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Improvements to object launcher.

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PiperOrigin-RevId: 965834305
Change-Id: Ied8cea0e8eff8002d14f63b9ddea25f78a9a2985
This commit is contained in:
Yuval Tassa
2026-08-17 02:15:21 -07:00
committed by Copybara-Service
parent 2f1843f4a7
commit ba3f8cf180
1 changed files with 28 additions and 11 deletions
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src/experimental/platform/ux/object_launcher_plugin.cc
+28 -11
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@@ -36,7 +36,7 @@ class ObjectLauncher {
using platform::ImGui_ResetButton;
using platform::ImGui_SliderLog;
constexpr mjtNum kLifeDefault = 5.0;
constexpr mjtNum kLifeDefault = 2.0;
ImGui_SliderLog("Size", &size_, size_seed_ * 0.1, size_seed_ * 10);
ImGui::BeginDisabled(size_ == size_seed_);
if (ImGui_ResetButton("Size")) size_ = size_seed_;
@@ -81,28 +81,44 @@ class ObjectLauncher {
void OnModelLoaded(const mjModel* model) {
if (!model) return;
Seed(model->stat.meansize, &size_, &size_seed_);
Seed(model->stat.meanmass, &mass_, &mass_seed_);
// Geometric mean of two length estimates -- the mean geom size, and the
// length implied by the mean mass at density 1000 -- so a bad meansize or
// meanmass only half-poisons the seed (they agree for a consistent model).
const mjtNum len_size = model->stat.meansize;
const mjtNum len_mass = std::cbrt(model->stat.meanmass / 1000.0);
mjtNum len = mju_sqrt(len_size * len_mass);
if (!(len > 0)) len = len_size > 0 ? len_size : len_mass;
const mjtNum size = 0.5 * len;
Seed(size, &size_, &size_seed_);
// Mass giving the default box (volume (2*size)^3) density 1000, MuJoCo's
// default geom density. Units are unspecified, so 1000 is just a convention.
const mjtNum box_volume = 8.0 * size * size * size;
Seed(1000.0 * box_volume, &mass_, &mass_seed_);
const mjtNum gravity = mju_norm3(model->opt.gravity);
const mjtNum g = gravity > mjMINVAL ? gravity : 9.81;
// Ballistic scale: the launch arc spans a few model extents.
Seed(1.5 * mju_sqrt(model->stat.extent * g), &speed_, &speed_seed_);
Seed(3.0 * mju_sqrt(model->stat.extent * g), &speed_, &speed_seed_);
}
bool UpdateSpecPreCompile(mjSpec* spec, const mjModel* model,
const mjData* data, const mjvCamera* camera) {
// Remove expired objects.
// Objects live on [creation_time, expiration]: drop them when the lifetime
// elapses, or when the sim rewinds before launch (so a reset clears them).
auto it = std::remove_if(
objects_.begin(), objects_.end(), [&](const ObjectInfo& o) {
const bool expired =
o.body_id >= 0 && o.expiration != 0 && o.expiration < data->time;
if (expired) {
if (o.body_id < 0) {
return false; // not yet compiled into the model
}
const bool expired = o.expiration != 0 && o.expiration < data->time;
const bool rewound = data->time < o.creation_time;
const bool remove = expired || rewound;
if (remove) {
mjsBody* body = mjs_findBody(spec, o.name.c_str());
if (body) {
mjs_delete(spec, body->element);
}
}
return expired;
return remove;
});
if (it != objects_.end()) {
objects_.erase(it, objects_.end());
@@ -123,7 +139,7 @@ class ObjectLauncher {
ObjectInfo& object = objects_.emplace_back();
object.name = "projectile" + std::to_string(counter_++);
;
object.creation_time = data->time;
object.expiration = data->time + lifetime_;
mjtNum pos[3];
@@ -193,6 +209,7 @@ class ObjectLauncher {
struct ObjectInfo {
std::string name;
int body_id = -1;
mjtNum creation_time = 0;
mjtNum expiration = 0;
bool launched = false;
};
@@ -203,7 +220,7 @@ class ObjectLauncher {
mjtNum size_ = 0.1;
mjtNum speed_ = 10.0;
mjtNum mass_ = 10.0;
mjtNum lifetime_ = 5.0;
mjtNum lifetime_ = 2.0;
mjtNum size_seed_ = 0.1;
mjtNum speed_seed_ = 10.0;
mjtNum mass_seed_ = 10.0;