Group platform components into descriptive subfolders

PiperOrigin-RevId: 895832492
Change-Id: I6cc56b0e4b002b2998579cde95f4b88dfbd88184

src/experimental/platform/CMakeLists.txt

@@ -20,67 +20,67 @@ add_library(${MUJOCO_PLATFORM_TARGET_NAME} STATIC)
 
 target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
     PUBLIC
-        egl_utils.cc
-        egl_utils.h
-        enum_utils.h
-        file_dialog.h
-        graphics_mode.cc
-        graphics_mode.h
-        gui.cc
-        gui.h
-        gui_spec.cc
-        gui_spec.h
         helpers.cc
         helpers.h
-        imgui_widgets.cc
-        imgui_widgets.h
-        interaction.cc
-        interaction.h
-        model_holder.cc
-        model_holder.h
-        picture_gui.h
-        picture_gui.cc
-        plugin.cc
-        plugin.h
-        renderer.cc
-        renderer.h
-        sim_history.cc
-        sim_history.h
-        sim_profiler.cc
-        sim_profiler.h
-        spec_editor.cc
-        spec_editor.h
-        step_control.cc
-        step_control.h
-        window.cc
-        window.h
+        hal/egl_utils.cc
+        hal/egl_utils.h
+        hal/graphics_mode.cc
+        hal/graphics_mode.h
+        hal/renderer.cc
+        hal/renderer.h
+        hal/window.cc
+        hal/window.h
+        sim/model_holder.cc
+        sim/model_holder.h
+        sim/sim_history.cc
+        sim/sim_history.h
+        sim/sim_profiler.cc
+        sim/sim_profiler.h
+        sim/step_control.cc
+        sim/step_control.h
+        ux/enum_utils.h
+        ux/file_dialog.h
+        ux/gui.cc
+        ux/gui.h
+        ux/gui_spec.cc
+        ux/gui_spec.h
+        ux/imgui_widgets.cc
+        ux/imgui_widgets.h
+        ux/interaction.cc
+        ux/interaction.h
+        ux/picture_gui.h
+        ux/picture_gui.cc
+        ux/plugin.cc
+        ux/plugin.h
+        ux/spec_editor.cc
+        ux/spec_editor.h
 )
 
 if(NOT WIN32)
   target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
       PUBLIC
-          object_launcher_plugin.cc
+          ux/object_launcher_plugin.cc
   )
 endif()
 
 if(APPLE)
-    set_source_files_properties(window_osx.mm PROPERTIES
+    set_source_files_properties(hal/window_osx.mm PROPERTIES
         COMPILE_FLAGS "-x objective-c++")
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        window_osx.mm
-        file_dialog_cocoa.mm
+        hal/window_osx.mm
+        ux/file_dialog_cocoa.mm
     )
 elseif(UNIX AND NOT APPLE)
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        file_dialog_zenity.cc
+        ux/file_dialog_zenity.cc
     )
 elseif(WIN32)
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        file_dialog_win.cc
+        ux/file_dialog_win.cc
     )
 else()
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        file_dialog.cc
+        ux/file_dialog.cc
     )
 endif()
 

src/experimental/platform/hal/egl_utils.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/egl_utils.h"
+#include "experimental/platform/hal/egl_utils.h"
 
 #include <memory>
 

src/experimental/platform/hal/egl_utils.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_EGL_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_EGL_UTILS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
 
 #include <memory>
 
@@ -25,4 +25,4 @@ std::shared_ptr<void> CreateEglContext();
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_EGL_UTILS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_

src/experimental/platform/hal/graphics_mode.cc

@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 
 #include <string_view>
+
 #include <mujoco/mujoco.h>
 
 namespace mujoco::platform {

src/experimental/platform/hal/graphics_mode.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GRAPHICS_MODE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GRAPHICS_MODE_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
 
 #include <string_view>
 
@@ -56,4 +56,4 @@ GraphicsMode GraphicsModeFromString(std::string_view str,
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GRAPHICS_MODE_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_

src/experimental/platform/hal/renderer.cc

@@ -12,23 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/renderer.h"
+#include "experimental/platform/hal/renderer.h"
 
 #include <chrono>
 #include <cstddef>
 #include <span>
 #include <utility>
 
-#include <mujoco/mujoco.h>
-
-#include <imgui.h>
 #include <backends/imgui_impl_opengl3.h>
+#include <imgui.h>
+#include <mujoco/mujoco.h>
 #if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
-#include "experimental/platform/egl_utils.h"
+#include "experimental/platform/hal/egl_utils.h"
 #endif
 #include "experimental/filament/render_context_filament.h"
-#include "experimental/platform/graphics_mode.h"
-#include "experimental/platform/plugin.h"
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::platform {
 
@@ -147,8 +146,7 @@ void Renderer::Render(const mjModel* model, mjData* data,
     vis_option = &default_opt;
   }
 
-  mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
-                  &scene_);
+  mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL, &scene_);
 
   const bool render_to_texture = !pixels.empty();
   if (render_to_texture) {

src/experimental/platform/hal/renderer.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
 
 #include <chrono>
 #include <cstddef>
@@ -23,7 +23,7 @@
 #include <span>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 
 namespace mujoco::platform {
 
@@ -113,4 +113,4 @@ class Renderer {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_

src/experimental/platform/hal/window.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/window.h"
 
 #include <algorithm>
 #include <cstddef>
@@ -32,10 +32,9 @@
 #include <backends/imgui_impl_sdl2.h>
 #include <imgui.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 #include "user/user_resource.h"
 
-
 // Because X11/Xlib.h defines Status.
 #ifdef Status
 #undef Status
@@ -126,9 +125,9 @@ Window::Window(std::string_view title, int width, int height, Config config)
   }
 
   const float content_scale = ImGui_ImplSDL2_GetContentScaleForDisplay(0);
-  sdl_window_ = SDL_CreateWindow(title.data(), SDL_WINDOWPOS_UNDEFINED,
-                                 SDL_WINDOWPOS_UNDEFINED, width,
-                                 height, window_flags);
+  sdl_window_ =
+      SDL_CreateWindow(title.data(), SDL_WINDOWPOS_UNDEFINED,
+                       SDL_WINDOWPOS_UNDEFINED, width, height, window_flags);
   if (!sdl_window_) {
     mju_error("Error creating window: %s", SDL_GetError());
   }
@@ -244,8 +243,7 @@ void Window::Present(std::span<const std::byte> pixels) {
     SDL_Surface* surface = SDL_GetWindowSurface(sdl_window_);
     const unsigned char* src =
         reinterpret_cast<const unsigned char*>(pixels.data());
-    unsigned char* dst =
-        static_cast<unsigned char*>(surface->pixels);
+    unsigned char* dst = static_cast<unsigned char*>(surface->pixels);
 
     for (int i = 0; i < height_; ++i) {
       for (int j = 0; j < width_; ++j) {
@@ -260,14 +258,12 @@ void Window::Present(std::span<const std::byte> pixels) {
     }
 
     SDL_RenderPresent(sdl_renderer_);
-  } else if (config_.gfx_mode != GraphicsMode::FilamentVulkan
-     && config_.gfx_mode != GraphicsMode::FilamentOpenGl) {
+  } else if (config_.gfx_mode != GraphicsMode::FilamentVulkan &&
+             config_.gfx_mode != GraphicsMode::FilamentOpenGl) {
     SDL_GL_SwapWindow(sdl_window_);
   }
 }
 
-GraphicsMode Window::GetGraphicsMode() const {
-  return config_.gfx_mode;
-}
+GraphicsMode Window::GetGraphicsMode() const { return config_.gfx_mode; }
 
 }  // namespace mujoco::platform

src/experimental/platform/hal/window.h

@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
 
 #include <cstddef>
 #include <span>
 #include <string>
 #include <string_view>
 
-#include <SDL_video.h>
 #include <SDL_render.h>
-#include "experimental/platform/graphics_mode.h"
+#include <SDL_video.h>
+#include "experimental/platform/hal/graphics_mode.h"
 
 namespace mujoco::platform {
 
@@ -104,4 +104,4 @@ class Window {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_

src/experimental/platform/sim/model_holder.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/model_holder.h"
+#include "experimental/platform/sim/model_holder.h"
 
 #include <cstddef>
 #include <cstring>

src/experimental/platform/sim/model_holder.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
 
 #include <memory>
 #include <cstddef>
@@ -81,4 +81,4 @@ class ModelHolder {
 };
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_

src/experimental/platform/sim/sim_history.cc

@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/sim_history.h"
+#include "experimental/platform/sim/sim_history.h"
 
 #include <algorithm>
 #include <climits>
 #include <span>
+
 #include <mujoco/mujoco.h>
 
 namespace mujoco::platform {

src/experimental/platform/sim/sim_history.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_HISTORY_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_HISTORY_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
 
 #include <span>
 #include <vector>
@@ -91,4 +91,4 @@ class SimHistory {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_HISTORY_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_

src/experimental/platform/sim/sim_profiler.cc

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/sim_profiler.h"
+#include "experimental/platform/sim/sim_profiler.h"
 
-#include <mujoco/mujoco.h>
 #include <imgui.h>
 #include <implot.h>
+#include <mujoco/mujoco.h>
 
 namespace mujoco::platform {
 

src/experimental/platform/sim/sim_profiler.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
 
 #include <vector>
 
@@ -52,4 +52,4 @@ class SimProfiler {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_

src/experimental/platform/sim/step_control.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/step_control.h"
+#include "experimental/platform/sim/step_control.h"
 
 #include <algorithm>
 #include <chrono>

src/experimental/platform/sim/step_control.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_STEP_CONTROL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_STEP_CONTROL_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
 
 #include <chrono>
 #include <string>
@@ -123,4 +123,4 @@ class StepControl {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_STEP_CONTROL_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_

src/experimental/platform/ux/enum_utils.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
 
 #include <array>
 #include <bit>
@@ -167,4 +167,4 @@ constexpr std::string_view enum_to_string(E value) {
 
 }  // namespace mujoco::platform::enum_utils
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_

src/experimental/platform/ux/file_dialog.cc

@@ -12,10 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/file_dialog.h"
+#include "experimental/platform/ux/file_dialog.h"
 
 #include <cstring>
-
 #include <span>
 #include <string>
 #include <string_view>

src/experimental/platform/ux/file_dialog.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_FILE_DIALOG_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_FILE_DIALOG_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
 
 #include <span>
 #include <string>
@@ -56,4 +56,4 @@ DialogResult SelectPathDialog(std::string_view path);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_FILE_DIALOG_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_

src/experimental/platform/ux/file_dialog_cocoa.mm

@@ -16,7 +16,7 @@
 #include <string>
 
 #include <Cocoa/Cocoa.h>
-#include "experimental/platform/file_dialog.h"
+#include "experimental/platform/ux/file_dialog.h"
 
 namespace mujoco::platform {
 

src/experimental/platform/ux/file_dialog_win.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/file_dialog.h"
+#include "experimental/platform/ux/file_dialog.h"
 
 #ifndef UNICODE
 #define UNICODE

src/experimental/platform/ux/file_dialog_zenity.cc

@@ -12,10 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/file_dialog.h"
-
 #include <assert.h>
-#include <cstring>
 #include <fcntl.h>
 #include <stdarg.h>
 #include <stdio.h>
@@ -23,11 +20,14 @@
 #include <sys/wait.h>
 #include <unistd.h>
 
+#include <cstring>
 #include <span>
-#include <string_view>
 #include <string>
+#include <string_view>
 #include <vector>
 
+#include "experimental/platform/ux/file_dialog.h"
+
 namespace mujoco::platform {
 
 static DialogResult RunZenity(std::vector<std::string>& args) {

src/experimental/platform/ux/gui.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/gui.h"
+#include "experimental/platform/ux/gui.h"
 
 #include <algorithm>
 #include <cmath>
@@ -26,8 +26,8 @@
 #include <implot.h>
 #include <mujoco/mujoco.h>
 #include "experimental/platform/helpers.h"
-#include "experimental/platform/interaction.h"
-#include "experimental/platform/imgui_widgets.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/interaction.h"
 
 namespace mujoco::platform {
 

src/experimental/platform/ux/gui.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
 
 // A collection of functions for building ImGui panels for common MuJoCo
 // visualization and manipulation UX. These functions are primarily used by
@@ -131,4 +131,4 @@ void StatsGui(const mjModel* model, const mjData* data, bool paused, float fps);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_

src/experimental/platform/ux/gui_spec.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/gui_spec.h"
+#include "experimental/platform/ux/gui_spec.h"
 
 #include <string>
 #include <string_view>
@@ -20,8 +20,8 @@
 #include <imgui.h>
 #include <mujoco/mjxmacro.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/spec_editor.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 // Define the mujoco X macros to add fields to the ImGui_DataTable.
 // We limit the fields to the ones with a matching element by comparing the

src/experimental/platform/ux/gui_spec.h

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_SPEC_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_SPEC_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/spec_editor.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 namespace mujoco::platform {
 
@@ -44,4 +44,4 @@ void ElementModelGui(const mjModel* model, mjsElement* element);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_SPEC_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_

src/experimental/platform/ux/imgui_widgets.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/imgui_widgets.h"
+#include "experimental/platform/ux/imgui_widgets.h"
 
 #include <cstdint>
 #include <cstring>
@@ -62,8 +62,7 @@ KeyValues ReadIniSection(const std::string& contents,
 }
 
 ImGui_DataPtrTable::ImGui_DataPtrTable(float w1, float w2) {
-  ImGui::BeginTable("##PropertiesTable", 2,
-                    ImGuiTableFlags_RowBg);
+  ImGui::BeginTable("##PropertiesTable", 2, ImGuiTableFlags_RowBg);
   const float width = ImGui::GetContentRegionAvail().x;
   ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w1);
   ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w2);
@@ -94,16 +93,16 @@ void ImGui_DataPtrTable::DataPtr(const char* label, const char* ptr, int index,
   ImGui::Text("%s", "(char not implemented, please report bug)");
 }
 
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtByte* ptr, int index,
-                              int n) {
+void ImGui_DataPtrTable::DataPtr(const char* label, const mjtByte* ptr,
+                                 int index, int n) {
   for (int i = 0; i < n; ++i) {
     MakeLabel(label, i, n);
     ImGui::Text("%s", ptr[index + i] ? "true" : "false");
   }
 }
 
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtSize* ptr, int index,
-                              int n) {
+void ImGui_DataPtrTable::DataPtr(const char* label, const mjtSize* ptr,
+                                 int index, int n) {
   Numeric(label, ptr, index, n);
 }
 
@@ -117,13 +116,14 @@ void ImGui_DataPtrTable::DataPtr(const char* label, const float* ptr, int index,
   Numeric(label, ptr, index, n);
 }
 
-void ImGui_DataPtrTable::DataPtr(const char* label, const double* ptr, int index,
-                              int n) {
+void ImGui_DataPtrTable::DataPtr(const char* label, const double* ptr,
+                                 int index, int n) {
   Numeric(label, ptr, index, n);
 }
 
 template <typename T>
-void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int n) {
+void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index,
+                                 int n) {
   const T* addr = ptr + index * n;
 
   using U = std::conditional_t<std::is_floating_point_v<T>, float, int>;
@@ -137,8 +137,7 @@ void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int
     }
   }
 
-  constexpr const char* fmt1 =
-      std::is_floating_point_v<U> ? "%f" : "%d";
+  constexpr const char* fmt1 = std::is_floating_point_v<U> ? "%f" : "%d";
   constexpr const char* fmt2 =
       std::is_floating_point_v<U> ? "%f  %f" : "%d  %d";
   constexpr const char* fmt3 =
@@ -146,9 +145,7 @@ void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int
   constexpr const char* fmt4 =
       std::is_floating_point_v<U> ? "%f  %f  %f  %f" : "%d  %d  %d  %d";
 
-  auto text1 = [&](int offset) {
-    ImGui::Text(fmt1, (U)(addr[offset]));
-  };
+  auto text1 = [&](int offset) { ImGui::Text(fmt1, (U)(addr[offset])); };
   auto text2 = [&](int offset) {
     ImGui::Text(fmt2, (U)(addr[offset + 0]), (U)(addr[offset + 1]));
   };
@@ -299,7 +296,8 @@ void ImGui_SpecElementTable::operator()(const char* name, const char* alt_name,
       (*this)(name, quat, ref_quat, tooltip);
       break;
     case mjORIENTATION_AXISANGLE:
-      (*this)(aname("axisangle").c_str(), alt.axisangle, ref_alt.axisangle, tooltip);
+      (*this)(aname("axisangle").c_str(), alt.axisangle, ref_alt.axisangle,
+              tooltip);
       break;
     case mjORIENTATION_XYAXES:
       (*this)(aname("xyaxes").c_str(), alt.xyaxes, ref_alt.xyaxes, tooltip);
@@ -328,7 +326,6 @@ bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
   return res;
 }
 
-
 bool ImGui_BeginHSplit(const char* id, float* height, bool* open) {
   const ImVec2 region = ImGui::GetContentRegionAvail();
   if (*height < 0) {

src/experimental/platform/ux/imgui_widgets.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
 
 #include <cstddef>
 #include <cstdint>
@@ -28,7 +28,7 @@
 #include <imgui_internal.h>
 #include <misc/cpp/imgui_stdlib.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/enum_utils.h"
+#include "experimental/platform/ux/enum_utils.h"
 
 namespace mujoco::platform {
 
@@ -140,9 +140,7 @@ struct ScopedStyle {
     return *this;
   }
 
-  ImVec4 CurrentColor(ImGuiCol col) {
-    return ImGui::GetStyle().Colors[col];
-  }
+  ImVec4 CurrentColor(ImGuiCol col) { return ImGui::GetStyle().Colors[col]; }
 
   void Reset() {
     ImGui::PopStyleVar(num_vars);
@@ -200,8 +198,7 @@ class ImGui_DataPtrTable {
 class ImGui_SpecElementTable : public ImGui_DataPtrTable {
  public:
   explicit ImGui_SpecElementTable(bool read_only = true)
-      : read_only_(read_only) {
-  }
+      : read_only_(read_only) {}
 
   // Scalar values used by mjSpec elements.
   void operator()(const char* label, mjtByte& val, const mjtByte& ref,
@@ -274,7 +271,8 @@ class ImGui_SpecElementTable : public ImGui_DataPtrTable {
 
   // Special handling for treating enum values as integers.
   template <typename T, typename U = std::enable_if_t<std::is_enum_v<T>, T>>
-  void operator()(const char* label, T& val, const T& ref, const char* tooltip) {
+  void operator()(const char* label, T& val, const T& ref,
+                  const char* tooltip) {
     Label(label, tooltip);
     Input(val, ref);
   }
@@ -570,4 +568,4 @@ void MaybeSaveToClipboard(const std::string& contents);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_

src/experimental/platform/ux/interaction.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/interaction.h"
+#include "experimental/platform/ux/interaction.h"
 
 #include <algorithm>
 #include <cmath>
@@ -245,7 +245,8 @@ void MoveCamera(const mjModel* m, const mjData* d, mjvCamera* cam,
 
       // y movement: either dolly (forward/back) or pedestal (up/down)
       mju_addToScl3(cam->lookat,
-                    (motion == CameraMotion::TRUCK_PEDESTAL) ? up : forward, dy);
+                    (motion == CameraMotion::TRUCK_PEDESTAL) ? up : forward,
+                    dy);
 
       // x movement: camera truck (left/right)
       mju_addToScl3(cam->lookat, right, dx);
@@ -341,7 +342,8 @@ static PickResult PickGeom(const mjModel* m, const mjData* d,
                            const mjtNum ray_pos[3], const mjtNum ray_dir[3],
                            const mjvOption* vis_options) {
   PickResult result;
-  result.dist = mj_ray(m, d, ray_pos, ray_dir, vis_options->geomgroup,
+  result.dist =
+      mj_ray(m, d, ray_pos, ray_dir, vis_options->geomgroup,
              vis_options->flags[mjVIS_STATIC], -1, &result.geom, nullptr);
   mju_addScl3(result.point, ray_pos, ray_dir, result.dist);
   result.body = m->geom_bodyid[result.geom];

src/experimental/platform/ux/interaction.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
 
 #include <mujoco/mujoco.h>
 
@@ -77,9 +77,8 @@ void InitPerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
                  mjvPerturb* pert, mjtPertBit active);
 
 void MovePerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
-                 mjvPerturb* pert, mjtMouse action, mjtNum reldx,
-                 mjtNum reldy);
+                 mjvPerturb* pert, mjtMouse action, mjtNum reldx, mjtNum reldy);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_

src/experimental/platform/ux/object_launcher_plugin.cc

@@ -19,8 +19,8 @@
 
 #include <imgui.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/plugin.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::studio {
 
@@ -53,7 +53,9 @@ class ObjectLauncher {
     }
   }
 
-  void HandleKeyboardEvent() { if (enabled_) active_ = true; }
+  void HandleKeyboardEvent() {
+    if (enabled_) active_ = true;
+  }
 
   bool UpdateSpecPreCompile(mjSpec* spec, const mjModel* model,
                             const mjData* data, const mjvCamera* camera) {
@@ -88,7 +90,8 @@ class ObjectLauncher {
     if (!geom) return false;
 
     ObjectInfo& object = objects_.emplace_back();
-    object.name = "projectile" + std::to_string(counter_++);;
+    object.name = "projectile" + std::to_string(counter_++);
+    ;
     object.expiration = data->time + lifetime_;
 
     mjtNum pos[3];

src/experimental/platform/ux/picture_gui.cc

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/picture_gui.h"
+#include "experimental/platform/ux/picture_gui.h"
 
 #include <cstddef>
 #include <vector>
 
 #include <imgui.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
+#include "experimental/platform/ux/imgui_widgets.h"
 
 namespace mujoco::platform {
 

src/experimental/platform/ux/picture_gui.h

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PICTURE_GUI_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PICTURE_GUI_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
 
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
 
 namespace mujoco::platform {
 
@@ -37,4 +37,4 @@ void PipGui(const mjModel* model, mjData* data, platform::Window* window,
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PICTURE_GUI_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_

src/experimental/platform/ux/plugin.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/plugin.h"
+#include "experimental/platform/ux/plugin.h"
 
 #include <functional>
 #include <string_view>

src/experimental/platform/ux/plugin.h

@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
 
 #include <functional>
+
 #include <mujoco/mujoco.h>
 
 namespace mujoco::platform {
@@ -30,7 +31,6 @@ void RegisterPlugin(T plugin);
 template <typename T>
 void ForEachPlugin(const std::function<void(T*)>& fn);
 
-
 // Plugin for processing custom UI windows. The plugin will be listed in the
 // "Plugins" main menu and, when selected, an ImGui window will be opened with
 // the name of the plugin as the title. The `update` function can then be used
@@ -123,4 +123,4 @@ struct SpecEditorPlugin final {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_

src/experimental/platform/ux/spec_editor.cc

@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/spec_editor.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 #include <memory>
 #include <utility>
+
 #include <mujoco/mujoco.h>
-#include "experimental/platform/model_holder.h"
+#include "experimental/platform/sim/model_holder.h"
 
 namespace mujoco::platform {
 
@@ -62,9 +63,7 @@ std::unique_ptr<ModelHolder> SpecEditor::Compile() {
   return holder;
 }
 
-mjSpec* SpecEditor::GetActiveSpec() const {
-  return active_spec_.get();
-}
+mjSpec* SpecEditor::GetActiveSpec() const { return active_spec_.get(); }
 
 mjsElement* SpecEditor::AddElement(mjtObj type) {
   // TODO: check that type is only for spec elements.
@@ -171,13 +170,9 @@ void SpecEditor::UpdateReferenceElement() {
   }
 }
 
-mjsElement* SpecEditor::GetActiveElement() const {
-  return active_element_;
-}
+mjsElement* SpecEditor::GetActiveElement() const { return active_element_; }
 
-mjsElement* SpecEditor::GetRefElement() const {
-  return ref_element_;
-}
+mjsElement* SpecEditor::GetRefElement() const { return ref_element_; }
 
 void SpecEditor::CommitChanges(mjsElement* element) {
   if (element == nullptr) {
@@ -209,14 +204,13 @@ void SpecEditor::Undo() {
       active_map_.Insert(entry.key, entry.type_index);
     }
 
-    active_element_ = active_map_.Resolve(active_spec_.get(), active_element_key_);
+    active_element_ =
+        active_map_.Resolve(active_spec_.get(), active_element_key_);
     UpdateReferenceElement();
   }
 }
 
-bool SpecEditor::CanUndo() const {
-  return cursor_ > 0;
-}
+bool SpecEditor::CanUndo() const { return cursor_ > 0; }
 
 void SpecEditor::Redo() {
   if (CanRedo()) {
@@ -230,14 +224,13 @@ void SpecEditor::Redo() {
       active_map_.Remove(entry.key);
     }
 
-    active_element_ = active_map_.Resolve(active_spec_.get(), active_element_key_);
+    active_element_ =
+        active_map_.Resolve(active_spec_.get(), active_element_key_);
     UpdateReferenceElement();
   }
 }
 
-bool SpecEditor::CanRedo() const {
-  return cursor_ < history_.size() - 1;
-}
+bool SpecEditor::CanRedo() const { return cursor_ < history_.size() - 1; }
 
 void SpecEditor::AppendHistory(HistoryEntry entry) {
   ++cursor_;
@@ -312,7 +305,8 @@ SpecEditor::SpecPtr SpecEditor::Copy(const mjSpec* spec) {
   return SpecPtr(mj_copySpec(spec), mj_deleteSpec);
 }
 
-mjsElement* SpecEditor::AddElementToSpec(mjSpec* spec, mjtObj type, mjsBody* body) {
+mjsElement* SpecEditor::AddElementToSpec(mjSpec* spec, mjtObj type,
+                                         mjsBody* body) {
   if (spec == nullptr || type == mjOBJ_UNKNOWN) {
     return nullptr;
   }

src/experimental/platform/ux/spec_editor.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SPEC_EDITOR_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SPEC_EDITOR_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
 
 #include <array>
 #include <cstddef>
@@ -22,7 +22,7 @@
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/model_holder.h"
+#include "experimental/platform/sim/model_holder.h"
 
 namespace mujoco::platform {
 
@@ -174,4 +174,4 @@ class SpecEditor {
 };
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SPEC_EDITOR_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_

src/experimental/studio/app.cc

@@ -35,19 +35,19 @@
 #include <imgui.h>
 #include <implot.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/file_dialog.h"
-#include "experimental/platform/graphics_mode.h"
-#include "experimental/platform/gui.h"
-#include "experimental/platform/gui_spec.h"
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
 #include "experimental/platform/helpers.h"
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/interaction.h"
-#include "experimental/platform/model_holder.h"
-#include "experimental/platform/picture_gui.h"
-#include "experimental/platform/plugin.h"
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/step_control.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/sim/model_holder.h"
+#include "experimental/platform/sim/step_control.h"
+#include "experimental/platform/ux/file_dialog.h"
+#include "experimental/platform/ux/gui.h"
+#include "experimental/platform/ux/gui_spec.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/interaction.h"
+#include "experimental/platform/ux/picture_gui.h"
+#include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::studio {
 
@@ -1129,8 +1129,8 @@ void App::SpecExplorerGui() {
 
   mjsElement* element = tmp_.curr_element;
   bool open = element != nullptr;
-  if (platform::ImGui_BeginHSplit("SpecExplorerTree",
-                                  &tmp_.explorer_split, &open)) {
+  if (platform::ImGui_BeginHSplit("SpecExplorerTree", &tmp_.explorer_split,
+                                  &open)) {
     platform::SpecTreeGui(&element, spec());
 
     if (element != tmp_.curr_element) {
@@ -1147,8 +1147,8 @@ void App::SpecExplorerGui() {
       }
     }
 
-    if (platform::ImGui_HSplit("SpecExplorerProperties",
-                               &tmp_.explorer_split, &open)) {
+    if (platform::ImGui_HSplit("SpecExplorerProperties", &tmp_.explorer_split,
+                               &open)) {
       ImGui::Text("%s", mju_type2Str(tmp_.curr_element->elemtype));
       ImGui::SameLine();
       ImGui::Text("(%d)", mjs_getId(tmp_.curr_element));
@@ -1434,7 +1434,8 @@ void App::ToolBarGui() {
     const float label_width = GetExpectedLabelWidth();
     const float copy_btn_width = ImGui::CalcTextSize(ICON_COPY_CAMERA).x +
                                  ImGui::GetStyle().FramePadding.x * 2;
-    const float theme_width = ImGui::CalcTextSize(platform::ICON_FA_CIRCLE_O).x +
+    const float theme_width =
+        ImGui::CalcTextSize(platform::ICON_FA_CIRCLE_O).x +
         ImGui::GetStyle().FramePadding.x * 2;
     const float sp = ImGui::GetStyle().ItemSpacing.x;
     const float right_width = label_width + sp + label_width + sp +
@@ -1766,7 +1767,6 @@ void App::MainMenuGui() {
       }
       ImGui::Separator();
 
-
 #ifdef __linux__
       if (ImGui::BeginMenu("Graphics Mode (Experimental)")) {
         std::optional<platform::GraphicsMode> mode;

src/experimental/studio/app.h

@@ -26,18 +26,18 @@
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
-#include "experimental/platform/gui.h"
-#include "experimental/platform/gui_spec.h"
-#include "experimental/platform/interaction.h"
-#include "experimental/platform/model_holder.h"
-#include "experimental/platform/picture_gui.h"
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/sim_history.h"
-#include "experimental/platform/sim_profiler.h"
-#include "experimental/platform/spec_editor.h"
-#include "experimental/platform/step_control.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
+#include "experimental/platform/sim/model_holder.h"
+#include "experimental/platform/sim/sim_history.h"
+#include "experimental/platform/sim/sim_profiler.h"
+#include "experimental/platform/sim/step_control.h"
+#include "experimental/platform/ux/gui.h"
+#include "experimental/platform/ux/gui_spec.h"
+#include "experimental/platform/ux/interaction.h"
+#include "experimental/platform/ux/picture_gui.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 namespace mujoco::studio {
 

src/experimental/studio/main.cc

@@ -26,7 +26,7 @@
 #include <absl/flags/flag.h>
 #include <absl/flags/parse.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/studio/app.h"
 
 ABSL_FLAG(int, window_width, 1400, "Window width");

src/experimental/studio/wasm.cc

@@ -25,7 +25,7 @@
 #include <utility>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/studio/app.h"
 
 // Global app instance. Lifetime is controlled by Init/Deinit calls which are