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Re-apply changes that were accidentally deleted.

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PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
This commit is contained in:
Haroon Qureshi
2026-02-20 01:27:20 -08:00
committed by Copybara-Service
parent 8f56d5eefa
commit 82694b520b
1 changed files with 82 additions and 35 deletions
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src/experimental/studio/app.cc
+82 -35
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@@ -24,6 +24,7 @@
#include <cstring>
#include <filesystem>
#include <memory>
#include <random>
#include <span>
#include <string>
#include <string_view>
@@ -84,6 +85,7 @@ static constexpr const char* ICON_PREV_FRAME = platform::ICON_FA_CARET_LEFT;
static constexpr const char* ICON_NEXT_FRAME = platform::ICON_FA_CARET_RIGHT;
static constexpr const char* ICON_CURR_FRAME = platform::ICON_FA_FAST_FORWARD;
static constexpr const char* ICON_SPEED = platform::ICON_FA_TACHOMETER;
static constexpr const char* ICON_DELETE = platform::ICON_FA_TRASH_CAN;
// UI labels for mjtLabel.
static constexpr const char* kLabelNames[] = {
@@ -105,7 +107,8 @@ static constexpr std::array<const char*, 31> kPercentRealTime = {
};
// clang-format on
App::App(Config config) : ini_path_(std::move(config.ini_path)) {
App::App(Config config)
: rng_(std::random_device()()), ini_path_(std::move(config.ini_path)) {
platform::Window::Config window_config;
window_config.renderer_backend = platform::Renderer::GetBackend();
window_config.offscreen_mode = config.offscreen_mode;
@@ -132,6 +135,13 @@ void App::ClearModel() {
step_error_ = "";
}
void App::Recompile() {
mj_recompile(model_holder_->spec(), model_holder_->vfs(),
model_holder_->model(), model_holder_->data());
const int state_size = mj_stateSize(model(), mjSTATE_INTEGRATION);
history_.Init(state_size);
}
void App::RequestModelLoad(std::string model_file) {
pending_load_ = std::move(model_file);
}
@@ -139,6 +149,7 @@ void App::RequestModelLoad(std::string model_file) {
void App::RequestModelReload() {
if (model_kind_ == kModelFromFile) {
pending_load_ = model_path_;
preserve_camera_on_load_ = true;
}
}
@@ -189,6 +200,16 @@ void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
const int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
history_.Init(state_size);
if (!preserve_camera_on_load_) {
const int model_cam = model->vis.global.cameraid;
if (model_cam >= 0 && model_cam < model->ncam) {
ui_.camera_idx = platform::SetCamera(model, &camera_, model_cam);
} else {
mjv_defaultFreeCamera(model, &camera_);
}
}
preserve_camera_on_load_ = false;
// Initialize the speed based on the model's default real-time setting.
float min_error = FLT_MAX;
const float desired = mju_log(100 * model->vis.global.realtime);
@@ -200,6 +221,10 @@ void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
SetSpeedIndex(i);
}
}
if (spec_op_) {
spec_op_();
spec_op_ = nullptr;
}
platform::ForEachModelPlugin([&](platform::ModelPlugin* plugin) {
if (plugin->post_model_loaded) {
@@ -382,6 +407,19 @@ void App::ProcessPendingLoads() {
});
}
void App::SpecDeleteSelectedElement() {
spec_op_ = [this]() {
mjs_delete(spec(), tmp_.element);
if (tmp_.element->elemtype == mjOBJ_BODY &&
perturb_.select == tmp_.element_id) {
mjv_defaultPerturb(&perturb_);
}
tmp_.element = nullptr;
tmp_.element_id = -1;
Recompile();
};
}
void App::HandleWindowEvents() {
const std::string drop_file = window_->GetDropFile();
if (!drop_file.empty()) {
@@ -474,15 +512,28 @@ void App::HandleMouseEvents() {
perturb_.flexselect = picked.flex;
perturb_.skinselect = picked.skin;
// Select the corresponding element in the spec.
tmp_.element = nullptr;
tmp_.element_id = -1;
if (has_spec()) {
mjsElement* element = mjs_firstElement(spec(), mjOBJ_BODY);
while (element) {
if (mjs_getId(element) == picked.body) {
tmp_.element = element;
tmp_.element_id = picked.body;
break;
}
element = mjs_nextElement(spec(), element);
}
}
// Compute the local position of the selected object in the world.
mjtNum tmp[3];
mju_sub3(tmp, picked.point, data()->xpos + 3 * picked.body);
mju_mulMatTVec(perturb_.localpos, data()->xmat + 9 * picked.body, tmp, 3,
3);
} else {
perturb_.select = 0;
perturb_.flexselect = -1;
perturb_.skinselect = -1;
mjv_defaultPerturb(&perturb_);
}
}
@@ -571,6 +622,8 @@ void App::HandleKeyboardEvents() {
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_Backspace)) {
ResetPhysics();
} else if (ImGui_IsChordJustPressed(ImGuiKey_Delete)) {
SpecDeleteSelectedElement();
} else if (ImGui_IsChordJustPressed(ImGuiKey_PageUp)) {
SelectParentPerturb(model(), perturb_);
} else if (ImGui_IsChordJustPressed(ImGuiKey_F1)) {
@@ -1088,7 +1141,8 @@ void App::SpecExplorerGui() {
label = "(" + prefix + " " + std::to_string(id) + ")";
}
if (ImGui::Selectable(label.c_str(), false)) {
const bool selected = (tmp_.element == element);
if (ImGui::Selectable(label.c_str(), selected)) {
tmp_.element = element;
tmp_.element_id = id;
}
@@ -1098,30 +1152,7 @@ void App::SpecExplorerGui() {
};
if (ImGui::TreeNodeEx("Bodies", flags)) {
// We don't use `display_group` here because we do additional selection
// logic tied to the `perturb_` field.
mjsElement* element = mjs_firstElement(spec(), mjOBJ_BODY);
while (element) {
const int id = mjs_getId(element);
const mjString* name = mjs_getName(element);
std::string label = *name;
if (label.empty()) {
label = "(Body " + std::to_string(id) + ")";
}
if (ImGui::Selectable(label.c_str(), (id == perturb_.select),
ImGuiSelectableFlags_AllowDoubleClick)) {
tmp_.element = element;
tmp_.element_id = id;
}
if (ImGui::IsItemHovered() &&
ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
perturb_.select = id;
}
element = mjs_nextElement(spec(), element);
}
display_group(mjOBJ_BODY, "Body");
ImGui::TreePop();
}
@@ -1134,6 +1165,13 @@ void App::SpecExplorerGui() {
display_group(mjOBJ_SITE, "Site");
ImGui::TreePop();
}
// If we selected a body, then select the same body for the perturb object.
if (tmp_.element && tmp_.element->elemtype == mjOBJ_BODY &&
perturb_.select != tmp_.element_id) {
mjv_defaultPerturb(&perturb_);
perturb_.select = tmp_.element_id;
}
}
void App::PropertiesGui() {
@@ -1142,22 +1180,31 @@ void App::PropertiesGui() {
return;
}
if (ImGui::BeginTable("##PropertiesHeader", 2)) {
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 20);
ImGui::TableNextColumn();
ImGui::Text("%s", mju_type2Str(tmp_.element->elemtype));
ImGui::TableNextColumn();
if (tmp_.element->elemtype == mjOBJ_BODY) {
if (ImGui::SmallButton(ICON_DELETE)) {
SpecDeleteSelectedElement();
}
}
ImGui::EndTable();
}
ImGui::Separator();
switch (tmp_.element->elemtype) {
case mjOBJ_BODY:
ImGui::Text("Body");
ImGui::Separator();
platform::BodyPropertiesGui(model(), data(), tmp_.element,
tmp_.element_id);
break;
case mjOBJ_JOINT:
ImGui::Text("Joint");
ImGui::Separator();
platform::JointPropertiesGui(model(), data(), tmp_.element,
tmp_.element_id);
break;
case mjOBJ_SITE:
ImGui::Text("Site");
ImGui::Separator();
platform::SitePropertiesGui(model(), data(), tmp_.element,
tmp_.element_id);
break;