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Add ability to delete bodies.

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PiperOrigin-RevId: 871200603
Change-Id: I08bc786ca8106ef13cfcbe89e8cc42e9ad2c99d5
This commit is contained in:
Haroon Qureshi
2026-02-17 02:14:06 -08:00
committed by Copybara-Service
parent 8f2799a34b
commit 989b6e63c7
2 changed files with 77 additions and 37 deletions
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src/experimental/studio/app.cc
+69 -36
View File
@@ -84,6 +84,7 @@ 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_DELETE = platform::ICON_FA_TRASH_CAN;
// UI labels for mjtLabel.
static constexpr const char* kLabelNames[] = {
@@ -132,6 +133,13 @@ void App::ClearModel() {
step_error_ = "";
}
void App::Recompile() {
mj_recompile(model_holder_->spec(), model_holder_->vfs(),
model_holder_->model(), model_holder_->data());
const int state_size = mj_stateSize(model(), mjSTATE_INTEGRATION);
history_.Init(state_size);
}
void App::RequestModelLoad(std::string model_file) {
pending_load_ = std::move(model_file);
}
@@ -365,6 +373,11 @@ void App::ProcessPendingLoads() {
}
}
if (spec_op_) {
spec_op_();
spec_op_ = nullptr;
}
// Check plugins to see if we need to load a new model.
platform::ForEachModelPlugin([&](platform::ModelPlugin* plugin) {
if (plugin->get_model_to_load) {
@@ -382,6 +395,19 @@ void App::ProcessPendingLoads() {
});
}
void App::SpecDeleteSelectedElement() {
spec_op_ = [this]() {
mjs_delete(spec(), tmp_.element);
if (tmp_.element->elemtype == mjOBJ_BODY &&
perturb_.select == tmp_.element_id) {
mjv_defaultPerturb(&perturb_);
}
tmp_.element = nullptr;
tmp_.element_id = -1;
Recompile();
};
}
void App::HandleWindowEvents() {
const std::string drop_file = window_->GetDropFile();
if (!drop_file.empty()) {
@@ -474,15 +500,28 @@ void App::HandleMouseEvents() {
perturb_.flexselect = picked.flex;
perturb_.skinselect = picked.skin;
// Select the corresponding element in the spec.
tmp_.element = nullptr;
tmp_.element_id = -1;
if (has_spec()) {
mjsElement* element = mjs_firstElement(spec(), mjOBJ_BODY);
while (element) {
if (mjs_getId(element) == picked.body) {
tmp_.element = element;
tmp_.element_id = picked.body;
break;
}
element = mjs_nextElement(spec(), element);
}
}
// Compute the local position of the selected object in the world.
mjtNum tmp[3];
mju_sub3(tmp, picked.point, data()->xpos + 3 * picked.body);
mju_mulMatTVec(perturb_.localpos, data()->xmat + 9 * picked.body, tmp, 3,
3);
} else {
perturb_.select = 0;
perturb_.flexselect = -1;
perturb_.skinselect = -1;
mjv_defaultPerturb(&perturb_);
}
}
@@ -571,6 +610,8 @@ void App::HandleKeyboardEvents() {
}
} else if (ImGui_IsChordJustPressed(ImGuiKey_Backspace)) {
ResetPhysics();
} else if (ImGui_IsChordJustPressed(ImGuiKey_Delete)) {
SpecDeleteSelectedElement();
} else if (ImGui_IsChordJustPressed(ImGuiKey_PageUp)) {
SelectParentPerturb(model(), perturb_);
} else if (ImGui_IsChordJustPressed(ImGuiKey_F1)) {
@@ -1082,7 +1123,8 @@ void App::SpecExplorerGui() {
label = "(" + prefix + " " + std::to_string(id) + ")";
}
if (ImGui::Selectable(label.c_str(), false)) {
const bool selected = (tmp_.element == element);
if (ImGui::Selectable(label.c_str(), selected)) {
tmp_.element = element;
tmp_.element_id = id;
}
@@ -1092,42 +1134,24 @@ void App::SpecExplorerGui() {
};
if (ImGui::TreeNodeEx("Bodies", flags)) {
// We don't use `display_group` here because we do additional selection
// logic tied to the `perturb_` field.
mjsElement* element = mjs_firstElement(spec(), mjOBJ_BODY);
while (element) {
const int id = mjs_getId(element);
const mjString* name = mjs_getName(element);
std::string label = *name;
if (label.empty()) {
label = "(Body " + std::to_string(id) + ")";
}
if (ImGui::Selectable(label.c_str(), (id == perturb_.select),
ImGuiSelectableFlags_AllowDoubleClick)) {
tmp_.element = element;
tmp_.element_id = id;
}
if (ImGui::IsItemHovered() &&
ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
perturb_.select = id;
}
element = mjs_nextElement(spec(), element);
}
display_group(mjOBJ_BODY, "Body");
ImGui::TreePop();
}
if (ImGui::TreeNodeEx("Joints", flags)) {
display_group(mjOBJ_JOINT, "Joint");
ImGui::TreePop();
}
if (ImGui::TreeNodeEx("Sites", flags)) {
display_group(mjOBJ_SITE, "Site");
ImGui::TreePop();
}
// If we selected a body, then select the same body for the perturb object.
if (tmp_.element && tmp_.element->elemtype == mjOBJ_BODY &&
perturb_.select != tmp_.element_id) {
mjv_defaultPerturb(&perturb_);
perturb_.select = tmp_.element_id;
}
}
void App::PropertiesGui() {
@@ -1136,22 +1160,31 @@ void App::PropertiesGui() {
return;
}
if (ImGui::BeginTable("##PropertiesHeader", 2)) {
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 20);
ImGui::TableNextColumn();
ImGui::Text("%s", mju_type2Str(tmp_.element->elemtype));
ImGui::TableNextColumn();
if (tmp_.element->elemtype == mjOBJ_BODY) {
if (ImGui::SmallButton(ICON_DELETE)) {
SpecDeleteSelectedElement();
}
}
ImGui::EndTable();
}
ImGui::Separator();
switch (tmp_.element->elemtype) {
case mjOBJ_BODY:
ImGui::Text("Body");
ImGui::Separator();
platform::BodyPropertiesGui(model(), data(), tmp_.element,
tmp_.element_id);
break;
case mjOBJ_JOINT:
ImGui::Text("Joint");
ImGui::Separator();
platform::JointPropertiesGui(model(), data(), tmp_.element,
tmp_.element_id);
break;
case mjOBJ_SITE:
ImGui::Text("Site");
ImGui::Separator();
platform::SitePropertiesGui(model(), data(), tmp_.element,
tmp_.element_id);
break;
src/experimental/studio/app.h
+8 -1
View File
@@ -16,6 +16,7 @@
#define MUJOCO_SRC_EXPERIMENTAL_STUDIO_APP_H_
#include <cstddef>
#include <functional>
#include <memory>
#include <optional>
#include <span>
@@ -170,6 +171,9 @@ class App {
// Clears the currently loaded model and all associated state.
void ClearModel();
// Recompiles the spec, updating the model and data.
void Recompile();
// Updates the currently loaded model to the given model. If model is null,
// then compile the spec to a model.
void OnModelLoaded(std::string filename, ModelKind model_kind);
@@ -207,6 +211,8 @@ class App {
void SpecExplorerGui();
void PropertiesGui();
void SpecDeleteSelectedElement();
float GetExpectedLabelWidth();
std::vector<const char*> GetCameraNames();
@@ -217,7 +223,6 @@ class App {
bool has_model() const { return model_holder_ && model_holder_->model(); }
bool has_data() const { return model_holder_ && model_holder_->data(); }
std::string ini_path_;
std::string model_name_; // Used if model_kind_ is kModelFromBuffer.
std::string model_path_;
@@ -229,6 +234,8 @@ class App {
std::unique_ptr<platform::Window> window_;
std::unique_ptr<platform::Renderer> renderer_;
std::unique_ptr<platform::ModelHolder> model_holder_;
std::function<void()> spec_op_;
platform::StepControl step_control_;
platform::SimProfiler profiler_;
platform::SimHistory history_;