4d75a07 a985faef51
commit 807ee852d0
5 changed files with 76 additions and 29 deletions
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doc/includes/references.h
+5 -3
View File
@@ -2388,8 +2388,10 @@ struct mjuiThemeColor_ { // UI visualization theme color
float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitlecheck[3]; // section title with checkbox
float secttitlecheck2[3]; // section title with checkbox: bottom color
float secttitleuncheck[3]; // section title with unchecked box
float secttitleuncheck2[3]; // section title with unchecked box: bottom color
float secttitlecheck[3]; // section title with checked box
float secttitlecheck2[3]; // section title with checked box: bottom color
float sectfont[3]; // section font
float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane
@@ -2465,7 +2467,7 @@ struct mjuiSection_ { // UI section
int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: hidden, 2: unchecked, 2: checked
int checkbox; // 0: none, 1: unchecked, 2: checked
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
include/mujoco/mjui.h
+5 -3
View File
@@ -191,8 +191,10 @@ struct mjuiThemeColor_ { // UI visualization theme color
float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitlecheck[3]; // section title with checkbox
float secttitlecheck2[3]; // section title with checkbox: bottom color
float secttitleuncheck[3]; // section title with unchecked box
float secttitleuncheck2[3]; // section title with unchecked box: bottom color
float secttitlecheck[3]; // section title with checked box
float secttitlecheck2[3]; // section title with checked box: bottom color
float sectfont[3]; // section font
float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane
@@ -276,7 +278,7 @@ struct mjuiSection_ { // UI section
int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: hidden, 2: unchecked, 2: checked
int checkbox; // 0: none, 1: unchecked, 2: checked
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
introspect/structs.py
+19 -3
View File
@@ -11451,13 +11451,29 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='section title: bottom color',
),
StructFieldDecl(
name='secttitleuncheck',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title with unchecked box',
),
StructFieldDecl(
name='secttitleuncheck2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title with unchecked box: bottom color',
),
StructFieldDecl(
name='secttitlecheck',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title with checkbox',
doc='section title with checked box',
),
StructFieldDecl(
name='secttitlecheck2',
@@ -11465,7 +11481,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title with checkbox: bottom color',
doc='section title with checked box: bottom color',
),
StructFieldDecl(
name='sectfont',
@@ -11741,7 +11757,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='checkbox',
type=ValueType(name='int'),
doc='0: none, 1: hidden, 2: unchecked, 2: checked',
doc='0: none, 1: unchecked, 2: checked',
),
StructFieldDecl(
name='nitem',
src/ui/ui_main.c
+45 -20
View File
@@ -67,6 +67,8 @@ static const mjuiThemeColor themeColor0 = {
{0.12, 0.12, 0.12}, // thumb
{0.6, 0.2, 0.2}, // secttitle
{0.1, 0.1, 0.1}, // secttitle2
{0.45, 0.17, 0.17}, // secttitleuncheck
{0.45, 0.17, 0.17}, // secttitleuncheck2
{0.45, 0.17, 0.17}, // secttitlecheck
{0.45, 0.17, 0.17}, // secttitlecheck2
{1.0, 1.0, 1.0}, // sectfont
@@ -98,6 +100,8 @@ static const mjuiThemeColor themeColor1 = {
{0.12, 0.12, 0.12}, // thumb
{0.3, 0.3, 0.3}, // secttitle
{0.15, 0.15, 0.15}, // secttitle2
{0.25, 0.25, 0.25}, // secttitleuncheck
{0.25, 0.25, 0.25}, // secttitleuncheck2
{0.25, 0.25, 0.25}, // secttitlecheck
{0.25, 0.25, 0.25}, // secttitlecheck2
{0.8, 0.8, 0.8}, // sectfont
@@ -129,6 +133,8 @@ static const mjuiThemeColor themeColor2 = {
{0.7, 0.7, 0.7}, // thumb
{0.8, 0.8, 0.8}, // secttitle
{1.0, 1.0, 1.0}, // secttitle2
{0.95, 0.95, 0.95}, // secttitleuncheck
{0.95, 0.95, 0.95}, // secttitleuncheck2
{0.95, 0.95, 0.95}, // secttitlecheck
{0.95, 0.95, 0.95}, // secttitlecheck2
{0.0, 0.0, 0.8}, // sectfont
@@ -160,6 +166,8 @@ static const mjuiThemeColor themeColor3 = {
{0.3, 0.3, 0.3}, // thumb
{0.25, 0.25, 0.25}, // secttitle
{0.0, 0.0, 0.0}, // secttitle2
{0.2, 0.2, 0.2}, // secttitleuncheck
{0.2, 0.2, 0.2}, // secttitleuncheck2
{0.2, 0.2, 0.2}, // secttitlecheck
{0.2, 0.2, 0.2}, // secttitlecheck2
{1.0, 0.3, 0.3}, // sectfont
@@ -421,7 +429,8 @@ static void drawoval(mjrRect rect, const float* rgb, const float* rgbback,
// draw open/closed symbol in title
// type: 0- section, 1- section with checkbox, 2- separator
// type: 0- section, 1- section with unchecked box,
// 2- section with checked box, 3- separator
static void drawsymbol(mjrRect rect, int flg_open, int type,
const mjUI* ui, const mjrContext* con) {
// size and center
@@ -431,7 +440,7 @@ static void drawsymbol(mjrRect rect, int flg_open, int type,
int d = mju_round(con->charHeight*0.33);
// separator size
if (type == 2) {
if (type == 3) {
d = mju_round(con->charHeight*0.28);
}
@@ -465,7 +474,15 @@ static void drawsymbol(mjrRect rect, int flg_open, int type,
);
break;
case 1: // section with checkbox
case 1: // section with unchecked box
glColor3f(
(ui->color.secttitleuncheck[0] + ui->color.secttitleuncheck2[0]) * 0.5,
(ui->color.secttitleuncheck[1] + ui->color.secttitleuncheck2[1]) * 0.5,
(ui->color.secttitleuncheck[2] + ui->color.secttitleuncheck2[2]) * 0.5
);
break;
case 2: // section with checked box
glColor3f(
(ui->color.secttitlecheck[0] + ui->color.secttitlecheck2[0]) * 0.5,
(ui->color.secttitlecheck[1] + ui->color.secttitlecheck2[1]) * 0.5,
@@ -473,7 +490,7 @@ static void drawsymbol(mjrRect rect, int flg_open, int type,
);
break;
case 2: // separator
case 3: // separator
glColor3f(
(ui->color.separator[0] + ui->color.separator2[0]) * 0.5,
(ui->color.separator[1] + ui->color.separator2[1]) * 0.5,
@@ -736,7 +753,7 @@ static int insideoval(int x, int y, mjrRect r) {
// find mouse location in UI; y already inverted
// sect: -1: thumb, -2: slider down, -3: slider up, positive: 1+section
// item: -1: section title or scroll, non-negative: item number
// item: -2 in checkbox on section title
// item: -2: in checkbox on section title
static void findmouse(const mjUI* ui, const mjuiState* ins, const mjrContext* con,
int* sect, int* item) {
// clear
@@ -1969,33 +1986,41 @@ void mjui_update(int section, int item, const mjUI* ui,
// section with checkbox
else {
// select colors depending on check state
const float* rgb = (s->checkbox == 1 ? ui->color.secttitleuncheck
: ui->color.secttitlecheck);
const float* rgb2 = (s->checkbox == 1 ? ui->color.secttitleuncheck2
: ui->color.secttitlecheck2);
// draw rectangle with gradient
glBegin(GL_QUADS);
glColor3fv(ui->color.secttitlecheck2);
glColor3fv(rgb2);
glVertex2i(r.left, r.bottom);
glVertex2i(r.left + r.width, r.bottom);
glColor3fv(ui->color.secttitlecheck);
glColor3fv(rgb);
glVertex2i(r.left + r.width, r.bottom + r.height);
glVertex2i(r.left, r.bottom + r.height);
glEnd();
// symbol and text with offset
drawsymbol(r, s->state, 1, ui, con);
drawsymbol(r, s->state, s->checkbox, ui, con);
drawtext(s->name, r.left + r.height,
r.bottom + g_textver, 2 * maxwidth - r.height,
ui->color.sectfont, con);
// draw checkmark as specified
if (s->checkbox > 1) {
int cgap = r.height / 4;
mjrRect cr = { r.left + cgap, r.bottom + cgap, r.height - 2 * cgap, r.height - 2 * cgap };
float rgb[3] = {
0.5f * (ui->color.secttitlecheck[0] + ui->color.secttitlecheck2[0]),
0.5f * (ui->color.secttitlecheck[1] + ui->color.secttitlecheck2[1]),
0.5f * (ui->color.secttitlecheck[2] + ui->color.secttitlecheck2[2])
};
drawrectangle(cr, ui->color.sectsymbol,
s->checkbox == 2 ? rgb : NULL, con);
}
int cgap = r.height / 4;
mjrRect cr = {r.left + cgap,
r.bottom + cgap,
r.height - 2 * cgap,
r.height - 2 * cgap};
float rgbmean[3] = {
0.5f * (rgb[0] + rgb2[0]),
0.5f * (rgb[1] + rgb2[1]),
0.5f * (rgb[2] + rgb2[2]),
};
drawrectangle(cr, ui->color.sectsymbol,
s->checkbox == 1 ? rgbmean : NULL, con);
}
// shortcut
@@ -2078,7 +2103,7 @@ void mjui_update(int section, int item, const mjUI* ui,
// symbol and round corners for collapsible
if (it->state >= mjSEPCLOSED) {
int flg_open = (it->state == mjSEPCLOSED + 1);
drawsymbol(it->rect, flg_open, 2, ui, con);
drawsymbol(it->rect, flg_open, 3, ui, con);
roundcorner(it->rect, flg_open, 1, ui, con);
}
break;
unity/Runtime/Bindings/MjBindings.cs
+2
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@@ -5785,6 +5785,8 @@ public unsafe struct mjuiThemeColor_ {
public fixed float thumb[3];
public fixed float secttitle[3];
public fixed float secttitle2[3];
public fixed float secttitleuncheck[3];
public fixed float secttitleuncheck2[3];
public fixed float secttitlecheck[3];
public fixed float secttitlecheck2[3];
public fixed float sectfont[3];