Update themes to differentiate from default dear_imgui themes and add a classic theme that's similar to simulate.
PiperOrigin-RevId: 843313013 Change-Id: Id01841097f32a5b01acd8fcf59392a73acad8f27
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
3c19b63ed3
commit
e07adc387a
@@ -44,12 +44,163 @@ static ImVec2 GetFlexElementSize(int num_cols) {
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void SetupTheme(GuiTheme theme) {
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ImGuiStyle& s = ImGui::GetStyle();
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ImVec4* c = s.Colors;
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if (theme == GuiTheme::kDark) {
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ImGui::StyleColorsDark(&s);
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} else {
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c[ImGuiCol_Text] = ImVec4(1.00, 1.00, 1.00, 1.00);
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c[ImGuiCol_TextDisabled] = ImVec4(0.40, 0.40, 0.40, 1.00);
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c[ImGuiCol_ChildBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_WindowBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_PopupBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_Border] = ImVec4(0.12, 0.12, 0.12, 0.71);
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c[ImGuiCol_BorderShadow] = ImVec4(1.00, 1.00, 1.00, 0.06);
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c[ImGuiCol_FrameBg] = ImVec4(0.42, 0.42, 0.42, 0.54);
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c[ImGuiCol_FrameBgHovered] = ImVec4(0.42, 0.42, 0.42, 0.40);
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c[ImGuiCol_FrameBgActive] = ImVec4(0.56, 0.56, 0.56, 0.67);
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c[ImGuiCol_TitleBg] = ImVec4(0.19, 0.19, 0.19, 1.00);
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c[ImGuiCol_TitleBgActive] = ImVec4(0.22, 0.22, 0.22, 1.00);
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c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.17, 0.17, 0.17, 0.90);
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c[ImGuiCol_MenuBarBg] = ImVec4(0.34, 0.34, 0.34, 1.00);
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c[ImGuiCol_ScrollbarBg] = ImVec4(0.24, 0.24, 0.24, 0.53);
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c[ImGuiCol_ScrollbarGrab] = ImVec4(0.41, 0.41, 0.41, 1.00);
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c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.52, 0.52, 0.52, 1.00);
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c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
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c[ImGuiCol_CheckMark] = ImVec4(0.65, 0.65, 0.65, 1.00);
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c[ImGuiCol_SliderGrab] = ImVec4(0.52, 0.52, 0.52, 1.00);
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c[ImGuiCol_SliderGrabActive] = ImVec4(0.64, 0.64, 0.64, 1.00);
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c[ImGuiCol_Button] = ImVec4(0.54, 0.54, 0.54, 0.35);
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c[ImGuiCol_ButtonHovered] = ImVec4(0.52, 0.52, 0.52, 0.59);
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c[ImGuiCol_ButtonActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
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c[ImGuiCol_Header] = ImVec4(0.38, 0.38, 0.38, 1.00);
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c[ImGuiCol_HeaderHovered] = ImVec4(0.47, 0.47, 0.47, 1.00);
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c[ImGuiCol_HeaderActive] = ImVec4(0.76, 0.76, 0.76, 0.77);
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c[ImGuiCol_Separator] = ImVec4(0.00, 0.00, 0.00, 0.18);
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c[ImGuiCol_SeparatorHovered] = ImVec4(0.70, 0.67, 0.60, 0.29);
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c[ImGuiCol_SeparatorActive] = ImVec4(0.70, 0.67, 0.60, 0.67);
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c[ImGuiCol_ResizeGrip] = ImVec4(0.26, 0.59, 0.98, 0.25);
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c[ImGuiCol_ResizeGripHovered] = ImVec4(0.26, 0.59, 0.98, 0.67);
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c[ImGuiCol_ResizeGripActive] = ImVec4(0.26, 0.59, 0.98, 0.95);
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c[ImGuiCol_PlotLines] = ImVec4(0.61, 0.61, 0.61, 1.00);
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c[ImGuiCol_PlotLinesHovered] = ImVec4(1.00, 0.43, 0.35, 1.00);
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c[ImGuiCol_PlotHistogram] = ImVec4(0.90, 0.70, 0.00, 1.00);
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c[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00, 0.60, 0.00, 1.00);
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c[ImGuiCol_TextSelectedBg] = ImVec4(0.73, 0.73, 0.73, 0.35);
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c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.80, 0.80, 0.80, 0.35);
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c[ImGuiCol_DragDropTarget] = ImVec4(1.00, 1.00, 0.00, 0.90);
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c[ImGuiCol_NavHighlight] = ImVec4(0.26, 0.59, 0.98, 1.00);
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c[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00, 1.00, 1.00, 0.70);
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c[ImGuiCol_NavWindowingDimBg] = ImVec4(0.80, 0.80, 0.80, 0.20);
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c[ImGuiCol_DockingEmptyBg] = ImVec4(0.38, 0.38, 0.38, 1.00);
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c[ImGuiCol_Tab] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_TabHovered] = ImVec4(0.40, 0.40, 0.40, 1.00);
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c[ImGuiCol_TabActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
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c[ImGuiCol_TabUnfocused] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_TabUnfocusedActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
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c[ImGuiCol_DockingPreview] = ImVec4(0.85, 0.85, 0.85, 0.28);
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c[ImGuiCol_WindowBg].w = 1.0f;
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} else if (theme == GuiTheme::kLight) {
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ImGui::StyleColorsLight(&s);
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ImVec4 white = ImVec4(1.00, 1.00, 1.00, 1.00);
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ImVec4 transparent = ImVec4(0.00, 0.00, 0.00, 0.00);
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ImVec4 dark = ImVec4(0.00, 0.00, 0.00, 0.20);
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ImVec4 darker = ImVec4(0.00, 0.00, 0.00, 0.50);
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ImVec4 background = ImVec4(0.95, 0.95, 0.95, 1.00);
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ImVec4 text = ImVec4(0.10, 0.10, 0.10, 1.00);
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ImVec4 border = ImVec4(0.60, 0.60, 0.60, 1.00);
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ImVec4 grab = ImVec4(0.69, 0.69, 0.69, 1.00);
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ImVec4 header = ImVec4(0.86, 0.86, 0.86, 1.00);
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ImVec4 active = ImVec4(0.00, 0.47, 0.84, 1.00);
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ImVec4 hover = ImVec4(0.00, 0.47, 0.84, 0.20);
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c[ImGuiCol_Text] = text;
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c[ImGuiCol_WindowBg] = background;
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c[ImGuiCol_ChildBg] = background;
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c[ImGuiCol_PopupBg] = white;
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c[ImGuiCol_Border] = border;
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c[ImGuiCol_BorderShadow] = transparent;
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c[ImGuiCol_Button] = header;
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c[ImGuiCol_ButtonHovered] = hover;
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c[ImGuiCol_ButtonActive] = active;
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c[ImGuiCol_FrameBg] = white;
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c[ImGuiCol_FrameBgHovered] = hover;
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c[ImGuiCol_FrameBgActive] = active;
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c[ImGuiCol_MenuBarBg] = header;
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c[ImGuiCol_Header] = header;
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c[ImGuiCol_HeaderHovered] = hover;
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c[ImGuiCol_HeaderActive] = active;
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c[ImGuiCol_CheckMark] = text;
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c[ImGuiCol_SliderGrab] = grab;
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c[ImGuiCol_SliderGrabActive] = darker;
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c[ImGuiCol_ScrollbarBg] = header;
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c[ImGuiCol_ScrollbarGrab] = grab;
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c[ImGuiCol_ScrollbarGrabHovered] = dark;
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c[ImGuiCol_ScrollbarGrabActive] = darker;
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} else {
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ImGui::StyleColorsDark(&s);
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ImVec4 black = ImVec4(0.00, 0.00, 0.00, 1.0);
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ImVec4 window = ImVec4(0.25, 0.25, 0.25, 1.0);
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ImVec4 font_active = ImVec4(1.00, 1.00, 1.00, 1.0);
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ImVec4 font_inactive = ImVec4(0.50, 0.50, 0.50, 1.0);
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ImVec4 thumb = ImVec4(0.12, 0.12, 0.12, 1.0);
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ImVec4 section = ImVec4(0.40, 0.15, 0.15, 1.0);
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ImVec4 button = ImVec4(0.60, 0.40, 0.40, 1.0);
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ImVec4 check = ImVec4(0.40, 0.40, 0.70, 1.0);
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ImVec4 frame = ImVec4(0.40, 0.30, 0.40, 1.0);
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ImVec4 slider = ImVec4(0.60, 0.40, 0.60, 1.0);
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c[ImGuiCol_WindowBg] = window;
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c[ImGuiCol_ChildBg] = black;
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c[ImGuiCol_PopupBg] = window;
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c[ImGuiCol_Text] = font_active;
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c[ImGuiCol_TextDisabled] = font_inactive;
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c[ImGuiCol_CheckMark] = font_active;
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c[ImGuiCol_Header] = section;
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c[ImGuiCol_HeaderHovered] = section;
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c[ImGuiCol_HeaderActive] = section;
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c[ImGuiCol_TitleBgActive] = window;
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c[ImGuiCol_ScrollbarBg] = window;
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c[ImGuiCol_ScrollbarGrab] = thumb;
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c[ImGuiCol_ScrollbarGrabHovered] = thumb;
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c[ImGuiCol_ScrollbarGrabActive] = thumb;
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c[ImGuiCol_FrameBg] = frame;
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c[ImGuiCol_FrameBgHovered] = frame;
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c[ImGuiCol_FrameBgActive] = frame;
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c[ImGuiCol_SliderGrab] = slider;
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c[ImGuiCol_SliderGrabActive] = slider;
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c[ImGuiCol_Button] = window;
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c[ImGuiCol_ButtonHovered] = button;
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c[ImGuiCol_ButtonActive] = button;
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c[ImGuiCol_Tab] = window;
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c[ImGuiCol_TabHovered] = check;
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c[ImGuiCol_TabSelected] = check;
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c[ImGuiCol_TabDimmed] = window;
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c[ImGuiCol_TabDimmedSelected] = check;
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}
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s.FrameBorderSize = 1;
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int hspacing = 4;
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int vspacing = 6;
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float rounding = 4.0f;
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s.DisplaySafeAreaPadding = ImVec2(0, 0);
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s.WindowPadding = ImVec2(hspacing, vspacing);
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s.FramePadding = ImVec2(hspacing, vspacing);
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s.ItemSpacing = ImVec2(hspacing, vspacing);
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s.ItemInnerSpacing = ImVec2(hspacing, vspacing);
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s.WindowRounding = rounding;
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s.FrameRounding = rounding;
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s.TabRounding = rounding;
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s.ScrollbarRounding = rounding;
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s.ChildRounding = rounding;
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s.GrabRounding = rounding;
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s.PopupRounding = rounding;
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s.WindowBorderSize = 0.0f;
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s.FrameBorderSize = 1.0f;
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s.PopupBorderSize = 1.0f;
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s.IndentSpacing = 20.0f;
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s.ScrollbarSize = 12.0f;
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s.GrabMinSize = 5.0f;
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s.WindowMenuButtonPosition = ImGuiDir_None;
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s.TabCloseButtonMinWidthSelected = 0.0f;
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s.DockingNodeHasCloseButton = false;
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}
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ImVec4 ConfigureDockingLayout() {
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@@ -112,37 +263,48 @@ ImVec4 ConfigureDockingLayout() {
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ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_NoBringToFrontOnFocus |
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ImGuiWindowFlags_NoNavFocus | ImGuiWindowFlags_NoBackground;
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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style.Var(ImGuiStyleVar_WindowBorderSize, 0.0f);
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style.Var(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
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ImGui::Begin("Dockspace", nullptr, kWorkspaceFlags);
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style.Reset();
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const ImGuiDockNodeFlags kDockSpaceFlags =
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ImGuiDockNodeFlags_PassthruCentralNode |
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ImGuiDockNodeFlags_NoDockingOverCentralNode |
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ImGuiDockNodeFlags_AutoHideTabBar;
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ImGui::DockSpace(root, ImVec2(0.0f, 0.0f), kDockSpaceFlags);
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ImGui::End();
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const ImGuiWindowFlags kFixedFlags = ImGuiWindowFlags_NoTitleBar |
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ImGuiWindowFlags_NoMove |
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ImGuiWindowFlags_NoResize |
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ImGuiWindowFlags_NoScrollbar |
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ImGuiWindowFlags_NoDocking;
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// Main workspace area in which we can dock other windows.
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{
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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style.Var(ImGuiStyleVar_WindowBorderSize, 0.0f);
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style.Var(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
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ImGui::Begin("Dockspace", nullptr, kWorkspaceFlags);
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const ImGuiDockNodeFlags kDockSpaceFlags =
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ImGuiDockNodeFlags_PassthruCentralNode |
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ImGuiDockNodeFlags_NoDockingOverCentralNode |
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ImGuiDockNodeFlags_AutoHideTabBar;
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ImGui::DockSpace(root, ImVec2(0.0f, 0.0f), kDockSpaceFlags);
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ImGui::End();
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}
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// Toolbar is fixed at the top.
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ImGui::SetNextWindowPos(viewport->WorkPos, ImGuiCond_Always);
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ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight), ImGuiCond_Always);
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ImGui::Begin("ToolBar", nullptr, kFixedFlags);
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ImGui::End();
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{
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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ImGui::SetNextWindowPos(viewport->WorkPos, ImGuiCond_Always);
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ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight), ImGuiCond_Always);
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ImGui::Begin("ToolBar", nullptr, kFixedFlags);
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ImGui::End();
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}
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// StatusBar is fixed at the bottom.
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ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight), ImGuiCond_Always);
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ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight), ImGuiCond_Always);
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ImGui::Begin("StatusBar", nullptr, kFixedFlags);
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ImGui::End();
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{
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight), ImGuiCond_Always);
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ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight), ImGuiCond_Always);
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ImGui::Begin("StatusBar", nullptr, kFixedFlags);
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ImGui::End();
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}
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const int settings_width = dockspace_size.x * kOptionsRelWidth;
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const int inspector_width = dockspace_size.x * kInspectorRelWidth;
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@@ -154,6 +316,10 @@ ImVec4 ConfigureDockingLayout() {
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}
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void SensorGui(const mjModel* model, const mjData* data) {
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if (model->nsensor == 0) {
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return;
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}
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ImPlot::PushStyleVar(ImPlotStyleVar_FitPadding, ImVec2(0.1f, 0.1f));
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if (ImPlot::BeginPlot("Sensors", ImVec2(-1, 0),
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ImPlotFlags_NoLegend | ImPlotFlags_NoMouseText)) {
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@@ -356,6 +522,9 @@ void StateGui(const mjModel* model, mjData* data, std::vector<mjtNum>& state,
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void WatchGui(const mjModel* model, const mjData* data, char* field_name,
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int field_len, int& field_index) {
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const float item_width = ImGui::GetWindowWidth() * .6f;
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ImGui::PushItemWidth(item_width);
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ImGui::InputText("Field", field_name, field_len);
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ImGui::InputInt("Index", &field_index);
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const mjtNum* value = static_cast<const mjtNum*>(
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@@ -375,6 +544,8 @@ void WatchGui(const mjModel* model, const mjData* data, char* field_name,
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ImGui::InputText("Value", buf, sizeof(buf), ImGuiInputTextFlags_ReadOnly);
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ImGui::EndDisabled();
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}
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ImGui::PopItemWidth();
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}
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void PhysicsGui(mjModel* model, float min_width) {
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@@ -383,6 +554,9 @@ void PhysicsGui(mjModel* model, float min_width) {
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const int num_cols = std::clamp(
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static_cast<int>(std::floor(available_width / min_width)), 1, 6);
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const float item_width = ImGui::GetWindowWidth() * .6f;
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ImGui::PushItemWidth(item_width);
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auto& opt = model->opt;
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const char* opts0[] = {"Euler", "RK4", "implicit", "implicitfast"};
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@@ -397,21 +571,15 @@ void PhysicsGui(mjModel* model, float min_width) {
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const char* opts3[] = {"PGS", "CG", "Newton"};
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ImGui::Combo("Solver", &opt.solver, opts3, IM_ARRAYSIZE(opts3));
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if (ImGui::TreeNodeEx("Disable Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
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if (ImGui::BeginTable("##DisableFlagsTable", num_cols)) {
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if (ImGui::TreeNodeEx("Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
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if (ImGui::BeginTable("##PhysicsFlagsTable", num_cols)) {
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const ImVec2 size = GetFlexElementSize(num_cols);
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for (int i = 0; i < mjNDISABLE; ++i) {
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ImGui::TableNextColumn();
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ImGui_BitToggle(mjDISABLESTRING[i], &opt.disableflags, 1 << i, size);
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int flipped = ~opt.disableflags;
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ImGui_BitToggle(mjDISABLESTRING[i], &flipped, 1 << i, size);
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opt.disableflags = ~flipped;
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}
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ImGui::EndTable();
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}
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ImGui::TreePop();
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}
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if (ImGui::TreeNodeEx("Enable Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
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if (ImGui::BeginTable("##EnableFlagsTable", num_cols)) {
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const ImVec2 size = GetFlexElementSize(num_cols);
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for (int i = 0; i < mjNENABLE; ++i) {
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ImGui::TableNextColumn();
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ImGui_BitToggle(mjENABLESTRING[i], &opt.enableflags, 1 << i, size);
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@@ -421,14 +589,16 @@ void PhysicsGui(mjModel* model, float min_width) {
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ImGui::TreePop();
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}
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if (ImGui::TreeNodeEx("Actuator Group Disable")) {
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if (ImGui::BeginTable("##EnableFlagsTable", num_cols)) {
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if (ImGui::TreeNodeEx("Actuator Groups")) {
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if (ImGui::BeginTable("##ActuatorGroupsTable", num_cols)) {
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const ImVec2 size = GetFlexElementSize(num_cols);
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for (int i = 0; i < 6; ++i) {
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char label[64];
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std::snprintf(label, sizeof(label), "Act Group %d", i);
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ImGui::TableNextColumn();
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ImGui_BitToggle(label, &opt.disableactuator, 1 << i, size);
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int flipped = ~opt.disableactuator;
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ImGui_BitToggle(label, &flipped, 1 << i, size);
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opt.disableactuator = ~flipped;
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}
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ImGui::EndTable();
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}
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@@ -436,41 +606,40 @@ void PhysicsGui(mjModel* model, float min_width) {
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};
|
||||
|
||||
if (ImGui::TreeNodeEx("Algorithmic Parameters")) {
|
||||
float w = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui_Input("Timestep", &opt.timestep, {0, 1, 0.01, 0.1, w});
|
||||
ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10, w});
|
||||
ImGui_Input("Tolerance", &opt.tolerance, {0, 1, 1e-7, 1e-6, w});
|
||||
ImGui_Input("LS Iter", &opt.ls_iterations, {0, 100, 1, 0.1, w});
|
||||
ImGui_Input("LS Tol", &opt.ls_tolerance, {0, 0.1, 0.01, 0.1, w});
|
||||
ImGui_Input("Noslip Iter", &opt.noslip_iterations, {0, 1000, 1, 100, w});
|
||||
ImGui_Input("Noslip Tol", &opt.noslip_tolerance, {0, 1, 0.01, 0.1, w});
|
||||
ImGui_Input("CCD Iter", &opt.ccd_iterations, {0, 1000, 1, 100, w});
|
||||
ImGui_Input("CCD Tol", &opt.ccd_tolerance, {0, 1, 0.01, 0.1, w});
|
||||
ImGui_Input("Sleep Tol", &opt.sleep_tolerance, {0, 1, 0.01, 0.1, w});
|
||||
ImGui_Input("SDF Iter", &opt.sdf_iterations, {1, 20, 1, 10, w});
|
||||
ImGui_Input("SDF Init", &opt.sdf_initpoints, {1, 100, 1, 10, w});
|
||||
ImGui_Input("Timestep", &opt.timestep, {0, 1, 0.01, 0.1});
|
||||
ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10});
|
||||
ImGui_Input("Tolerance", &opt.tolerance, {0, 1, 1e-7, 1e-6});
|
||||
ImGui_Input("LS Iter", &opt.ls_iterations, {0, 100, 1, 0.1});
|
||||
ImGui_Input("LS Tol", &opt.ls_tolerance, {0, 0.1, 0.01, 0.1});
|
||||
ImGui_Input("Noslip Iter", &opt.noslip_iterations, {0, 1000, 1, 100});
|
||||
ImGui_Input("Noslip Tol", &opt.noslip_tolerance, {0, 1, 0.01, 0.1});
|
||||
ImGui_Input("CCD Iter", &opt.ccd_iterations, {0, 1000, 1, 100});
|
||||
ImGui_Input("CCD Tol", &opt.ccd_tolerance, {0, 1, 0.01, 0.1});
|
||||
ImGui_Input("Sleep Tol", &opt.sleep_tolerance, {0, 1, 0.01, 0.1});
|
||||
ImGui_Input("SDF Iter", &opt.sdf_iterations, {1, 20, 1, 10});
|
||||
ImGui_Input("SDF Init", &opt.sdf_initpoints, {1, 100, 1, 10});
|
||||
ImGui::TreePop();
|
||||
}
|
||||
|
||||
if (ImGui::TreeNodeEx("Physical Parameters")) {
|
||||
float w = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui_InputN("Gravity", opt.gravity, 3, {.width = w});
|
||||
ImGui_InputN("Wind", opt.wind, 3, {.width = w});
|
||||
ImGui_InputN("Magnetic", opt.magnetic, 3, {.width = w});
|
||||
ImGui_Input("Density", &opt.density, {.min = .1, .max = 1, .width = w});
|
||||
ImGui_Input("Viscosity", &opt.viscosity, {.min = .1, .max = 1, .width = w});
|
||||
ImGui_Input("Imp Ratio", &opt.impratio, {.min = .1, .max = 1, .width = w});
|
||||
ImGui_InputN("Gravity", opt.gravity, 3);
|
||||
ImGui_InputN("Wind", opt.wind, 3);
|
||||
ImGui_InputN("Magnetic", opt.magnetic, 3);
|
||||
ImGui_Input("Density", &opt.density, {.min = .1, .max = 1});
|
||||
ImGui_Input("Viscosity", &opt.viscosity, {.min = .1, .max = 1});
|
||||
ImGui_Input("Imp Ratio", &opt.impratio, {.min = .1, .max = 1});
|
||||
ImGui::TreePop();
|
||||
};
|
||||
|
||||
if (ImGui::TreeNodeEx("Contact Override")) {
|
||||
float w = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui_Input("Margin", &opt.o_margin, {.min = 0.1, .max = 1, .width = w});
|
||||
ImGui_InputN("Sol Imp", opt.o_solimp, 5, {.width = w, .format = "%0.1f"});
|
||||
ImGui_InputN("Sol Ref", opt.o_solref, 2, {.width = w, .format = "%0.1f"});
|
||||
ImGui_InputN("Friction", opt.o_friction, 5, {.width = w, .format = "%.1f"});
|
||||
ImGui_Input("Margin", &opt.o_margin, {.min = 0.1, .max = 1});
|
||||
ImGui_InputN("Sol Imp", opt.o_solimp, 5, {.format = "%0.1f"});
|
||||
ImGui_InputN("Sol Ref", opt.o_solref, 2, {.format = "%0.1f"});
|
||||
ImGui_InputN("Friction", opt.o_friction, 5, {.format = "%.1f"});
|
||||
ImGui::TreePop();
|
||||
}
|
||||
|
||||
ImGui::PopItemWidth();
|
||||
}
|
||||
|
||||
void VisualizationGui(mjModel* model, mjvOption* vis_options, mjvCamera* camera,
|
||||
@@ -478,6 +647,9 @@ void VisualizationGui(mjModel* model, mjvOption* vis_options, mjvCamera* camera,
|
||||
auto& vis = model->vis;
|
||||
auto& stat = model->stat;
|
||||
|
||||
const float item_width = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui::PushItemWidth(item_width);
|
||||
|
||||
ImGui::SliderInt("Tree depth", &vis_options->bvh_depth, 0, 20);
|
||||
ImGui::SliderInt("Flex layer", &vis_options->flex_layer, 0, 10);
|
||||
|
||||
@@ -574,6 +746,8 @@ void VisualizationGui(mjModel* model, mjvOption* vis_options, mjvCamera* camera,
|
||||
ImGui::ColorEdit4("BV Active", vis.rgba.bvactive);
|
||||
ImGui::TreePop();
|
||||
}
|
||||
|
||||
ImGui::PopItemWidth();
|
||||
}
|
||||
|
||||
void RenderingGui(const mjModel* model, mjvOption* vis_options,
|
||||
@@ -659,12 +833,18 @@ void GroupsGui(const mjModel* model, mjvOption* vis_options, float min_width) {
|
||||
|
||||
void NoiseGui(const mjModel* model, const mjData* data, float& noise_scale,
|
||||
float& noise_rate) {
|
||||
const float item_width = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui::PushItemWidth(item_width);
|
||||
ImGui::SliderFloat("Scale", &noise_scale, 0, 1);
|
||||
ImGui::SliderFloat("Rate", &noise_rate, 0, 4);
|
||||
ImGui::PopItemWidth();
|
||||
}
|
||||
|
||||
void JointsGui(const mjModel* model, const mjData* data,
|
||||
const mjvOption* vis_options) {
|
||||
const float item_width = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui::PushItemWidth(item_width);
|
||||
|
||||
char name[100];
|
||||
for (int i = 0; i < model->njnt; ++i) {
|
||||
if (model->jnt_type[i] != mjJNT_HINGE &&
|
||||
@@ -699,10 +879,15 @@ void JointsGui(const mjModel* model, const mjData* data,
|
||||
const int data_adr = model->jnt_qposadr[i];
|
||||
ImGui_Slider(name, &data->qpos[data_adr], min, max);
|
||||
}
|
||||
|
||||
ImGui::PopItemWidth();
|
||||
}
|
||||
|
||||
void ControlsGui(const mjModel* model, const mjData* data,
|
||||
const mjvOption* vis_options) {
|
||||
const float item_width = ImGui::GetWindowWidth() * .6f;
|
||||
ImGui::PushItemWidth(item_width);
|
||||
|
||||
if (ImGui::Button("Clear All")) {
|
||||
mju_zero(data->ctrl, model->nu);
|
||||
}
|
||||
@@ -733,8 +918,9 @@ void ControlsGui(const mjModel* model, const mjData* data,
|
||||
}
|
||||
ImGui_Slider(name, &data->ctrl[i], min, max);
|
||||
}
|
||||
}
|
||||
|
||||
ImGui::PopItemWidth();
|
||||
}
|
||||
|
||||
void ConvergenceGui(const mjModel* model, mjData* data) {
|
||||
if (ImPlot::BeginPlot("Convergence (log 10)", ImVec2(-1, 0),
|
||||
|
||||
@@ -34,6 +34,7 @@ namespace mujoco::platform {
|
||||
enum class GuiTheme {
|
||||
kLight,
|
||||
kDark,
|
||||
kClassic,
|
||||
};
|
||||
|
||||
// Updates the ImGui internal style state to match the requested theme.
|
||||
|
||||
@@ -22,11 +22,32 @@
|
||||
#include <unordered_map>
|
||||
|
||||
#include <imgui.h>
|
||||
#include <imgui_internal.h> // For ButtonEx and PressedOnClick
|
||||
#include <imgui_internal.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
|
||||
namespace mujoco::platform {
|
||||
|
||||
// FontAwesome icon codes.
|
||||
static constexpr const char ICON_FA_ARROWS[] = u8"\uf047";
|
||||
static constexpr const char ICON_FA_CAMERA[] = u8"\uf03d";
|
||||
static constexpr const char ICON_FA_CARET_LEFT[] = u8"\uf0d9";
|
||||
static constexpr const char ICON_FA_CARET_RIGHT[] = u8"\uf0da";
|
||||
static constexpr const char ICON_FA_CHECK_SQUARE_O[] = u8"\uf05d";
|
||||
static constexpr const char ICON_FA_COMMENT[] = u8"\uf0e5";
|
||||
static constexpr const char ICON_FA_COPY[] = u8"\uf0c5";
|
||||
static constexpr const char ICON_FA_DIAMOND[] = u8"\uf219";
|
||||
static constexpr const char ICON_FA_EJECT[] = u8"\uf052";
|
||||
static constexpr const char ICON_FA_FAST_FORWARD[] = u8"\uf050";
|
||||
static constexpr const char ICON_FA_MOON[] = u8"\uf186";
|
||||
static constexpr const char ICON_FA_PAUSE[] = u8"\uf04c";
|
||||
static constexpr const char ICON_FA_PLAY[] = u8"\uf04b";
|
||||
static constexpr const char ICON_FA_REFRESH[] = u8"\uf021";
|
||||
static constexpr const char ICON_FA_SQUARE_O[] = u8"\uf1db";
|
||||
static constexpr const char ICON_FA_SUN[] = u8"\uf185";
|
||||
static constexpr const char ICON_FA_TACHOMETER[] = u8"\uf0e4";
|
||||
static constexpr const char ICON_FA_UNDO[] = u8"\uf0e2";
|
||||
|
||||
|
||||
using KeyValues = std::unordered_map<std::string, std::string>;
|
||||
|
||||
// Appends key/value pairs to an Ini file.
|
||||
@@ -107,13 +128,15 @@ bool ImGui_ButtonToggle(const char* label, T* boolean,
|
||||
static_assert(std::is_integral_v<T>, "Toggle only supports integral types.");
|
||||
|
||||
ScopedStyle style;
|
||||
if (!(*boolean)) {
|
||||
ImColor button = ImGui::GetStyle().Colors[ImGuiCol_Button];
|
||||
button.Value.w = 0.0f;
|
||||
style.Color(ImGuiCol_Button, button);
|
||||
}
|
||||
const int color = *boolean ? ImGuiCol_TabSelected : ImGuiCol_WindowBg;
|
||||
style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[color]);
|
||||
style.Var(ImGuiStyleVar_ButtonTextAlign, ImVec2(0.0f, 0.5f));
|
||||
|
||||
if (ImGui::Button(label, size)) {
|
||||
const std::string txt =
|
||||
std::string(" ") +
|
||||
std::string(*boolean ? ICON_FA_SQUARE_O : ICON_FA_CHECK_SQUARE_O) + " " +
|
||||
label;
|
||||
if (ImGui::Button(txt.c_str(), size)) {
|
||||
*boolean = !(*boolean);
|
||||
return true;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user