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Reorder and adjust GUI physics options.

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PiperOrigin-RevId: 933007222
Change-Id: Ia6944744112baa309de165144179ad96d914a734
This commit is contained in:
Yuval Tassa
2026-06-16 04:05:49 -07:00
committed by Copybara-Service
parent c0fa33f97f
commit 8efb396b26
1 changed files with 24 additions and 22 deletions
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src/experimental/platform/ux/gui.cc
+24 -22
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@@ -849,25 +849,9 @@ void PhysicsGui(mjModel* model, float min_width) {
const char* opts3[] = {"PGS", "CG", "Newton"}; const char* opts3[] = {"PGS", "CG", "Newton"};
ImGui::Combo("Solver", &opt.solver, opts3, IM_ARRAYSIZE(opts3)); ImGui::Combo("Solver", &opt.solver, opts3, IM_ARRAYSIZE(opts3));
if (ImGui::TreeNodeEx("Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
if (ImGui::BeginTable("##PhysicsFlagsTable", num_cols)) {
const ImVec2 size = GetFlexElementSize(num_cols);
for (int i = 0; i < mjNDISABLE; ++i) {
ImGui::TableNextColumn();
int flipped = ~opt.disableflags;
ImGui_BitToggle(mjDISABLESTRING[i], &flipped, 1 << i, size);
opt.disableflags = ~flipped;
}
for (int i = 0; i < mjNENABLE; ++i) {
ImGui::TableNextColumn();
ImGui_BitToggle(mjENABLESTRING[i], &opt.enableflags, 1 << i, size);
}
ImGui::EndTable();
}
ImGui::TreePop();
}
if (ImGui::TreeNodeEx("Algorithmic Parameters")) { if (ImGui::TreeNodeEx("Algorithmic Parameters",
ImGuiTreeNodeFlags_DefaultOpen)) {
ImGui_Input("Timestep", &opt.timestep, {0, 1, 0.01, 0.1}); ImGui_Input("Timestep", &opt.timestep, {0, 1, 0.01, 0.1});
ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10}); ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10});
ImGui_Input("Tolerance", &opt.tolerance, {0, 1, 1e-7, 1e-6}); ImGui_Input("Tolerance", &opt.tolerance, {0, 1, 1e-7, 1e-6});
@@ -893,11 +877,29 @@ void PhysicsGui(mjModel* model, float min_width) {
ImGui::TreePop(); ImGui::TreePop();
}; };
if (ImGui::TreeNodeEx("Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
if (ImGui::BeginTable("##PhysicsFlagsTable", num_cols)) {
const ImVec2 size = GetFlexElementSize(num_cols);
for (int i = 0; i < mjNDISABLE; ++i) {
ImGui::TableNextColumn();
int flipped = ~opt.disableflags;
ImGui_BitToggle(mjDISABLESTRING[i], &flipped, 1 << i, size);
opt.disableflags = ~flipped;
}
for (int i = 0; i < mjNENABLE; ++i) {
ImGui::TableNextColumn();
ImGui_BitToggle(mjENABLESTRING[i], &opt.enableflags, 1 << i, size);
}
ImGui::EndTable();
}
ImGui::TreePop();
}
if (ImGui::TreeNodeEx("Contact Override")) { if (ImGui::TreeNodeEx("Contact Override")) {
ImGui_Input("Margin", &opt.o_margin, {.min = 0.1, .max = 1}); ImGui_Input("Margin", &opt.o_margin, {.min = 0.0, .max = 1});
ImGui_InputN("Sol Imp", opt.o_solimp, 5, {.format = "%0.1f"}); ImGui_InputN("Sol Imp", opt.o_solimp, 5, {.format = "%0.3f"});
ImGui_InputN("Sol Ref", opt.o_solref, 2, {.format = "%0.1f"}); ImGui_InputN("Sol Ref", opt.o_solref, 2, {.format = "%0.3f"});
ImGui_InputN("Friction", opt.o_friction, 5, {.format = "%.1f"}); ImGui_InputN("Friction", opt.o_friction, 5, {.format = "%.3f"});
ImGui::TreePop(); ImGui::TreePop();
} }