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simulate python: fix cmake, glfw usage, update Python version of physics loop

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This commit is contained in:
Levi Burner
2022-10-04 14:37:06 -04:00
parent 0b6bf42840
commit 95a4b1c551
12 changed files with 219 additions and 174 deletions
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simulate/CMakeLists.txt
+33 -11
View File
@@ -97,8 +97,8 @@ if(NOT TARGET lodepng)
endif()
endif()
# Simulate library
add_library(libsimulate STATIC)
# Simulate shared library
add_library(libsimulate SHARED simulate.cc uitools.cc glfw_dispatch.cc)
add_library(mujoco::libsimulate ALIAS libsimulate)
target_sources(
@@ -106,19 +106,16 @@ target_sources(
PUBLIC simulate.h
array_safety.h
glfw_dispatch.h
glfw_dispatch.cc
simulate.cc
uitools.h
uitools.cc
)
target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulate PUBLIC MJSIMULATE_STATIC)
target_compile_definitions(libsimulate PUBLIC LIBSIMULATE_DLL_EXPORTS mjGLFW_DYNAMIC_SYMBOLS)
target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulate PUBLIC glfw lodepng mujoco::mujoco)
target_link_libraries(libsimulate PUBLIC lodepng glfw mujoco::mujoco)
target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
set_target_properties(
mjsimulate PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
libsimulate PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
)
if(APPLE)
@@ -126,6 +123,31 @@ if(APPLE)
target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
endif()
# Simulate static library
add_library(libsimulatestatic STATIC simulate.cc uitools.cc glfw_dispatch.cc)
add_library(mujoco::libsimulatestatic ALIAS libsimulatestatic)
target_sources(
libsimulatestatic
PUBLIC simulate.h
array_safety.h
glfw_dispatch.h
uitools.h
)
target_include_directories(libsimulatestatic PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulatestatic PUBLIC LIBSIMULATE_STATIC)
target_compile_options(libsimulatestatic PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulatestatic PUBLIC lodepng glfw mujoco::mujoco)
target_link_options(libsimulatestatic PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
set_target_properties(
libsimulatestatic PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
)
if(APPLE)
target_sources(libsimulatestatic PRIVATE macos_save.mm)
target_link_libraries(libsimulatestatic PUBLIC "-framework Cocoa")
endif()
# Build simulate executable
if(APPLE)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
@@ -150,7 +172,7 @@ endif()
target_link_libraries(
simulate
libsimulate
libsimulatestatic
mujoco::mujoco
glfw
Threads::Threads
@@ -225,7 +247,7 @@ if(_INSTALL_SIMULATE)
target_add_rpath(
TARGETS
mjsimulate
libsimulate
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
@@ -245,7 +267,7 @@ if(_INSTALL_SIMULATE)
)
install(
TARGETS mjsimulate
TARGETS libsimulate
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
simulate/glfw_dispatch.cc
+1 -4
View File
@@ -80,6 +80,7 @@ const struct Glfw& Glfw(void* dlhandle) {
// go/keep-sorted start
mjGLFW_INITIALIZE_SYMBOL(glfwCreateWindow);
mjGLFW_INITIALIZE_SYMBOL(glfwDestroyWindow);
mjGLFW_INITIALIZE_SYMBOL(glfwGetCursorPos);
mjGLFW_INITIALIZE_SYMBOL(glfwGetFramebufferSize);
mjGLFW_INITIALIZE_SYMBOL(glfwGetKey);
@@ -115,10 +116,6 @@ const struct Glfw& Glfw(void* dlhandle) {
#undef mjGLFW_INITIALIZE_SYMBOL
#if defined(mjGLFW_DYNAMIC_SYMBOLS) && !defined(_MSC_VER)
dlclose(dlhandle);
#endif
return glfw;
}();
return glfw;
simulate/glfw_dispatch.h
+1
View File
@@ -25,6 +25,7 @@ struct Glfw {
#define mjGLFW_DECLARE_SYMBOL(func) decltype(&::func) func
// go/keep-sorted start
mjGLFW_DECLARE_SYMBOL(glfwCreateWindow);
mjGLFW_DECLARE_SYMBOL(glfwDestroyWindow);
mjGLFW_DECLARE_SYMBOL(glfwGetCursorPos);
mjGLFW_DECLARE_SYMBOL(glfwGetFramebufferSize);
mjGLFW_DECLARE_SYMBOL(glfwGetKey);
simulate/main.cc
+9 -3
View File
@@ -337,7 +337,10 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.dropfilename, mnew, dnew, true);
sim.load(sim.dropfilename, mnew, dnew);
if (d) mj_deleteData(d);
if (m) mj_deleteModel(m);
m = mnew;
d = dnew;
@@ -356,7 +359,10 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.filename, mnew, dnew, true);
sim.load(sim.filename, mnew, dnew);
if (d) mj_deleteData(d);
if (m) mj_deleteModel(m);
m = mnew;
d = dnew;
@@ -482,7 +488,7 @@ void PhysicsThread(mj::Simulate* sim, const char* filename) {
m = LoadModel(filename, *sim);
if (m) d = mj_makeData(m);
if (d) {
sim->load(filename, m, d, true);
sim->load(filename, m, d);
mj_forward(m, d);
// allocate ctrlnoise
simulate/simulate.cc
+45 -45
View File
@@ -934,7 +934,7 @@ void copykey(mj::Simulate* sim) {
mju::strcat_arr(clipboard, "'/>");
// copy to clipboard
Glfw().glfwSetClipboardString(sim->window, clipboard);
Glfw().glfwSetClipboardString(reinterpret_cast<GLFWwindow*>(sim->window), clipboard);
}
// millisecond timer, for MuJoCo built-in profiler
@@ -974,7 +974,7 @@ void copycamera(mj::Simulate* sim) {
camera[0].up[0], camera[0].up[1], camera[0].up[2]);
// copy spec into clipboard
Glfw().glfwSetClipboardString(sim->window, clipboard);
Glfw().glfwSetClipboardString(reinterpret_cast<GLFWwindow*>(sim->window), clipboard);
}
// update UI 0 when MuJoCo structures change (except for joint sliders)
@@ -1035,7 +1035,7 @@ void uiLayout(mjuiState* state) {
// rect 0: entire framebuffer
rect[0].left = 0;
rect[0].bottom = 0;
Glfw().glfwGetFramebufferSize(sim->window, &rect[0].width, &rect[0].height);
Glfw().glfwGetFramebufferSize(reinterpret_cast<GLFWwindow*>(sim->window), &rect[0].width, &rect[0].height);
// rect 1: UI 0
rect[1].left = 0;
@@ -1128,21 +1128,24 @@ void uiEvent(mjuiState* state) {
break;
case 9: // Full screen
if (Glfw().glfwGetWindowMonitor(sim->window)) {
if (Glfw().glfwGetWindowMonitor(reinterpret_cast<GLFWwindow*>(sim->window))) {
// restore window from saved data
Glfw().glfwSetWindowMonitor(sim->window, nullptr, sim->windowpos[0], sim->windowpos[1],
Glfw().glfwSetWindowMonitor(reinterpret_cast<GLFWwindow*>(sim->window),
nullptr, sim->windowpos[0], sim->windowpos[1],
sim->windowsize[0], sim->windowsize[1], 0);
}
// currently windowed: switch to full screen
else {
// save window data
Glfw().glfwGetWindowPos(sim->window, sim->windowpos, sim->windowpos+1);
Glfw().glfwGetWindowSize(sim->window, sim->windowsize, sim->windowsize+1);
Glfw().glfwGetWindowPos(reinterpret_cast<GLFWwindow*>(sim->window), sim->windowpos, sim->windowpos+1);
Glfw().glfwGetWindowSize(reinterpret_cast<GLFWwindow*>(sim->window), sim->windowsize, sim->windowsize+1);
// switch
Glfw().glfwSetWindowMonitor(sim->window, Glfw().glfwGetPrimaryMonitor(), 0, 0,
sim->vmode.width, sim->vmode.height, sim->vmode.refreshRate);
Glfw().glfwSetWindowMonitor(reinterpret_cast<GLFWwindow*>(sim->window), Glfw().glfwGetPrimaryMonitor(), 0, 0,
reinterpret_cast<const GLFWvidmode*>(sim->vmode)->width,
reinterpret_cast<const GLFWvidmode*>(sim->vmode)->height,
reinterpret_cast<const GLFWvidmode*>(sim->vmode)->refreshRate);
}
// reinstante vsync, just in case
@@ -1155,8 +1158,8 @@ void uiEvent(mjuiState* state) {
}
// modify UI
uiModify(sim->window, &sim->ui0, state, &sim->con);
uiModify(sim->window, &sim->ui1, state, &sim->con);
uiModify(reinterpret_cast<GLFWwindow*>(sim->window), &sim->ui0, state, &sim->con);
uiModify(reinterpret_cast<GLFWwindow*>(sim->window), &sim->ui1, state, &sim->con);
}
// simulation section
@@ -1263,7 +1266,7 @@ void uiEvent(mjuiState* state) {
sim->ui1.nsect = SECT_JOINT;
makejoint(sim, sim->ui1.sect[SECT_JOINT].state);
sim->ui1.nsect = NSECT1;
uiModify(sim->window, &sim->ui1, state, &sim->con);
uiModify(reinterpret_cast<GLFWwindow*>(sim->window), &sim->ui1, state, &sim->con);
}
// remake control section if actuator group changed
@@ -1271,7 +1274,7 @@ void uiEvent(mjuiState* state) {
sim->ui1.nsect = SECT_CONTROL;
makecontrol(sim, sim->ui1.sect[SECT_CONTROL].state);
sim->ui1.nsect = NSECT1;
uiModify(sim->window, &sim->ui1, state, &sim->con);
uiModify(reinterpret_cast<GLFWwindow*>(sim->window), &sim->ui1, state, &sim->con);
}
}
@@ -1574,11 +1577,9 @@ void Simulate::applyforceperturbations() {
//------------------------- Tell the render thread to load a file and wait -------------------------
void Simulate::load(const char* file,
mjModel* mnew,
mjData* dnew,
bool delete_old_m_d) {
mjData* dnew) {
this->mnew = mnew;
this->dnew = dnew;
this->delete_old_m_d = delete_old_m_d;
mju::strcpy_arr(this->filename, file);
{
@@ -1594,16 +1595,6 @@ void Simulate::load(const char* file,
//------------------------------------- load mjb or xml model --------------------------------------
void Simulate::loadmodel() {
if (this->delete_old_m_d) {
// delete old model if requested
if (this->d) {
mj_deleteData(d);
}
if (this->m) {
mj_deleteModel(m);
}
}
this->m = this->mnew;
this->d = this->dnew;
@@ -1626,10 +1617,10 @@ void Simulate::loadmodel() {
mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
// set window title to model name
if (this->window && this->m->names) {
if (reinterpret_cast<GLFWwindow*>(this->window) && this->m->names) {
char title[200] = "Simulate : ";
mju::strcat_arr(title, this->m->names);
Glfw().glfwSetWindowTitle(this->window, title);
Glfw().glfwSetWindowTitle(reinterpret_cast<GLFWwindow*>(this->window), title);
}
// set keyframe range and divisions
@@ -1641,8 +1632,8 @@ void Simulate::loadmodel() {
makesections(this);
// full ui update
uiModify(this->window, &this->ui0, &this->uistate, &this->con);
uiModify(this->window, &this->ui1, &this->uistate, &this->con);
uiModify(reinterpret_cast<GLFWwindow*>(this->window), &this->ui0, &this->uistate, &this->con);
uiModify(reinterpret_cast<GLFWwindow*>(this->window), &this->ui1, &this->uistate, &this->con);
updatesettings(this);
// clear request
@@ -1758,7 +1749,7 @@ void Simulate::render() {
}
// finalize
Glfw().glfwSwapBuffers(this->window);
Glfw().glfwSwapBuffers(reinterpret_cast<GLFWwindow*>(this->window));
return;
}
@@ -1865,13 +1856,13 @@ void Simulate::render() {
}
// finalize
Glfw().glfwSwapBuffers(this->window);
Glfw().glfwSwapBuffers(reinterpret_cast<GLFWwindow*>(this->window));
}
// clear callbacks registered in external structures
void Simulate::clearcallback() {
uiClearCallback(this->window);
uiClearCallback(reinterpret_cast<GLFWwindow*>(this->window));
}
void Simulate::renderloop() {
@@ -1883,25 +1874,27 @@ void Simulate::renderloop() {
Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
// get videomode and save
this->vmode = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
this->vmode = Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
// use videomode refreshrate if nonzero
if (this->vmode.refreshRate) this->refreshRate = this->vmode.refreshRate;
if (reinterpret_cast<const GLFWvidmode*>(this->vmode)->refreshRate)
this->refreshRate = reinterpret_cast<const GLFWvidmode*>(this->vmode)->refreshRate;
// create window
this->window = Glfw().glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
this->window = Glfw().glfwCreateWindow((2*reinterpret_cast<const GLFWvidmode*>(this->vmode)->width)/3,
(2*reinterpret_cast<const GLFWvidmode*>(this->vmode)->height)/3,
"Simulate", nullptr, nullptr);
if (!this->window) {
if (!reinterpret_cast<GLFWwindow*>(this->window)) {
Glfw().glfwTerminate();
mju_error("could not create window");
}
// save window position and size
Glfw().glfwGetWindowPos(this->window, this->windowpos, this->windowpos+1);
Glfw().glfwGetWindowSize(this->window, this->windowsize, this->windowsize+1);
Glfw().glfwGetWindowPos(reinterpret_cast<GLFWwindow*>(this->window), this->windowpos, this->windowpos+1);
Glfw().glfwGetWindowSize(reinterpret_cast<GLFWwindow*>(this->window), this->windowsize, this->windowsize+1);
// make context current, set v-sync
Glfw().glfwMakeContextCurrent(this->window);
Glfw().glfwMakeContextCurrent(reinterpret_cast<GLFWwindow*>(this->window));
Glfw().glfwSwapInterval(this->vsync);
// init abstract visualization
@@ -1915,7 +1908,7 @@ void Simulate::renderloop() {
mjv_makeScene(nullptr, &this->scn, maxgeom);
// select default font
int fontscale = uiFontScale(this->window);
int fontscale = uiFontScale(reinterpret_cast<GLFWwindow*>(this->window));
this->font = fontscale/50 - 1;
// make empty context
@@ -1939,7 +1932,7 @@ void Simulate::renderloop() {
// set GLFW callbacks
this->uistate.userdata = this;
uiSetCallback(this->window, &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
uiSetCallback(reinterpret_cast<GLFWwindow*>(this->window), &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
// populate uis with standard sections
this->ui0.userdata = this;
@@ -1948,11 +1941,11 @@ void Simulate::renderloop() {
mjui_add(&this->ui0, this->defOption);
mjui_add(&this->ui0, this->defSimulation);
mjui_add(&this->ui0, this->defWatch);
uiModify(this->window, &this->ui0, &this->uistate, &this->con);
uiModify(this->window, &this->ui1, &this->uistate, &this->con);
uiModify(reinterpret_cast<GLFWwindow*>(this->window), &this->ui0, &this->uistate, &this->con);
uiModify(reinterpret_cast<GLFWwindow*>(this->window), &this->ui1, &this->uistate, &this->con);
// run event loop
while (!Glfw().glfwWindowShouldClose(this->window) && !this->exitrequest.load()) {
while (!Glfw().glfwWindowShouldClose(reinterpret_cast<GLFWwindow*>(this->window)) && !this->exitrequest.load()) {
{
const std::lock_guard<std::mutex> lock(this->mtx);
@@ -1979,6 +1972,13 @@ void Simulate::renderloop() {
this->clearcallback();
mjv_freeScene(&this->scn);
mjr_freeContext(&this->con);
Glfw().glfwDestroyWindow(reinterpret_cast<GLFWwindow*>(this->window));
}
//------------------------------------ setup the glfw dispatch table -------------------------------
void setglfwdlhandle(void* dlhandle) {
Glfw(dlhandle);
}
} // namespace mujoco
simulate/simulate.h
+17 -12
View File
@@ -23,17 +23,17 @@
#include <GLFW/glfw3.h>
#include <mujoco/mujoco.h>
#ifdef MJSIMULATE_STATIC
#ifdef LIBSIMULATE_STATIC
// static library
#define MJSIMULATEAPI
#define MJSIMULATELOCAL
#define LIBSIMULATEAPI
#define LIBSIMULATELOCAL
#else
#ifdef MJSIMULATE_DLL_EXPORTS
#define MJSIMULATEAPI MUJOCO_HELPER_DLL_EXPORT
#ifdef LIBSIMULATE_DLL_EXPORTS
#define LIBSIMULATEAPI MUJOCO_HELPER_DLL_EXPORT
#else
#define MJSIMULATEAPI MUJOCO_HELPER_DLL_IMPORT
#define LIBSIMULATEAPI MUJOCO_HELPER_DLL_IMPORT
#endif
#define MJSIMULATELOCAL MUJOCO_HELPER_DLL_LOCAL
#define LIBSIMULATELOCAL MUJOCO_HELPER_DLL_LOCAL
#endif
namespace mujoco {
@@ -41,7 +41,7 @@ namespace mujoco {
//-------------------------------- global -----------------------------------------------
// Simulate states not contained in MuJoCo structures
class MJSIMULATEAPI Simulate {
class LIBSIMULATEAPI Simulate {
public:
// create object and initialize the simulate ui
Simulate() = default;
@@ -54,7 +54,7 @@ class MJSIMULATEAPI Simulate {
// Request that the Simulate UI thread render a new model
// optionally delete the old model and data when done
void load(const char* file, mjModel* m, mjData* d, bool delete_old_m_d);
void load(const char* file, mjModel* m, mjData* d);
// functions below are used by the renderthread
// load mjb or xml model that has been requested by load()
@@ -79,7 +79,6 @@ class MJSIMULATEAPI Simulate {
// model and data to be visualized
mjModel* mnew = nullptr;
mjData* dnew = nullptr;
bool delete_old_m_d = false;
mjModel* m = nullptr;
mjData* d = nullptr;
@@ -163,12 +162,14 @@ class MJSIMULATEAPI Simulate {
mjvFigure figsensor = {};
// OpenGL rendering and UI
GLFWvidmode vmode = {};
// Use void* for GLFW objects to avoid requiring users of the shared library
// from needing GLFW headers (in particular Python should not need them)
const void* vmode = {}; // const GLFWvidmode*
int refreshRate = 60;
int windowpos[2] = {0};
int windowsize[2] = {0};
mjrContext con = {};
GLFWwindow* window = nullptr;
void* window = nullptr; // GLFWwindow*
mjuiState uistate = {};
mjUI ui0 = {};
mjUI ui1 = {};
@@ -228,6 +229,10 @@ class MJSIMULATEAPI Simulate {
char info_content[Simulate::kMaxFilenameLength] = {0};
};
// setup the glfw dispatch table
// if set, must be called prior to other Simulate functions
LIBSIMULATEAPI void setglfwdlhandle(void* dlhandle);
} // namespace mujoco
#endif