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Move playback speed control to the toolbar.

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Initialize playback speed based on the model's global.realtime setting.

Adjust layout and tweak colours of the status and tool bars.

PiperOrigin-RevId: 842214796
Change-Id: Iff9cda74178df28a0787693242fee81e011014fc
This commit is contained in:
Haroon Qureshi
2025-12-09 06:46:30 -08:00
committed by Copybara-Service
parent cc914c9ec7
commit 925c533580
1 changed files with 52 additions and 33 deletions
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src/experimental/studio/app.cc
+52 -33
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@@ -16,6 +16,7 @@
#include <algorithm>
#include <array>
#include <cfloat>
#if defined(USE_CLASSIC_OPENGL)
#include <chrono>
#endif
@@ -251,6 +252,18 @@ void App::ProcessPendingLoad() {
const int state_size = mj_stateSize(model_, mjSTATE_INTEGRATION);
history_.Init(state_size);
// 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);
for (int i = 0; i < kPercentRealTime.size(); ++i) {
const float speed = std::stof(kPercentRealTime[i]);
const float error = mju_abs(mju_log(speed) - desired);
if (error < min_error) {
min_error = error;
SetSpeedIndex(i);
}
}
// Update the window title and update the file paths for saving files related
// to the loaded model.
std::string base_path = "/";
@@ -1056,27 +1069,22 @@ void App::HelpGui() {
ImGui::Columns();
}
void App::ToolBarGui() {
if (ImGui::BeginTable("##ToolBarTable", 2)) {
platform::ScopedStyle style;
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 570);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 560);
ImGui::TableNextColumn();
// Play/pause button.
const bool paused = step_control_.IsPaused();
if (ImGui::Button(paused ? ICON_PLAY : ICON_PAUSE, ImVec2(144, 32))) {
step_control_.TogglePause();
}
ImGui::SetItemTooltip("%s", paused ? "Play" : "Pause");
// Reset/Reload/Unload.
ImGui::SameLine();
if (ImGui::Button(ICON_RESET_MODEL, ImVec2(48, 32))) {
ResetPhysics();
style.Color(ImGuiCol_ButtonHovered, ImColor(220, 40, 40, 255));
if (ImGui::Button(ICON_UNLOAD_MODEL, ImVec2(48, 32))) {
LoadModel("");
}
ImGui::SetItemTooltip("%s", "Reset");
ImGui::SetItemTooltip("%s", "Unload");
style.Reset();
ImGui::SameLine();
if (ImGui::Button(ICON_RELOAD_MODEL, ImVec2(48, 32))) {
@@ -1085,10 +1093,37 @@ void App::ToolBarGui() {
ImGui::SetItemTooltip("%s", "Reload");
ImGui::SameLine();
if (ImGui::Button(ICON_UNLOAD_MODEL, ImVec2(48, 32))) {
LoadModel("");
if (ImGui::Button(ICON_RESET_MODEL, ImVec2(48, 32))) {
ResetPhysics();
}
ImGui::SetItemTooltip("%s", "Reset");
// Play/pause button.
ImGui::SameLine();
const bool paused = step_control_.IsPaused();
style.Color(ImGuiCol_Button,
paused ? ImColor(250, 230, 10, 255) : ImColor(40, 180, 40, 255));
if (ImGui::Button(paused ? ICON_PLAY : ICON_PAUSE, ImVec2(120, 32))) {
step_control_.TogglePause();
}
ImGui::SetItemTooltip("%s", paused ? "Play" : "Pause");
style.Reset();
ImGui::SameLine();
ImGui::Text("%s", " |");
// Speed selection.
ImGui::SameLine();
ImGui::Text("%s", ICON_SPEED);
ImGui::SetItemTooltip("%s", "Playback Speed");
ImGui::SameLine();
ImGui::SetNextItemWidth(80);
int speed_index = tmp_.speed_index;
if (ImGui::Combo("##Speed", &speed_index, kPercentRealTime.data(),
kPercentRealTime.size())) {
SetSpeedIndex(speed_index);
}
ImGui::SetItemTooltip("%s", "Unload");
// Camera selection.
ImGui::TableNextColumn();
@@ -1158,7 +1193,7 @@ void App::ToolBarGui() {
void App::StatusBarGui() {
if (ImGui::BeginTable("##StatusBarTable", 2)) {
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 670);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 520);
ImGui::TableNextColumn();
@@ -1188,22 +1223,6 @@ void App::StatusBarGui() {
ImGui::TableNextColumn();
ImGui::Text("%s", " |");
// Speed selection.
ImGui::SameLine();
ImGui::Text("%s", ICON_SPEED);
ImGui::SetItemTooltip("%s", "Playback Speed");
ImGui::SameLine();
ImGui::SetNextItemWidth(70);
int speed_index = tmp_.speed_index;
if (ImGui::Combo("##Speed", &speed_index, kPercentRealTime.data(),
kPercentRealTime.size())) {
SetSpeedIndex(speed_index);
}
ImGui::SameLine();
ImGui::Text("%s", " |");
// Frame scrubber.
platform::ScopedStyle style;