From 8eb36d9a7c2fac539f84c868a6db2122516ef128 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 25 Oct 2023 04:02:51 -0700
Subject: [PATCH] Improvements to simulate UI

- Improved Help overlay text, mention shortcuts for UI toggle.
- Removed buttons for UI toggle.
- Moved Spacing / Color / Font to the end of the Option section.

PiperOrigin-RevId: 576480554
Change-Id: Ie1427b97cb784421490c276a8544d570a6042188
---
 simulate/simulate.cc | 34 +++++++++++++++++++++++-----------
 simulate/simulate.h  | 10 ++++------
 2 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 32d6ec7a..e3688c05 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -130,8 +130,8 @@ const mjuiDef defFile[] = {
 const char help_content[] =
   "Space\n"
   "+  -\n"
-  "Right arrow\n"
-  "Left arrow\n"
+  "Left / Right arrow\n"
+  "Tab / Shift-Tab\n"
   "[  ]\n"
   "Esc\n"
   "Double-click\n"
@@ -148,25 +148,25 @@ const char help_content[] =
   "F3\n"
   "F4\n"
   "F5\n"
-  "UI right hold\n"
+  "UI right-button hold\n"
   "UI title double-click";
 
 const char help_title[] =
   "Play / Pause\n"
-  "Speed up / down\n"
-  "Step forward\n"
-  "Step back\n"
+  "Speed Up / Down\n"
+  "Step Back / Forward\n"
+  "Toggle Left / Right UI\n"
   "Cycle cameras\n"
   "Free camera\n"
   "Select\n"
   "Select parent\n"
-  "Center\n"
+  "Center camera\n"
   "Tracking camera\n"
   "Zoom\n"
-  "View rotate\n"
-  "View translate\n"
-  "Object rotate\n"
-  "Object translate\n"
+  "View Orbit\n"
+  "View Pan\n"
+  "Object Rotate\n"
+  "Object Translate\n"
   "Help\n"
   "Info\n"
   "Profiler\n"
@@ -1625,6 +1625,18 @@ void UiEvent(mjuiState* state) {
         sim->speed_changed = true;
       }
       break;
+
+    case mjKEY_TAB:             // toggle left/right UI
+      if (!state->shift) {
+        // toggle left UI
+        sim->ui0_enable = !sim->ui0_enable;
+        UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
+      } else {
+        // toggle right UI
+        sim->ui1_enable = !sim->ui1_enable;
+        UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
+      }
+      break;
     }
 
     return;
diff --git a/simulate/simulate.h b/simulate/simulate.h
index a21e8e0b..587dea55 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -257,13 +257,8 @@ class Simulate {
 
   // Constant arrays needed for the option section of UI and the UI interface
   // TODO setting the size here is not ideal
-  const mjuiDef def_option[15] = {
+  const mjuiDef def_option[13] = {
     {mjITEM_SECTION,  "Option",        1, nullptr,           "AO"},
-    {mjITEM_SELECT,   "Spacing",       1, &this->spacing,    "Tight\nWide"},
-    {mjITEM_SELECT,   "Color",         1, &this->color,      "Default\nOrange\nWhite\nBlack"},
-    {mjITEM_SELECT,   "Font",          1, &this->font,       "50 %\n100 %\n150 %\n200 %\n250 %\n300 %"},
-    {mjITEM_CHECKINT, "Left UI (Tab)", 1, &this->ui0_enable, " #258"},
-    {mjITEM_CHECKINT, "Right UI",      1, &this->ui1_enable, "S#258"},
     {mjITEM_CHECKINT, "Help",          2, &this->help,       " #290"},
     {mjITEM_CHECKINT, "Info",          2, &this->info,       " #291"},
     {mjITEM_CHECKINT, "Profiler",      2, &this->profiler,   " #292"},
@@ -276,6 +271,9 @@ class Simulate {
   #endif
     {mjITEM_CHECKINT, "Vertical Sync", 1, &this->vsync,      ""},
     {mjITEM_CHECKINT, "Busy Wait",     1, &this->busywait,   ""},
+    {mjITEM_SELECT,   "Spacing",       1, &this->spacing,    "Tight\nWide"},
+    {mjITEM_SELECT,   "Color",         1, &this->color,      "Default\nOrange\nWhite\nBlack"},
+    {mjITEM_SELECT,   "Font",          1, &this->font,       "50 %\n100 %\n150 %\n200 %\n250 %\n300 %"},
     {mjITEM_END}
   };