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Refactor parts of the toolbar GUI into the GUI library.

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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
This commit is contained in:
Haroon Qureshi
2026-03-11 08:22:32 -07:00
committed by Copybara-Service
parent 6d70e66810
commit db9ab94555
4 changed files with 366 additions and 282 deletions
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src/experimental/platform/gui.cc
+340 -165
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@@ -26,6 +26,7 @@
#include <implot.h>
#include <mujoco/mujoco.h>
#include "experimental/platform/helpers.h"
#include "experimental/platform/interaction.h"
#include "experimental/platform/imgui_widgets.h"
namespace mujoco::platform {
@@ -41,70 +42,70 @@ void SetupTheme(GuiTheme theme) {
ImVec4* c = s.Colors;
if (theme == GuiTheme::kDark) {
ImGui::StyleColorsDark(&s);
c[ImGuiCol_Text] = ImVec4(1.00, 1.00, 1.00, 1.00);
c[ImGuiCol_TextDisabled] = ImVec4(0.40, 0.40, 0.40, 1.00);
c[ImGuiCol_ChildBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_WindowBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_PopupBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_Border] = ImVec4(0.12, 0.12, 0.12, 0.71);
c[ImGuiCol_BorderShadow] = ImVec4(1.00, 1.00, 1.00, 0.06);
c[ImGuiCol_FrameBg] = ImVec4(0.42, 0.42, 0.42, 0.54);
c[ImGuiCol_FrameBgHovered] = ImVec4(0.42, 0.42, 0.42, 0.40);
c[ImGuiCol_FrameBgActive] = ImVec4(0.56, 0.56, 0.56, 0.67);
c[ImGuiCol_TitleBg] = ImVec4(0.19, 0.19, 0.19, 1.00);
c[ImGuiCol_TitleBgActive] = ImVec4(0.22, 0.22, 0.22, 1.00);
c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.17, 0.17, 0.17, 0.90);
c[ImGuiCol_MenuBarBg] = ImVec4(0.34, 0.34, 0.34, 1.00);
c[ImGuiCol_ScrollbarBg] = ImVec4(0.24, 0.24, 0.24, 0.53);
c[ImGuiCol_ScrollbarGrab] = ImVec4(0.41, 0.41, 0.41, 1.00);
c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.52, 0.52, 0.52, 1.00);
c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
c[ImGuiCol_CheckMark] = ImVec4(0.65, 0.65, 0.65, 1.00);
c[ImGuiCol_SliderGrab] = ImVec4(0.52, 0.52, 0.52, 1.00);
c[ImGuiCol_SliderGrabActive] = ImVec4(0.64, 0.64, 0.64, 1.00);
c[ImGuiCol_Button] = ImVec4(0.54, 0.54, 0.54, 0.35);
c[ImGuiCol_ButtonHovered] = ImVec4(0.52, 0.52, 0.52, 0.59);
c[ImGuiCol_ButtonActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
c[ImGuiCol_Header] = ImVec4(0.38, 0.38, 0.38, 1.00);
c[ImGuiCol_HeaderHovered] = ImVec4(0.47, 0.47, 0.47, 1.00);
c[ImGuiCol_HeaderActive] = ImVec4(0.76, 0.76, 0.76, 0.77);
c[ImGuiCol_Separator] = ImVec4(0.00, 0.00, 0.00, 0.18);
c[ImGuiCol_SeparatorHovered] = ImVec4(0.70, 0.67, 0.60, 0.29);
c[ImGuiCol_SeparatorActive] = ImVec4(0.70, 0.67, 0.60, 0.67);
c[ImGuiCol_ResizeGrip] = ImVec4(0.26, 0.59, 0.98, 0.25);
c[ImGuiCol_ResizeGripHovered] = ImVec4(0.26, 0.59, 0.98, 0.67);
c[ImGuiCol_ResizeGripActive] = ImVec4(0.26, 0.59, 0.98, 0.95);
c[ImGuiCol_PlotLines] = ImVec4(0.61, 0.61, 0.61, 1.00);
c[ImGuiCol_PlotLinesHovered] = ImVec4(1.00, 0.43, 0.35, 1.00);
c[ImGuiCol_PlotHistogram] = ImVec4(0.90, 0.70, 0.00, 1.00);
c[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00, 0.60, 0.00, 1.00);
c[ImGuiCol_TextSelectedBg] = ImVec4(0.73, 0.73, 0.73, 0.35);
c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.80, 0.80, 0.80, 0.35);
c[ImGuiCol_DragDropTarget] = ImVec4(1.00, 1.00, 0.00, 0.90);
c[ImGuiCol_NavHighlight] = ImVec4(0.26, 0.59, 0.98, 1.00);
c[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00, 1.00, 1.00, 0.70);
c[ImGuiCol_NavWindowingDimBg] = ImVec4(0.80, 0.80, 0.80, 0.20);
c[ImGuiCol_DockingEmptyBg] = ImVec4(0.38, 0.38, 0.38, 1.00);
c[ImGuiCol_Tab] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_TabHovered] = ImVec4(0.40, 0.40, 0.40, 1.00);
c[ImGuiCol_TabActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
c[ImGuiCol_TabUnfocused] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_TabUnfocusedActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
c[ImGuiCol_DockingPreview] = ImVec4(0.85, 0.85, 0.85, 0.28);
c[ImGuiCol_Text] = ImVec4(1.00, 1.00, 1.00, 1.00);
c[ImGuiCol_TextDisabled] = ImVec4(0.40, 0.40, 0.40, 1.00);
c[ImGuiCol_ChildBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_WindowBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_PopupBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_Border] = ImVec4(0.12, 0.12, 0.12, 0.71);
c[ImGuiCol_BorderShadow] = ImVec4(1.00, 1.00, 1.00, 0.06);
c[ImGuiCol_FrameBg] = ImVec4(0.42, 0.42, 0.42, 0.54);
c[ImGuiCol_FrameBgHovered] = ImVec4(0.42, 0.42, 0.42, 0.40);
c[ImGuiCol_FrameBgActive] = ImVec4(0.56, 0.56, 0.56, 0.67);
c[ImGuiCol_TitleBg] = ImVec4(0.19, 0.19, 0.19, 1.00);
c[ImGuiCol_TitleBgActive] = ImVec4(0.22, 0.22, 0.22, 1.00);
c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.17, 0.17, 0.17, 0.90);
c[ImGuiCol_MenuBarBg] = ImVec4(0.34, 0.34, 0.34, 1.00);
c[ImGuiCol_ScrollbarBg] = ImVec4(0.24, 0.24, 0.24, 0.53);
c[ImGuiCol_ScrollbarGrab] = ImVec4(0.41, 0.41, 0.41, 1.00);
c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.52, 0.52, 0.52, 1.00);
c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
c[ImGuiCol_CheckMark] = ImVec4(0.65, 0.65, 0.65, 1.00);
c[ImGuiCol_SliderGrab] = ImVec4(0.52, 0.52, 0.52, 1.00);
c[ImGuiCol_SliderGrabActive] = ImVec4(0.64, 0.64, 0.64, 1.00);
c[ImGuiCol_Button] = ImVec4(0.54, 0.54, 0.54, 0.35);
c[ImGuiCol_ButtonHovered] = ImVec4(0.52, 0.52, 0.52, 0.59);
c[ImGuiCol_ButtonActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
c[ImGuiCol_Header] = ImVec4(0.38, 0.38, 0.38, 1.00);
c[ImGuiCol_HeaderHovered] = ImVec4(0.47, 0.47, 0.47, 1.00);
c[ImGuiCol_HeaderActive] = ImVec4(0.76, 0.76, 0.76, 0.77);
c[ImGuiCol_Separator] = ImVec4(0.00, 0.00, 0.00, 0.18);
c[ImGuiCol_SeparatorHovered] = ImVec4(0.70, 0.67, 0.60, 0.29);
c[ImGuiCol_SeparatorActive] = ImVec4(0.70, 0.67, 0.60, 0.67);
c[ImGuiCol_ResizeGrip] = ImVec4(0.26, 0.59, 0.98, 0.25);
c[ImGuiCol_ResizeGripHovered] = ImVec4(0.26, 0.59, 0.98, 0.67);
c[ImGuiCol_ResizeGripActive] = ImVec4(0.26, 0.59, 0.98, 0.95);
c[ImGuiCol_PlotLines] = ImVec4(0.61, 0.61, 0.61, 1.00);
c[ImGuiCol_PlotLinesHovered] = ImVec4(1.00, 0.43, 0.35, 1.00);
c[ImGuiCol_PlotHistogram] = ImVec4(0.90, 0.70, 0.00, 1.00);
c[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00, 0.60, 0.00, 1.00);
c[ImGuiCol_TextSelectedBg] = ImVec4(0.73, 0.73, 0.73, 0.35);
c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.80, 0.80, 0.80, 0.35);
c[ImGuiCol_DragDropTarget] = ImVec4(1.00, 1.00, 0.00, 0.90);
c[ImGuiCol_NavHighlight] = ImVec4(0.26, 0.59, 0.98, 1.00);
c[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00, 1.00, 1.00, 0.70);
c[ImGuiCol_NavWindowingDimBg] = ImVec4(0.80, 0.80, 0.80, 0.20);
c[ImGuiCol_DockingEmptyBg] = ImVec4(0.38, 0.38, 0.38, 1.00);
c[ImGuiCol_Tab] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_TabHovered] = ImVec4(0.40, 0.40, 0.40, 1.00);
c[ImGuiCol_TabActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
c[ImGuiCol_TabUnfocused] = ImVec4(0.25, 0.25, 0.25, 1.00);
c[ImGuiCol_TabUnfocusedActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
c[ImGuiCol_DockingPreview] = ImVec4(0.85, 0.85, 0.85, 0.28);
c[ImGuiCol_WindowBg].w = 1.0f;
} else if (theme == GuiTheme::kLight) {
ImGui::StyleColorsLight(&s);
ImVec4 white = ImVec4(1.00, 1.00, 1.00, 1.00);
ImVec4 white = ImVec4(1.00, 1.00, 1.00, 1.00);
ImVec4 transparent = ImVec4(0.00, 0.00, 0.00, 0.00);
ImVec4 dark = ImVec4(0.00, 0.00, 0.00, 0.20);
ImVec4 darker = ImVec4(0.00, 0.00, 0.00, 0.50);
ImVec4 background = ImVec4(0.95, 0.95, 0.95, 1.00);
ImVec4 text = ImVec4(0.10, 0.10, 0.10, 1.00);
ImVec4 border = ImVec4(0.60, 0.60, 0.60, 1.00);
ImVec4 grab = ImVec4(0.69, 0.69, 0.69, 1.00);
ImVec4 header = ImVec4(0.86, 0.86, 0.86, 1.00);
ImVec4 active = ImVec4(0.00, 0.47, 0.84, 1.00);
ImVec4 hover = ImVec4(0.00, 0.47, 0.84, 0.20);
ImVec4 dark = ImVec4(0.00, 0.00, 0.00, 0.20);
ImVec4 darker = ImVec4(0.00, 0.00, 0.00, 0.50);
ImVec4 background = ImVec4(0.95, 0.95, 0.95, 1.00);
ImVec4 text = ImVec4(0.10, 0.10, 0.10, 1.00);
ImVec4 border = ImVec4(0.60, 0.60, 0.60, 1.00);
ImVec4 grab = ImVec4(0.69, 0.69, 0.69, 1.00);
ImVec4 header = ImVec4(0.86, 0.86, 0.86, 1.00);
ImVec4 active = ImVec4(0.00, 0.47, 0.84, 1.00);
ImVec4 hover = ImVec4(0.00, 0.47, 0.84, 0.20);
c[ImGuiCol_Text] = text;
c[ImGuiCol_WindowBg] = background;
@@ -129,46 +130,46 @@ void SetupTheme(GuiTheme theme) {
c[ImGuiCol_ScrollbarGrab] = grab;
c[ImGuiCol_ScrollbarGrabHovered] = dark;
c[ImGuiCol_ScrollbarGrabActive] = darker;
} else {
} else {
ImGui::StyleColorsDark(&s);
ImVec4 black = ImVec4(0.00, 0.00, 0.00, 1.0);
ImVec4 window = ImVec4(0.25, 0.25, 0.25, 1.0);
ImVec4 font_active = ImVec4(1.00, 1.00, 1.00, 1.0);
ImVec4 black = ImVec4(0.00, 0.00, 0.00, 1.0);
ImVec4 window = ImVec4(0.25, 0.25, 0.25, 1.0);
ImVec4 font_active = ImVec4(1.00, 1.00, 1.00, 1.0);
ImVec4 font_inactive = ImVec4(0.50, 0.50, 0.50, 1.0);
ImVec4 thumb = ImVec4(0.12, 0.12, 0.12, 1.0);
ImVec4 section = ImVec4(0.40, 0.15, 0.15, 1.0);
ImVec4 button = ImVec4(0.60, 0.40, 0.40, 1.0);
ImVec4 check = ImVec4(0.40, 0.40, 0.70, 1.0);
ImVec4 frame = ImVec4(0.40, 0.30, 0.40, 1.0);
ImVec4 slider = ImVec4(0.60, 0.40, 0.60, 1.0);
ImVec4 thumb = ImVec4(0.12, 0.12, 0.12, 1.0);
ImVec4 section = ImVec4(0.40, 0.15, 0.15, 1.0);
ImVec4 button = ImVec4(0.60, 0.40, 0.40, 1.0);
ImVec4 check = ImVec4(0.40, 0.40, 0.70, 1.0);
ImVec4 frame = ImVec4(0.40, 0.30, 0.40, 1.0);
ImVec4 slider = ImVec4(0.60, 0.40, 0.60, 1.0);
c[ImGuiCol_WindowBg] = window;
c[ImGuiCol_ChildBg] = black;
c[ImGuiCol_PopupBg] = window;
c[ImGuiCol_Text] = font_active;
c[ImGuiCol_TextDisabled] = font_inactive;
c[ImGuiCol_CheckMark] = font_active;
c[ImGuiCol_Header] = section;
c[ImGuiCol_HeaderHovered] = section;
c[ImGuiCol_HeaderActive] = section;
c[ImGuiCol_TitleBgActive] = window;
c[ImGuiCol_ScrollbarBg] = window;
c[ImGuiCol_ScrollbarGrab] = thumb;
c[ImGuiCol_ScrollbarGrabHovered] = thumb;
c[ImGuiCol_ScrollbarGrabActive] = thumb;
c[ImGuiCol_FrameBg] = frame;
c[ImGuiCol_FrameBgHovered] = frame;
c[ImGuiCol_FrameBgActive] = frame;
c[ImGuiCol_SliderGrab] = slider;
c[ImGuiCol_SliderGrabActive] = slider;
c[ImGuiCol_Button] = window;
c[ImGuiCol_ButtonHovered] = button;
c[ImGuiCol_ButtonActive] = button;
c[ImGuiCol_Tab] = window;
c[ImGuiCol_TabHovered] = check;
c[ImGuiCol_TabSelected] = check;
c[ImGuiCol_TabDimmed] = window;
c[ImGuiCol_TabDimmedSelected] = check;
c[ImGuiCol_WindowBg] = window;
c[ImGuiCol_ChildBg] = black;
c[ImGuiCol_PopupBg] = window;
c[ImGuiCol_Text] = font_active;
c[ImGuiCol_TextDisabled] = font_inactive;
c[ImGuiCol_CheckMark] = font_active;
c[ImGuiCol_Header] = section;
c[ImGuiCol_HeaderHovered] = section;
c[ImGuiCol_HeaderActive] = section;
c[ImGuiCol_TitleBgActive] = window;
c[ImGuiCol_ScrollbarBg] = window;
c[ImGuiCol_ScrollbarGrab] = thumb;
c[ImGuiCol_ScrollbarGrabHovered] = thumb;
c[ImGuiCol_ScrollbarGrabActive] = thumb;
c[ImGuiCol_FrameBg] = frame;
c[ImGuiCol_FrameBgHovered] = frame;
c[ImGuiCol_FrameBgActive] = frame;
c[ImGuiCol_SliderGrab] = slider;
c[ImGuiCol_SliderGrabActive] = slider;
c[ImGuiCol_Button] = window;
c[ImGuiCol_ButtonHovered] = button;
c[ImGuiCol_ButtonActive] = button;
c[ImGuiCol_Tab] = window;
c[ImGuiCol_TabHovered] = check;
c[ImGuiCol_TabSelected] = check;
c[ImGuiCol_TabDimmed] = window;
c[ImGuiCol_TabDimmedSelected] = check;
}
int hspacing = 4;
@@ -207,14 +208,11 @@ ImVec4 ConfigureDockingLayout() {
const float kToolsBarHeight = 48.f * scale;
const float kStatusBarHeight = 32.f * scale;
const ImVec2 dockspace_pos{
viewport->WorkPos.x,
viewport->WorkPos.y + kToolsBarHeight
};
const ImVec2 dockspace_pos{viewport->WorkPos.x,
viewport->WorkPos.y + kToolsBarHeight};
const ImVec2 dockspace_size{
viewport->WorkSize.x,
viewport->WorkSize.y - kToolsBarHeight - kStatusBarHeight
};
viewport->WorkSize.y - kToolsBarHeight - kStatusBarHeight};
ImGuiID root = ImGui::GetID("Root");
const bool first_time = (ImGui::DockBuilderGetNode(root) == nullptr);
@@ -228,16 +226,16 @@ ImVec4 ConfigureDockingLayout() {
ImGuiID main = root;
ImGuiID options = 0;
ImGui::DockBuilderSplitNode(main, ImGuiDir_Left, kOptionsRelWidth,
&options, &main);
ImGui::DockBuilderSplitNode(main, ImGuiDir_Left, kOptionsRelWidth, &options,
&main);
ImGuiID inspector = 0;
ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, kInspectorRelWidth,
&inspector, &main);
ImGuiID stats = 0;
ImGui::DockBuilderSplitNode(options, ImGuiDir_Down, kStatsRelHeight,
&stats, &options);
ImGui::DockBuilderSplitNode(options, ImGuiDir_Down, kStatsRelHeight, &stats,
&options);
ImGuiID properties = 0;
ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kStatsRelHeight,
@@ -265,11 +263,10 @@ ImVec4 ConfigureDockingLayout() {
ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_NoBringToFrontOnFocus |
ImGuiWindowFlags_NoNavFocus | ImGuiWindowFlags_NoBackground;
const ImGuiWindowFlags kFixedFlags = ImGuiWindowFlags_NoTitleBar |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoDocking;
const ImGuiWindowFlags kFixedFlags =
ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoDocking;
// Main workspace area in which we can dock other windows.
{
@@ -292,7 +289,8 @@ ImVec4 ConfigureDockingLayout() {
style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
ImGui::SetNextWindowPos(viewport->WorkPos, ImGuiCond_Always);
ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight), ImGuiCond_Always);
ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight),
ImGuiCond_Always);
ImGui::Begin("ToolBar", nullptr, kFixedFlags);
ImGui::End();
}
@@ -302,8 +300,10 @@ ImVec4 ConfigureDockingLayout() {
platform::ScopedStyle style;
style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight), ImGuiCond_Always);
ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight), ImGuiCond_Always);
ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight),
ImGuiCond_Always);
ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight),
ImGuiCond_Always);
ImGui::Begin("StatusBar", nullptr, kFixedFlags);
ImGui::End();
}
@@ -317,6 +317,148 @@ ImVec4 ConfigureDockingLayout() {
return ImVec4(workspace_x, workspace_y, workspace_w, workspace_h);
}
bool ThemeSelectGui(GuiTheme* theme) {
static constexpr const char* ICON_DARKMODE = ICON_FA_CIRCLE;
static constexpr const char* ICON_LIGHTMODE = ICON_FA_CIRCLE_O;
static constexpr const char* ICON_CLASSICMODE = ICON_FA_ADJUST;
const char* theme_icons[] = {ICON_LIGHTMODE, ICON_DARKMODE, ICON_CLASSICMODE};
const char* theme_tooltips[] = {"Light Mode", "Dark Mode", "Classic Mode"};
const GuiTheme theme_values[] = {
GuiTheme::kLight,
GuiTheme::kDark,
GuiTheme::kClassic,
};
bool changed = false;
int theme_idx = static_cast<int>(*theme);
ImGui::SetNextItemWidth(ImGui::CalcTextSize(theme_icons[0]).x +
ImGui::GetStyle().FramePadding.x * 2);
if (ImGui::BeginCombo("##Theme", theme_icons[theme_idx],
ImGuiComboFlags_NoArrowButton)) {
for (int n = 0; n < IM_ARRAYSIZE(theme_icons); n++) {
if (ImGui::Selectable(theme_icons[n], (theme_idx == n))) {
*theme = theme_values[n];
changed = true;
}
if (ImGui::IsItemHovered()) {
ImGui::SetTooltip("%s", theme_tooltips[n]);
}
}
ImGui::EndCombo();
}
ImGui::SetItemTooltip("%s", "Theme");
return changed;
}
bool LabelSelectionGui(mjvOption* opts) {
static constexpr const char* ICON_LABEL = ICON_FA_COMMENT;
static constexpr const char* kLabelNames[] = {
"None", "Body", "Joint", "Geom", "Site", "Camera",
"Light", "Tendon", "Actuator", "Constraint", "Flex", "Skin",
"Selection", "Sel Pnt", "Contact", "Force", "Island"};
bool changed = false;
const std::string label_preview =
std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
if (ImGui::BeginCombo("##Label", label_preview.c_str(),
ImGuiComboFlags_NoArrowButton)) {
for (int n = 0; n < IM_ARRAYSIZE(kLabelNames); n++) {
if (ImGui::Selectable(kLabelNames[n], (opts->label == n))) {
changed = true;
opts->label = n;
}
}
ImGui::EndCombo();
}
ImGui::SetItemTooltip("%s", "Label");
return changed;
}
bool FrameSelectionGui(mjvOption* opts) {
static constexpr const char* ICON_FRAME = ICON_FA_ARROWS;
static constexpr const char* kFrameNames[] = {
"None", "Body", "Geom", "Site", "Camera", "Light", "Contact", "World"};
bool changed = false;
const std::string frame_preview =
std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
if (ImGui::BeginCombo("##Frame", frame_preview.c_str(),
ImGuiComboFlags_NoArrowButton)) {
for (int n = 0; n < IM_ARRAYSIZE(kFrameNames); n++) {
if (ImGui::Selectable(kFrameNames[n], (opts->frame == n))) {
opts->frame = n;
changed = true;
}
}
ImGui::EndCombo();
}
ImGui::SetItemTooltip("%s", "Frame");
return changed;
}
static std::string GetCameraName(const mjModel* model, const mjvCamera& camera,
int index) {
static constexpr char kCameraTumbleName[] = "Free: tumble";
static constexpr char kCameraWasdName[] = "Free: wasd";
static constexpr char kCameraUnnamedName[] = "Unnamed";
if (index == kTumbleCameraIdx) {
return kCameraTumbleName;
} else if (index == kFreeCameraIdx) {
return kCameraWasdName;
} else if (index == kTrackingCameraIdx) {
return "Tracking (" + std::to_string(camera.trackbodyid) + ")";
} else if (model->names[model->name_camadr[index]]) {
return std::string(model->names + model->name_camadr[index]);
} else {
return kCameraUnnamedName;
}
}
bool CameraSelectionGui(const mjModel* model, mjData* data, mjvCamera& camera,
int& index) {
static constexpr const char* ICON_CAMERA = ICON_FA_CAMERA;
auto select = [&](int type, int idx) {
if (ImGui::Selectable(GetCameraName(model, camera, type).c_str(),
(type == idx))) {
return true;
}
return false;
};
bool changed = false;
const std::string preview =
std::string(ICON_CAMERA) + " " + GetCameraName(model, camera, index);
if (ImGui::BeginCombo("##Camera", preview.c_str(),
ImGuiComboFlags_NoArrowButton)) {
if (select(kTumbleCameraIdx, index)) {
index = SetCamera(model, &camera, kTumbleCameraIdx);
changed = true;
}
if (select(kFreeCameraIdx, index)) {
index = SetCamera(model, &camera, kFreeCameraIdx);
changed = true;
}
if (select(kTrackingCameraIdx, index)) {
index = SetCamera(model, &camera, kTrackingCameraIdx);
changed = true;
}
for (int cam = 0; cam < model->ncam; cam++) {
if (select(cam, index)) {
index = SetCamera(model, &camera, cam);
changed = true;
}
}
ImGui::EndCombo();
}
ImGui::SetItemTooltip("%s", "Camera");
return changed;
}
void SensorGui(const mjModel* model, const mjData* data) {
if (model->nsensor == 0) {
return;
@@ -935,36 +1077,49 @@ void ConvergenceGui(const mjModel* model, mjData* data) {
ImPlot::SetupLegend(ImPlotLocation_NorthEast);
ImPlot::SetupFinish();
const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
const int nisland =
data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
for (int k = 0; k < nisland; k++) {
mjSolverStat* stats = data->solver + k * mjNSOLVER;
const int npoints =
mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
ImPlot::PlotLineG("improvement", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = mju_log10(mju_max(mjMINVAL, stats[i].improvement));
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"improvement",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = mju_log10(mju_max(mjMINVAL, stats[i].improvement));
return ImPlotPoint{x, y};
},
stats, npoints);
if (model->opt.solver == mjSOL_PGS) {
continue;
}
ImPlot::PlotLineG("gradient", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = mju_log10(mju_max(mjMINVAL, stats[i].gradient));
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"gradient",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = mju_log10(mju_max(mjMINVAL, stats[i].gradient));
return ImPlotPoint{x, y};
},
stats, npoints);
ImPlot::PlotLineG("lineslope", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = mju_log10(mju_max(mjMINVAL, stats[i].lineslope));
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"lineslope",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = mju_log10(mju_max(mjMINVAL, stats[i].lineslope));
return ImPlotPoint{x, y};
},
stats, npoints);
}
ImPlot::PopStyleVar();
@@ -982,56 +1137,76 @@ void CountsGui(const mjModel* model, mjData* data) {
ImPlot::SetupLegend(ImPlotLocation_NorthEast);
ImPlot::SetupFinish();
const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
const int nisland =
data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
for (int k = 0; k < nisland; k++) {
const int npoints =
mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
mjSolverStat* stats = data->solver + k*mjNSOLVER;
mjSolverStat* stats = data->solver + k * mjNSOLVER;
int nefc = nisland == 1 ? data->nefc : data->island_nefc[k];
ImPlot::PlotLineG("total", +[](int i, void* user_data) {
const float x = static_cast<float>(i);
const float y = *(static_cast<int*>(user_data));
return ImPlotPoint{x, y};
}, &nefc, npoints);
ImPlot::PlotLineG(
"total",
+[](int i, void* user_data) {
const float x = static_cast<float>(i);
const float y = *(static_cast<int*>(user_data));
return ImPlotPoint{x, y};
},
&nefc, npoints);
ImPlot::PlotLineG("active", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].nactive;
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"active",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].nactive;
return ImPlotPoint{x, y};
},
stats, npoints);
ImPlot::PlotLineG("changed", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].nchange;
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"changed",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].nchange;
return ImPlotPoint{x, y};
},
stats, npoints);
if (model->opt.solver == mjSOL_PGS) {
continue;
}
ImPlot::PlotLineG("evals", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].neval;
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"evals",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].neval;
return ImPlotPoint{x, y};
},
stats, npoints);
if (model->opt.solver == mjSOL_CG) {
continue;
}
ImPlot::PlotLineG("updates", +[](int i, void* user_data) {
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].nupdate;
return ImPlotPoint{x, y};
}, stats, npoints);
ImPlot::PlotLineG(
"updates",
+[](int i, void* user_data) {
const mjSolverStat* stats =
static_cast<const mjSolverStat*>(user_data);
const float x = static_cast<float>(i);
const float y = stats[i].nupdate;
return ImPlotPoint{x, y};
},
stats, npoints);
}
ImPlot::PopStyleVar();
src/experimental/platform/gui.h
+13
View File
@@ -62,6 +62,19 @@ void SetupTheme(GuiTheme theme);
// be used to place additional elements (e.g. floating charts).
ImVec4 ConfigureDockingLayout();
// UX for selecting the GUI theme.
bool ThemeSelectGui(GuiTheme* theme);
// UX for selecting the visualization label option.
bool LabelSelectionGui(mjvOption* opts);
// UX for selecting the visualization frame option.
bool FrameSelectionGui(mjvOption* opts);
// UX for selecting the camera.
bool CameraSelectionGui(const mjModel* model, mjData* data, mjvCamera& camera,
int& index);
// UX for controlling the physics simulation parameters (e.g. integrator,
// solver, etc.) in mjModel.
void PhysicsGui(mjModel* model, float min_width);