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Refactor spec editing logic into its own class.

Browse Source 
The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.

PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
This commit is contained in:
Haroon Qureshi
2026-03-04 04:01:22 -08:00
committed by Copybara-Service
parent 73f73d94f7
commit 84682a46b0
6 changed files with 702 additions and 259 deletions
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src/experimental/studio/app.cc
+63 -138
View File
@@ -171,6 +171,7 @@ void App::RequestModelReload() {
void App::InitEmptyModel() {
model_holder_ = platform::ModelHolder::FromSpec(mj_makeSpec());
OnModelLoaded("", kEmptyModel);
spec_editor_.Reset(*spec());
}
void App::LoadModelFromFile(const std::string& filepath) {
@@ -179,6 +180,7 @@ void App::LoadModelFromFile(const std::string& filepath) {
model_holder_ = platform::ModelHolder::FromFile(resolved_file);
if (model_holder_->ok()) {
OnModelLoaded(filepath, kModelFromFile);
spec_editor_.Reset(*spec());
UpdateFilePaths(resolved_file);
window_->SetTitle("MuJoCo Studio : " + filepath);
} else {
@@ -196,6 +198,7 @@ void App::LoadModelFromBuffer(std::span<const std::byte> buffer,
} else {
SetLoadError(std::string(model_holder_->error()));
}
spec_editor_.Reset(*spec());
}
void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
@@ -215,9 +218,6 @@ void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
const int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
history_.Init(state_size);
// Create a copy of the spec for editing.
CopyLoadedSpecForEditing();
if (!preserve_camera_on_load_) {
const int model_cam = model->vis.global.cameraid;
if (model_cam >= 0 && model_cam < model->ncam) {
@@ -404,9 +404,9 @@ void App::ProcessPendingLoads() {
}
}
if (spec_op_) {
spec_op_();
spec_op_ = nullptr;
if (pending_op_) {
pending_op_();
pending_op_ = nullptr;
}
// Allow plugins to edit the spec as well.
@@ -438,56 +438,6 @@ void App::ProcessPendingLoads() {
});
}
void App::CopyLoadedSpecForEditing() {
if (scratch_spec_ != nullptr) {
mj_deleteSpec(scratch_spec_);
scratch_spec_ = nullptr;
}
scratch_spec_modified_ = false;
tmp_.curr_edit_element = nullptr;
if (has_spec()) {
scratch_spec_ = mj_copySpec(spec());
auto add_ref_elements = [&](mjtObj type) {
mjsElement* elem = mjs_firstElement(spec(), type);
mjsElement* scratch = mjs_firstElement(scratch_spec_, type);
while (elem != nullptr && scratch != nullptr) {
scratch_to_spec_[scratch] = elem;
spec_to_scratch_[elem] = scratch;
elem = mjs_nextElement(spec(), elem);
scratch = mjs_nextElement(scratch_spec_, scratch);
}
};
add_ref_elements(mjOBJ_BODY);
add_ref_elements(mjOBJ_XBODY);
add_ref_elements(mjOBJ_JOINT);
add_ref_elements(mjOBJ_DOF);
add_ref_elements(mjOBJ_GEOM);
add_ref_elements(mjOBJ_SITE);
add_ref_elements(mjOBJ_CAMERA);
add_ref_elements(mjOBJ_LIGHT);
add_ref_elements(mjOBJ_FLEX);
add_ref_elements(mjOBJ_MESH);
add_ref_elements(mjOBJ_SKIN);
add_ref_elements(mjOBJ_HFIELD);
add_ref_elements(mjOBJ_TEXTURE);
add_ref_elements(mjOBJ_MATERIAL);
add_ref_elements(mjOBJ_PAIR);
add_ref_elements(mjOBJ_EXCLUDE);
add_ref_elements(mjOBJ_EQUALITY);
add_ref_elements(mjOBJ_TENDON);
add_ref_elements(mjOBJ_ACTUATOR);
add_ref_elements(mjOBJ_SENSOR);
add_ref_elements(mjOBJ_NUMERIC);
add_ref_elements(mjOBJ_TEXT);
add_ref_elements(mjOBJ_TUPLE);
add_ref_elements(mjOBJ_KEY);
add_ref_elements(mjOBJ_PLUGIN);
}
}
void App::HandleWindowEvents() {
const std::string drop_file = window_->GetDropFile();
if (!drop_file.empty()) {
@@ -1196,7 +1146,7 @@ void App::SpecExplorerGui() {
bool open = element != nullptr;
if (platform::ImGui_BeginHSplit("SpecExplorerTree",
&tmp_.explorer_split, &open)) {
platform::SpecTreeGui(&element, spec(), SpecEditMode::kPlay);
platform::SpecTreeGui(&element, spec());
if (element != tmp_.curr_element) {
tmp_.curr_element = element;
@@ -1214,50 +1164,34 @@ void App::SpecExplorerGui() {
if (platform::ImGui_HSplit("SpecExplorerProperties",
&tmp_.explorer_split, &open)) {
platform::ScopedStyle style;
ImGui::Text("%s", mju_type2Str(tmp_.curr_element->elemtype));
ImGui::SameLine();
ImGui::Text("(%d)", mjs_getId(tmp_.curr_element));
ImGui::SameLine(ImGui::GetContentRegionAvail().x - 100.0f);
if (tmp_.spec_prop_mode == SpecPropertiesMode::kSpec) {
style.Color(ImGuiCol_Button, ImGuiCol_ButtonActive);
}
style.Var(ImGuiStyleVar_FramePadding, ImVec2(0, 0));
if (ImGui::Button("S", ImVec2(24.0f, 20.0f))) {
tmp_.spec_prop_mode = SpecPropertiesMode::kSpec;
}
ImGui::SetItemTooltip("Spec");
style.Reset();
auto mode_button = [&](const char* label, const char* tooltip,
SpecPropertiesMode mode) {
platform::ScopedStyle style;
style.Var(ImGuiStyleVar_FramePadding, ImVec2(0, 0));
if (tmp_.spec_prop_mode == mode) {
style.Color(ImGuiCol_Button, ImGuiCol_ButtonActive);
}
if (ImGui::Button(label, ImVec2(24.0f, 20.0f))) {
tmp_.spec_prop_mode = mode;
}
ImGui::SetItemTooltip("%s", tooltip);
};
mode_button("S", "Spec", SpecPropertiesMode::kSpec);
ImGui::SameLine();
if (tmp_.spec_prop_mode == SpecPropertiesMode::kModel) {
style.Color(ImGuiCol_Button, ImGuiCol_ButtonActive);
}
style.Var(ImGuiStyleVar_FramePadding, ImVec2(0, 0));
if (ImGui::Button("M", ImVec2(24.0f, 20.0f))) {
tmp_.spec_prop_mode = SpecPropertiesMode::kModel;
}
ImGui::SetItemTooltip("Model");
style.Reset();
mode_button("M", "Model", SpecPropertiesMode::kModel);
ImGui::SameLine();
mode_button("D", "Data", SpecPropertiesMode::kData);
if (tmp_.spec_prop_mode == SpecPropertiesMode::kData) {
style.Color(ImGuiCol_Button, ImGuiCol_ButtonActive);
}
style.Var(ImGuiStyleVar_FramePadding, ImVec2(0, 0));
if (ImGui::Button("D", ImVec2(24.0f, 20.0f))) {
tmp_.spec_prop_mode = SpecPropertiesMode::kData;
}
ImGui::SetItemTooltip("Data");
style.Reset();
ImGui::Separator();
if (tmp_.spec_prop_mode == SpecPropertiesMode::kSpec) {
platform::ElementSpecGui(element, element, SpecEditMode::kPlay);
platform::ElementSpecGui(element);
} else if (tmp_.spec_prop_mode == SpecPropertiesMode::kModel) {
platform::ElementModelGui(model(), tmp_.curr_element);
} else {
@@ -1274,36 +1208,32 @@ void App::SpecExplorerGui() {
void App::SpecEditorGui() {
if (ImGui::BeginChild("SpecEditor", ImVec2(-1, 36))) {
if (ImGui::BeginTable("##SpecEditorHeader", 3)) {
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 70.0f);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 50.0f);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 30.0f);
ImGui::TableNextColumn();
if (ImGui::Button(ICON_RELOAD_SPEC)) {
CopyLoadedSpecForEditing();
}
ImGui::BeginDisabled(true);
ImGui::SameLine();
ImGui::BeginDisabled(!spec_editor_.CanUndo());
if (ImGui::Button(ICON_UNDO_SPEC)) {
// TODO...
spec_editor_.Undo();
}
ImGui::EndDisabled();
ImGui::SameLine();
ImGui::BeginDisabled(!spec_editor_.CanRedo());
if (ImGui::Button(ICON_REDO_SPEC)) {
// TODO...
spec_editor_.Redo();
}
ImGui::EndDisabled();
ImGui::TableNextColumn();
ImGui::PushStyleColor(ImGuiCol_Button, ImColor(40, 180, 40, 255).Value);
if (ImGui::Button("Compile and Reload", ImVec2(-1, 0))) {
spec_op_ = [this]() {
auto tmp_holder = platform::ModelHolder::FromSpec(scratch_spec_);
pending_op_ = [this]() {
auto tmp_holder = spec_editor_.Compile();
if (tmp_holder->ok()) {
model_holder_ = std::move(tmp_holder);
scratch_spec_ = nullptr;
OnModelLoaded(model_name_, model_kind_);
} else {
scratch_spec_ = tmp_holder->ReleaseSpec();
load_error_ = std::move(tmp_holder->error());
}
};
@@ -1315,30 +1245,29 @@ void App::SpecEditorGui() {
ImGui::OpenPopupOnItemClick("SpecAddElement", 0);
}
if (ImGui::BeginPopupContextItem("SpecAddElement")) {
auto option = [&](const char* label, auto fn) {
auto option = [&](const char* label, mjtObj type) {
if (ImGui::Selectable(label)) {
tmp_.curr_edit_element = fn()->element;
mjs_setName(tmp_.curr_edit_element,
platform::ElementName(tmp_.curr_edit_element).c_str());
scratch_spec_modified_ = true;
mjsElement* element = spec_editor_.AddElement(type);
spec_editor_.SetActiveElement(element);
}
};
option("Actuator", [&]() { return mjs_addActuator(scratch_spec_, 0); });
option("Equality", [&]() { return mjs_addEquality(scratch_spec_, 0); });
option("Exclude", [&]() { return mjs_addExclude(scratch_spec_); });
option("Flex", [&]() { return mjs_addFlex(scratch_spec_); });
option("Height Field", [&]() { return mjs_addHField(scratch_spec_); });
option("Key", [&]() { return mjs_addKey(scratch_spec_); });
option("Material", [&]() { return mjs_addMaterial(scratch_spec_, 0); });
option("Mesh", [&]() { return mjs_addMesh(scratch_spec_, 0); });
option("Numeric", [&]() { return mjs_addNumeric(scratch_spec_); });
option("Pair", [&]() { return mjs_addPair(scratch_spec_, 0); });
option("Sensor", [&]() { return mjs_addSensor(scratch_spec_); });
option("Skin", [&]() { return mjs_addSkin(scratch_spec_); });
option("Tendon", [&]() { return mjs_addTendon(scratch_spec_, 0); });
option("Text", [&]() { return mjs_addText(scratch_spec_); });
option("Texture", [&]() { return mjs_addTexture(scratch_spec_); });
option("Tuple", [&]() { return mjs_addTuple(scratch_spec_); });
option("Actuator", mjOBJ_ACTUATOR);
option("Equality", mjOBJ_EQUALITY);
option("Exclude", mjOBJ_EXCLUDE);
option("Flex", mjOBJ_FLEX);
option("Height Field", mjOBJ_HFIELD);
option("Key", mjOBJ_KEY);
option("Material", mjOBJ_MATERIAL);
option("Mesh", mjOBJ_MESH);
option("Numeric", mjOBJ_NUMERIC);
option("Pair", mjOBJ_PAIR);
option("Sensor", mjOBJ_SENSOR);
option("Skin", mjOBJ_SKIN);
option("Tendon", mjOBJ_TENDON);
option("Text", mjOBJ_TEXT);
option("Texture", mjOBJ_TEXTURE);
option("Tuple", mjOBJ_TUPLE);
ImGui::EndPopup();
}
@@ -1354,32 +1283,28 @@ void App::SpecEditorGui() {
}
tmp_.editor_split = std::clamp(tmp_.editor_split, 20.0f, region.y - 40.0f);
bool open = tmp_.curr_edit_element != nullptr;
mjsElement* element = spec_editor_.GetActiveElement();
bool open = element != nullptr;
if (platform::ImGui_BeginHSplit("SpecEditorTree", &tmp_.editor_split,
&open)) {
if (platform::SpecTreeGui(&tmp_.curr_edit_element, scratch_spec_,
SpecEditMode::kEdit)) {
scratch_spec_modified_ = true;
}
open = tmp_.curr_edit_element != nullptr;
platform::SpecTreeGui(&element, spec_editor_.GetActiveSpec(),
&spec_editor_);
open = element != nullptr;
spec_editor_.SetActiveElement(element);
if (platform::ImGui_HSplit("SpecEditorProperties", &tmp_.editor_split,
&open)) {
ImGui::Text("%s", mju_type2Str(tmp_.curr_edit_element->elemtype));
ImGui::Text("%s", mju_type2Str(element->elemtype));
ImGui::SameLine();
ImGui::Text("(%d)", mjs_getId(tmp_.curr_edit_element));
ImGui::Text("(%d)", mjs_getId(element));
ImGui::Separator();
mjsElement* ref = scratch_to_spec_[tmp_.curr_edit_element];
if (platform::ElementSpecGui(tmp_.curr_edit_element, ref,
SpecEditMode::kEdit)) {
scratch_spec_modified_ = true;
}
platform::ElementSpecGui(element, &spec_editor_);
}
platform::ImGui_EndHSplit(open);
if (!open) {
tmp_.curr_edit_element = nullptr;
spec_editor_.SetActiveElement(nullptr);
}
}
}
@@ -1939,7 +1864,7 @@ void App::MainMenuGui() {
mode = platform::GraphicsMode::FilamentVulkan;
}
if (mode.has_value()) {
spec_op_ = [=, this]() {
pending_op_ = [=, this]() {
const int width = window_->GetWidth();
const int height = window_->GetHeight();
SwitchGraphicsMode(width, height, *mode);
src/experimental/studio/app.h
+4 -16
View File
@@ -35,6 +35,7 @@
#include "experimental/platform/renderer.h"
#include "experimental/platform/sim_history.h"
#include "experimental/platform/sim_profiler.h"
#include "experimental/platform/spec_editor.h"
#include "experimental/platform/step_control.h"
#include "experimental/platform/window.h"
@@ -84,8 +85,6 @@ class App {
void Render();
private:
using SpecEditMode = platform::SpecEditMode;
// The kind of model that is currently loaded.
enum ModelKind {
kEmptyModel,
@@ -148,7 +147,6 @@ class App {
// Spec editing.
SpecPropertiesMode spec_prop_mode = SpecPropertiesMode::kSpec;
mjsElement* curr_element = nullptr;
mjsElement* curr_edit_element = nullptr;
// State.
int state_sig = 0;
@@ -226,7 +224,6 @@ class App {
float GetExpectedLabelWidth();
std::vector<const char*> GetCameraNames();
void CopyLoadedSpecForEditing();
mjSpec* spec() { return model_holder_->spec(); }
mjModel* model() { return model_holder_->model(); }
@@ -241,7 +238,9 @@ class App {
std::string load_error_;
std::string step_error_;
std::string edit_error_;
std::optional<std::string> pending_load_;
std::function<void()> pending_op_;
bool preserve_camera_on_load_ = false;
ModelKind model_kind_ = kEmptyModel;
platform::GraphicsMode gfx_mode_ = platform::GraphicsMode::FilamentVulkan;
@@ -250,21 +249,10 @@ class App {
std::unique_ptr<platform::Renderer> renderer_;
std::unique_ptr<platform::ModelHolder> model_holder_;
// Spec editing. We keep a separate copy of the loaded spec that we can edit.
// Once we're done editing, we will (re)compile the spec and update the
// active model and data.
mjSpec* scratch_spec_ = nullptr;
// Whether or not the scratch spec differs from the loaded spec.
bool scratch_spec_modified_ = false;
// We keep a mapping of the elements between the loaded spec and the scratch
// spec.
std::unordered_map<mjsElement*, mjsElement*> spec_to_scratch_;
std::unordered_map<mjsElement*, mjsElement*> scratch_to_spec_;
std::function<void()> spec_op_;
platform::StepControl step_control_;
platform::SimProfiler profiler_;
platform::SimHistory history_;
platform::SpecEditor spec_editor_;
std::vector<std::string> search_paths_;
std::vector<std::byte> pixels_;