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Add Visualization tab to simulate.

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Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
This commit is contained in:
Yuval Tassa
2023-05-27 05:07:38 -07:00
committed by Copybara-Service
parent ea6789b376
commit d40c395917
10 changed files with 164 additions and 31 deletions
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simulate/simulate.cc
+67 -1
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@@ -102,6 +102,7 @@ enum {
SECT_WATCH,
SECT_PHYSICS,
SECT_RENDERING,
SECT_VISUALIZATION,
SECT_GROUP,
NSECT0,
@@ -565,7 +566,7 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
if (!mju::strcmp_arr(#NAME, sim->field) && \
!mju::strcmp_arr(#TYPE, "mjtNum")) { \
if (sim->index >= 0 && sim->index < m->NR * NC) { \
PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0],d->NAME + sim->index); \
PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], d->NAME + sim->index); \
} else { \
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index"); \
} \
@@ -768,7 +769,64 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
}
}
// make visualization section of UI
void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
mjStatistic* stat = sim->fully_managed_ ? &sim->m_->stat : &sim->scnstate_.model.stat;
mjVisual* vis = sim->fully_managed_ ? &sim->m_->vis : &sim->scnstate_.model.vis;
mjuiDef defVisualization[] = {
{mjITEM_SECTION, "Visualization", oldstate, nullptr, "AV"},
{mjITEM_SEPARATOR, "Headlight", 1},
{mjITEM_RADIO, "Active", 5, &(vis->headlight.active), "Off\nOn"},
{mjITEM_EDITFLOAT, "Ambient", 2, &(vis->headlight.ambient), "3"},
{mjITEM_EDITFLOAT, "Diffuse", 2, &(vis->headlight.diffuse), "3"},
{mjITEM_EDITFLOAT, "Specular", 2, &(vis->headlight.specular), "3"},
{mjITEM_SEPARATOR, "Initial Free Camera", 1},
{mjITEM_EDITNUM, "Center", 2, &(stat->center), "3"},
{mjITEM_EDITFLOAT, "Azimuth", 2, &(vis->global.azimuth), "1"},
{mjITEM_EDITFLOAT, "Elevation", 2, &(vis->global.elevation), "1"},
{mjITEM_BUTTON, "Align", 2, nullptr, "CA"},
{mjITEM_SEPARATOR, "Global", 1},
{mjITEM_EDITNUM, "Extent", 2, &(stat->extent), "1"},
{mjITEM_EDITFLOAT, "Field of view", 2, &(vis->global.fovy), "1"},
{mjITEM_RADIO, "Inertia", 5, &(vis->global.ellipsoidinertia), "Box\nEllipsoid"},
{mjITEM_SEPARATOR, "Map", 1},
{mjITEM_EDITFLOAT, "Stiffness", 2, &(vis->map.stiffness), "1"},
{mjITEM_EDITFLOAT, "Rot stiffness", 2, &(vis->map.stiffnessrot), "1"},
{mjITEM_EDITFLOAT, "Force", 2, &(vis->map.force), "1"},
{mjITEM_EDITFLOAT, "Torque", 2, &(vis->map.torque), "1"},
{mjITEM_EDITFLOAT, "Alpha", 2, &(vis->map.alpha), "1"},
{mjITEM_EDITFLOAT, "Fog start", 2, &(vis->map.fogstart), "1"},
{mjITEM_EDITFLOAT, "Fog end", 2, &(vis->map.fogend), "1"},
{mjITEM_EDITFLOAT, "Z near", 2, &(vis->map.znear), "1"},
{mjITEM_EDITFLOAT, "Z far", 2, &(vis->map.zfar), "1"},
{mjITEM_EDITFLOAT, "Haze", 2, &(vis->map.haze), "1"},
{mjITEM_EDITFLOAT, "Shadow clip", 2, &(vis->map.shadowclip), "1"},
{mjITEM_EDITFLOAT, "Shadow scale", 2, &(vis->map.shadowscale), "1"},
{mjITEM_SEPARATOR, "Scale", 1},
{mjITEM_EDITNUM, "All [meansize]", 2, &(stat->meansize), "1"},
{mjITEM_EDITFLOAT, "Force width", 2, &(vis->scale.forcewidth), "1"},
{mjITEM_EDITFLOAT, "Contact width", 2, &(vis->scale.contactwidth), "1"},
{mjITEM_EDITFLOAT, "Contact height", 2, &(vis->scale.contactheight), "1"},
{mjITEM_EDITFLOAT, "Connect", 2, &(vis->scale.connect), "1"},
{mjITEM_EDITFLOAT, "Com", 2, &(vis->scale.com), "1"},
{mjITEM_EDITFLOAT, "Camera", 2, &(vis->scale.camera), "1"},
{mjITEM_EDITFLOAT, "Light", 2, &(vis->scale.light), "1"},
{mjITEM_EDITFLOAT, "Select point", 2, &(vis->scale.selectpoint), "1"},
{mjITEM_EDITFLOAT, "Joint length", 2, &(vis->scale.jointlength), "1"},
{mjITEM_EDITFLOAT, "Joint width", 2, &(vis->scale.jointwidth), "1"},
{mjITEM_EDITFLOAT, "Actuator length", 2, &(vis->scale.actuatorlength), "1"},
{mjITEM_EDITFLOAT, "Actuator width", 2, &(vis->scale.actuatorwidth), "1"},
{mjITEM_EDITFLOAT, "Frame length", 2, &(vis->scale.framelength), "1"},
{mjITEM_EDITFLOAT, "Frame width", 2, &(vis->scale.framewidth), "1"},
{mjITEM_EDITFLOAT, "Constraint", 2, &(vis->scale.constraint), "1"},
{mjITEM_EDITFLOAT, "Slider-crank", 2, &(vis->scale.slidercrank), "1"},
{mjITEM_END}
};
// add rendering standard
mjui_add(&sim->ui0, defVisualization);
}
// make group section of UI
void MakeGroupSection(mj::Simulate* sim, int oldstate) {
@@ -952,6 +1010,7 @@ void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// make
MakePhysicsSection(sim, oldstate0[SECT_PHYSICS]);
MakeRenderingSection(sim, m, oldstate0[SECT_RENDERING]);
MakeVisualizationSection(sim, m, oldstate0[SECT_VISUALIZATION]);
MakeGroupSection(sim, oldstate0[SECT_GROUP]);
MakeJointSection(sim, oldstate1[SECT_JOINT]);
MakeControlSection(sim, oldstate1[SECT_CONTROL]);
@@ -1284,6 +1343,13 @@ void UiEvent(mjuiState* state) {
}
}
// visualization section
else if (it && it->sectionid==SECT_VISUALIZATION) {
if (!mju::strcmp_arr(it->name, "Align")) {
sim->pending_.align = true;
}
}
// group section
else if (it && it->sectionid==SECT_GROUP) {
// remake joint section if joint group changed