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Make StepControlGui a reusable component and refactor/simplify the implementation

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PiperOrigin-RevId: 900045404
Change-Id: I9976ece042710ddce0a7c5d99a6ac85a0ef06d2f
This commit is contained in:
Matija Kecman
2026-04-15 02:47:40 -07:00
committed by Copybara-Service
parent d913e0b1e9
commit 9289905c9a
6 changed files with 122 additions and 123 deletions
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src/experimental/studio/app.cc
+13 -115
View File
@@ -17,7 +17,6 @@
#include <algorithm>
#include <array>
#include <cfloat>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <cstdlib>
@@ -72,9 +71,6 @@ static void SelectParentPerturb(const mjModel* model, mjvPerturb& perturb) {
// TODO: update selected element!
}
static constexpr const char* ICON_PLAY = platform::ICON_FA_PLAY;
static constexpr const char* ICON_PAUSE = platform::ICON_FA_PAUSE;
static constexpr const char* ICON_VISCOUS_PAUSE = platform::ICON_FA_MAGIC;
static constexpr const char* ICON_COPY_CAMERA = platform::ICON_FA_COPY;
static constexpr const char* ICON_UNLOAD_MODEL = platform::ICON_FA_EJECT;
static constexpr const char* ICON_RELOAD_MODEL = platform::ICON_FA_REFRESH;
@@ -82,21 +78,10 @@ static constexpr const char* ICON_RESET_MODEL = platform::ICON_FA_UNDO;
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_RELOAD_SPEC = platform::ICON_FA_REFRESH;
static constexpr const char* ICON_UNDO_SPEC = platform::ICON_FA_UNDO;
static constexpr const char* ICON_REDO_SPEC = platform::ICON_FA_REPEAT;
// logarithmically spaced real-time slow-down coefficients (percent)
// clang-format off
static constexpr std::array<const char*, 31> kPercentRealTime = {
"100.0 ", " 80.0 ", " 66.0 ", " 50.0 ", " 40.0 ", " 33.0 ", " 25.0 ", " 20.0 ", " 16.0 ", " 13.0 ",
" 10.0 ", " 8.0 ", " 6.6 ", " 5.0 ", " 4.0 ", " 3.3 ", " 2.5 ", " 2.0 ", " 1.6 ", " 1.3 ",
" 1.0 ", " 0.8 ", " 0.7 ", " 0.5 ", " 0.4 ", " 0.33", " 0.25", " 0.2 ", " 0.16", " 0.13",
" 0.1 ",
};
// clang-format on
App::App(Config config)
: ini_path_(std::move(config.ini_path)), gfx_mode_(config.gfx_mode) {
SwitchGraphicsMode(config.width, config.height, config.gfx_mode);
@@ -221,8 +206,8 @@ void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
// 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]);
for (int i = 0; i < platform::kPercentRealTime.size(); ++i) {
const float speed = std::stof(platform::kPercentRealTime[i]);
const float error = mju_abs(mju_log(speed) - desired);
if (error < min_error) {
min_error = error;
@@ -613,14 +598,13 @@ void App::HandleKeyboardEvents() {
}
} else if (ImGui_IsChordJustPressed(ImGuiMod_Ctrl | ImGuiKey_Space)) {
if (step_control_.GetPauseState() == PauseState::kViscousPaused) {
step_control_.SetPauseState(PauseState::kUnpaused, model());
step_control_.SetPauseState(PauseState::kUnpaused);
} else {
step_control_.SetPauseState(PauseState::kViscousPaused, model());
tmp_.viscous_pause_time = ImGui::GetTime();
step_control_.SetPauseState(PauseState::kViscousPaused);
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_Space)) {
if (step_control_.GetPauseState() == PauseState::kViscousPaused) {
step_control_.SetPauseState(PauseState::kNormalPaused, model());
step_control_.SetPauseState(PauseState::kNormalPaused);
} else if (step_control_.GetPauseState() == PauseState::kUnpaused) {
step_control_.SetPauseState(PauseState::kNormalPaused);
} else {
@@ -817,12 +801,13 @@ void App::SaveSettings() {
}
void App::SetSpeedIndex(int idx) {
if (idx == tmp_.speed_index || kPercentRealTime.empty()) {
if (idx == tmp_.speed_index || platform::kPercentRealTime.empty()) {
return;
}
tmp_.speed_index = std::clamp<int>(idx, 0, kPercentRealTime.size() - 1);
float speed = std::stof(kPercentRealTime[tmp_.speed_index]);
tmp_.speed_index =
std::clamp<int>(idx, 0, platform::kPercentRealTime.size() - 1);
float speed = std::stof(platform::kPercentRealTime[tmp_.speed_index]);
step_control_.SetSpeed(speed);
}
@@ -1407,25 +1392,10 @@ void App::HelpGui() {
ImGui::Columns();
}
struct SpeedStatus {
bool misaligned;
float measured;
};
static SpeedStatus IsSpeedMisaligned(
const platform::StepControl& step_control) {
const float desired = step_control.GetSpeed();
const float measured = step_control.GetSpeedMeasured();
return {std::abs(measured - desired) > 0.1f * desired, measured};
}
void App::ToolBarGui() {
if (ImGui::BeginTable("##ToolBarTable", 2)) {
platform::ScopedStyle style;
const ImColor red(220, 40, 40, 255);
const ImColor green(40, 180, 40, 255);
const ImColor yellow(250, 230, 10, 255);
const int combo_flags = ImGuiComboFlags_NoArrowButton;
const float scale = ImGui::GetWindowDpiScale();
const ImVec2 button_size(48.f * scale, 32.f * scale);
@@ -1481,82 +1451,10 @@ void App::ToolBarGui() {
}
ImGui::SetItemTooltip("%s", "Reset");
// Combined (Normal Pause, Viscous Pause, Play) widget
{
style.Var(ImGuiStyleVar_FrameRounding, 2.0f);
// Normal pause button.
ImGui::SameLine(0, separator_width);
ImColor paused_color = yellow;
bool paused = step_control_.GetPauseState() == PauseState::kNormalPaused;
if (platform::ImGui_ColorButton(ICON_PAUSE, paused, paused_color,
button_size)) {
if (!paused) {
step_control_.SetPauseState(PauseState::kNormalPaused, model());
}
}
ImGui::SetItemTooltip("%s", "Pause");
// Viscous pause button.
ImGui::SameLine(0, 0);
ImColor vpaused_color = green;
float t = 0.f;
bool vpaused =
step_control_.GetPauseState() == PauseState::kViscousPaused;
if (vpaused) {
t = ImGui::GetTime() - tmp_.viscous_pause_time;
t = std::sqrt(std::min(t / 0.75f, 1.0f));
vpaused_color = ImColor(ImLerp(green.Value, yellow.Value, t));
}
if (platform::ImGui_ColorButton(ICON_VISCOUS_PAUSE, vpaused,
vpaused_color, button_size,
t < 1.0f ? 1.0f : 0.5f)) {
if (!vpaused) {
step_control_.SetPauseState(PauseState::kViscousPaused, model());
tmp_.viscous_pause_time = ImGui::GetTime();
}
}
ImGui::SetItemTooltip("%s", "Viscous Pause");
// Play button.
ImGui::SameLine(0, 0);
if (platform::ImGui_ColorButton(
ICON_PLAY, step_control_.GetPauseState() == PauseState::kUnpaused,
green, button_size, 0.6f)) {
step_control_.SetPauseState(PauseState::kUnpaused, model());
}
}
// Speed selection.
ImGui::SameLine();
float pad_y = (button_size.y - ImGui::GetFontSize()) * 0.5f;
ImGui::PushStyleVar(ImGuiStyleVar_FramePadding,
ImVec2(ImGui::GetStyle().FramePadding.x + 5.f, pad_y));
const auto [misaligned, measured] = IsSpeedMisaligned(step_control_);
char speed_preview[64];
if (misaligned) {
snprintf(speed_preview, sizeof(speed_preview), "%s%s (%-4.1f%%)",
ICON_SPEED, kPercentRealTime[tmp_.speed_index], measured);
} else {
snprintf(speed_preview, sizeof(speed_preview), "%s%s", ICON_SPEED,
kPercentRealTime[tmp_.speed_index]);
}
ImGui::SetNextItemWidth(ImGui::CalcTextSize(speed_preview).x +
ImGui::GetStyle().FramePadding.x * 2);
if (ImGui::BeginCombo("##Speed", speed_preview, combo_flags)) {
for (int n = 0; n < kPercentRealTime.size(); n++) {
if (ImGui::Selectable(kPercentRealTime[n], (tmp_.speed_index == n))) {
SetSpeedIndex(n);
}
}
ImGui::EndCombo();
}
ImGui::PopStyleVar();
if (misaligned) {
ImGui::SetItemTooltip("%s", "Desired Speed (Measured Speed)");
} else {
ImGui::SetItemTooltip("%s", "Desired Speed");
}
// Combined (Normal Pause, Viscous Pause, Play) widget and Speed selection.
ImGui::SameLine(0, separator_width);
platform::StepControlGui(model(), &step_control_, tmp_.speed_index);
ImGui::TableNextColumn();
ImGui::SetCursorPosY(ImGui::GetCursorPosY() +
@@ -1709,7 +1607,7 @@ void App::MainMenuGui() {
if (step_control_.GetPauseState() != PauseState::kNormalPaused) {
step_control_.SetPauseState(PauseState::kNormalPaused);
} else {
step_control_.SetPauseState(PauseState::kUnpaused, model());
step_control_.SetPauseState(PauseState::kUnpaused);
}
}
if (ImGui::MenuItem("Reset", "Backspace")) {
src/experimental/studio/app.h
-3
View File
@@ -133,9 +133,6 @@ class App {
// Controls.
bool perturb_active = false;
// Time at which viscous pause was activated, for the green→yellow button
// color animation.
double viscous_pause_time = 0;
int speed_index = 0;
float cam_speed = 0.0f;