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Modify studio keyboard bindings to conform to MuJoCo API.

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PiperOrigin-RevId: 842197387
Change-Id: I6ee9b1f5050cb4a8c2f67253f37481c61c91fdbd
This commit is contained in:
Yuval Tassa
2025-12-09 05:52:24 -08:00
committed by Copybara-Service
parent 1483aefe5f
commit cc914c9ec7
1 changed files with 39 additions and 35 deletions
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src/experimental/studio/app.cc
+39 -35
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@@ -530,6 +530,8 @@ void App::HandleKeyboardEvents() {
constexpr auto ImGuiMode_CtrlShift = ImGuiMod_Ctrl | ImGuiMod_Shift;
bool is_freecam_wasd = ui_.camera_idx == platform::kFreeCameraIdx;
// Menu shortcuts.
if (ImGui_IsChordJustPressed(ImGuiKey_O | ImGuiMod_Ctrl)) {
ShowPopup(tmp_.load_popup);
@@ -592,54 +594,56 @@ void App::HandleKeyboardEvents() {
tmp_.chart_cpu_time = !tmp_.chart_cpu_time;
} else if (ImGui_IsChordJustPressed(ImGuiKey_F11)) {
tmp_.chart_dimensions = !tmp_.chart_dimensions;
// } else if (ImGui_IsChordJustPressed(ImGuiKey_Backquote)) {
// ToggleFlag(vis_options_.flags[mjVIS_BODYBVH]);
// } else if (ImGui_IsChordJustPressed(ImGuiKey_Quote)) {
// ToggleFlag(vis_options_.flags[mjVIS_SCLINERTIA]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Comma)) {
ToggleFlag(vis_options_.flags[mjVIS_ACTIVATION]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Backslash)) {
ToggleFlag(vis_options_.flags[mjVIS_MESHBVH]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Semicolon)) {
ToggleFlag(vis_options_.flags[mjVIS_SKIN]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_U)) {
ToggleFlag(vis_options_.flags[mjVIS_ACTUATOR]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_L)) {
ToggleFlag(vis_options_.flags[mjVIS_CAMERA]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_M)) {
ToggleFlag(vis_options_.flags[mjVIS_COM]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_F)) {
ToggleFlag(vis_options_.flags[mjVIS_CONTACTFORCE]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_C)) {
ToggleFlag(vis_options_.flags[mjVIS_CONTACTPOINT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_P)) {
ToggleFlag(vis_options_.flags[mjVIS_CONTACTSPLIT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_H)) {
ToggleFlag(vis_options_.flags[mjVIS_CONVEXHULL]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_N)) {
ToggleFlag(vis_options_.flags[mjVIS_CONSTRAINT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_I)) {
ToggleFlag(vis_options_.flags[mjVIS_ISLAND]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_X)) {
ToggleFlag(vis_options_.flags[mjVIS_TEXTURE]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_J)) {
ToggleFlag(vis_options_.flags[mjVIS_JOINT]);
} else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_Q)) {
ToggleFlag(vis_options_.flags[mjVIS_CAMERA]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_U)) {
ToggleFlag(vis_options_.flags[mjVIS_ACTUATOR]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Comma)) {
ToggleFlag(vis_options_.flags[mjVIS_ACTIVATION]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Z)) {
ToggleFlag(vis_options_.flags[mjVIS_LIGHT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_V)) {
ToggleFlag(vis_options_.flags[mjVIS_TENDON]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Y)) {
ToggleFlag(vis_options_.flags[mjVIS_RANGEFINDER]);
} else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_E)) {
ToggleFlag(vis_options_.flags[mjVIS_CONSTRAINT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_I)) {
ToggleFlag(vis_options_.flags[mjVIS_INERTIA]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Apostrophe)) {
ToggleFlag(vis_options_.flags[mjVIS_SCLINERTIA]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_B)) {
ToggleFlag(vis_options_.flags[mjVIS_PERTFORCE]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_O)) {
ToggleFlag(vis_options_.flags[mjVIS_PERTOBJ]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Y)) {
ToggleFlag(vis_options_.flags[mjVIS_RANGEFINDER]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_V)) {
ToggleFlag(vis_options_.flags[mjVIS_TENDON]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_X)) {
ToggleFlag(vis_options_.flags[mjVIS_TEXTURE]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_C)) {
ToggleFlag(vis_options_.flags[mjVIS_CONTACTPOINT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_N)) {
ToggleFlag(vis_options_.flags[mjVIS_ISLAND]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_F)) {
ToggleFlag(vis_options_.flags[mjVIS_CONTACTFORCE]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_P)) {
ToggleFlag(vis_options_.flags[mjVIS_CONTACTSPLIT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_T)) {
ToggleFlag(vis_options_.flags[mjVIS_TRANSPARENT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_K)) {
} else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_A)) {
ToggleFlag(vis_options_.flags[mjVIS_AUTOCONNECT]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_G)) {
} else if (ImGui_IsChordJustPressed(ImGuiKey_M)) {
ToggleFlag(vis_options_.flags[mjVIS_COM]);
} else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_D)) {
ToggleFlag(vis_options_.flags[mjVIS_STATIC]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Semicolon)) {
ToggleFlag(vis_options_.flags[mjVIS_SKIN]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_GraveAccent)) {
ToggleFlag(vis_options_.flags[mjVIS_BODYBVH]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_Backslash)) {
ToggleFlag(vis_options_.flags[mjVIS_MESHBVH]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_0 | ImGuiMod_Shift)) {
ToggleFlag(vis_options_.sitegroup[0]);
} else if (ImGui_IsChordJustPressed(ImGuiKey_1 | ImGuiMod_Shift)) {
@@ -674,7 +678,7 @@ void App::HandleKeyboardEvents() {
}
// WASD camera controls for free camera.
if (ui_.camera_idx == platform::kFreeCameraIdx) {
if (is_freecam_wasd) {
bool moved = false;
// Move (dolly) forward/backward using W and S keys.