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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/simulate.cc
+45 -45
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@@ -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