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Improve slider precision and range clamping, fixes #3206

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Add clamping to slider values in both ImGui widgets and mjUI to ensure they remain within the defined min/max ranges, preventing potential floating point inaccuracies from causing values to slightly exceed the bounds.

PiperOrigin-RevId: 902660458
Change-Id: Ia153ae7907f07b890f2b5ac2e3a4be93ecae7bd3
This commit is contained in:
Yuval Tassa
2026-04-20 08:53:28 -07:00
committed by Copybara-Service
parent a8a5afc8dc
commit b2281883dd
3 changed files with 6 additions and 5 deletions
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simulate/simulate.cc
+2 -2
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@@ -1192,7 +1192,7 @@ void MakeJointSection(mj::Simulate* sim) {
// set range // set range
if (sim->jnt_range_[i].has_value()) if (sim->jnt_range_[i].has_value())
mju::sprintf_arr(defSlider[0].other, "%.4g %.4g", mju::sprintf_arr(defSlider[0].other, "%.17g %.17g",
sim->jnt_range_[i]->first, sim->jnt_range_[i]->second); sim->jnt_range_[i]->first, sim->jnt_range_[i]->second);
else if (sim->jnt_type_[i]==mjJNT_SLIDE) { else if (sim->jnt_type_[i]==mjJNT_SLIDE) {
mju::strcpy_arr(defSlider[0].other, "-1 1"); mju::strcpy_arr(defSlider[0].other, "-1 1");
@@ -1251,7 +1251,7 @@ void MakeControlSection(mj::Simulate* sim) {
// set range // set range
if (sim->actuator_ctrlrange_[i].has_value()) if (sim->actuator_ctrlrange_[i].has_value())
mju::sprintf_arr(defSlider[0].other, "%.4g %.4g", mju::sprintf_arr(defSlider[0].other, "%.17g %.17g",
sim->actuator_ctrlrange_[i]->first, sim->actuator_ctrlrange_[i]->second); sim->actuator_ctrlrange_[i]->first, sim->actuator_ctrlrange_[i]->second);
else { else {
mju::strcpy_arr(defSlider[0].other, "-1 1"); mju::strcpy_arr(defSlider[0].other, "-1 1");
src/experimental/platform/ux/imgui_widgets.cc
+1 -1
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@@ -321,7 +321,7 @@ bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
float f = *value; float f = *value;
const bool res = ImGui::SliderFloat(name, &f, min, max); const bool res = ImGui::SliderFloat(name, &f, min, max);
if (res) { if (res) {
*value = f; *value = mju_clip(f, min, max);
} }
return res; return res;
} }
src/ui/ui_main.c
+3 -2
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@@ -849,8 +849,9 @@ static void setslider(mjuiItem* it, mjUI* ui,
rx = mju_round(rx * it->slider.divisions) / mjMAX(1, it->slider.divisions); rx = mju_round(rx * it->slider.divisions) / mjMAX(1, it->slider.divisions);
rx = mjMAX(0, mjMIN(1, rx)); rx = mjMAX(0, mjMIN(1, rx));
// compute value // compute value, clamp to range
mjtNum val = (mjtNum)(it->slider.range[0]*(1-rx) + it->slider.range[1]*rx); mjtNum val = mju_clip(it->slider.range[0]*(1-rx) + it->slider.range[1]*rx,
it->slider.range[0], it->slider.range[1]);
// set slider position // set slider position
if (it->type == mjITEM_SLIDERINT) { if (it->type == mjITEM_SLIDERINT) {