Abstract out GLFW calls from Simulate.
PiperOrigin-RevId: 500129478 Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
048bd43724
commit
e40775fab3
@@ -0,0 +1,242 @@
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// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "platform_ui_adapter.h"
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#include <chrono>
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namespace mujoco {
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PlatformUIAdapter::PlatformUIAdapter() {
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mjr_defaultContext(&con_);
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}
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PlatformUIAdapter::~PlatformUIAdapter() {
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mjr_freeContext(&con_);
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}
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bool PlatformUIAdapter::RefreshMjrContext(const mjModel* m, int fontscale) {
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if (m != last_model_ || fontscale != last_fontscale_) {
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mjr_makeContext(m, &con_, fontscale);
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last_model_ = m;
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last_fontscale_ = fontscale;
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return true;
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}
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return false;
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}
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void PlatformUIAdapter::OnFilesDrop(int count, const char** paths) {
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state_.type = mjEVENT_FILESDROP;
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state_.dropcount = count;
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state_.droppaths = paths;
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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// remove paths pointer from mjuiState since we don't own it
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state_.dropcount = 0;
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state_.droppaths = nullptr;
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}
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void PlatformUIAdapter::OnKey(int key, int scancode, int act) {
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// translate API-specific key code
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int mj_key = TranslateKeyCode(key);
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// release: nothing to do
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if (!IsKeyDownEvent(act)) {
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return;
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}
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// update state
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UpdateMjuiState();
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// set key info
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state_.type = mjEVENT_KEY;
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state_.key = mj_key;
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state_.keytime = std::chrono::duration<double>(
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std::chrono::steady_clock::now().time_since_epoch()).count();
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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}
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void PlatformUIAdapter::OnMouseButton(int button, int act) {
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// translate API-specific mouse button code
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mjtButton mj_button = TranslateMouseButton(button);
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// update state
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UpdateMjuiState();
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// swap left and right if Alt
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if (state_.alt) {
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if (mj_button == mjBUTTON_LEFT) {
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mj_button = mjBUTTON_RIGHT;
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} else if (mj_button == mjBUTTON_RIGHT) {
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mj_button = mjBUTTON_LEFT;
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}
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}
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// press
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if (IsMouseButtonDownEvent(act)) {
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double now = std::chrono::duration<double>(
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std::chrono::steady_clock::now().time_since_epoch()).count();
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// detect doubleclick: 250 ms
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if (mj_button == state_.button && now - state_.buttontime < 0.25) {
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state_.doubleclick = 1;
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} else {
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state_.doubleclick = 0;
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}
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// set info
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state_.type = mjEVENT_PRESS;
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state_.button = mj_button;
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state_.buttontime = now;
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// start dragging
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if (state_.mouserect) {
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state_.dragbutton = state_.button;
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state_.dragrect = state_.mouserect;
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}
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}
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// release
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else {
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state_.type = mjEVENT_RELEASE;
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}
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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// stop dragging after application processing
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if (state_.type == mjEVENT_RELEASE) {
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state_.dragrect = 0;
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state_.dragbutton = 0;
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}
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}
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void PlatformUIAdapter::OnMouseMove(double x, double y) {
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// no buttons down: nothing to do
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if (!state_.left && !state_.right && !state_.middle) {
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return;
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}
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// update state
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UpdateMjuiState();
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// set move info
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state_.type = mjEVENT_MOVE;
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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}
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void PlatformUIAdapter::OnScroll(double xoffset, double yoffset) {
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// update state
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UpdateMjuiState();
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// set scroll info, scale by buffer-to-window ratio
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const double buffer_window_ratio =
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static_cast<double>(GetFramebufferSize().first) / GetWindowSize().first;
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state_.type = mjEVENT_SCROLL;
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state_.sx = xoffset * buffer_window_ratio;
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state_.sy = yoffset * buffer_window_ratio;
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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}
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void PlatformUIAdapter::OnWindowRefresh() {
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state_.type = mjEVENT_REDRAW;
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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}
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void PlatformUIAdapter::OnWindowResize(int width, int height) {
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auto [buf_width, buf_height] = GetFramebufferSize();
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state_.rect[0].width = buf_width;
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state_.rect[0].height = buf_height;
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if (state_.nrect < 1) state_.nrect = 1;
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// update window layout
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if (layout_callback_) {
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layout_callback_(&state_);
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}
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// update state
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UpdateMjuiState();
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// set resize info
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state_.type = mjEVENT_RESIZE;
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// stop dragging
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state_.dragbutton = 0;
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state_.dragrect = 0;
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// application-specific processing
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if (event_callback_) {
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event_callback_(&state_);
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}
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}
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void PlatformUIAdapter::UpdateMjuiState() {
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// mouse buttons
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state_.left = IsLeftMouseButtonPressed();
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state_.right = IsRightMouseButtonPressed();
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state_.middle = IsMiddleMouseButtonPressed();
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// keyboard modifiers
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state_.control = IsCtrlKeyPressed();
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state_.shift = IsShiftKeyPressed();
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state_.alt = IsAltKeyPressed();
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// swap left and right if Alt
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if (state_.alt) {
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int tmp = state_.left;
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state_.left = state_.right;
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state_.right = tmp;
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}
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// get mouse position, scale by buffer-to-window ratio
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auto [x, y] = GetCursorPosition();
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const double buffer_window_ratio =
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static_cast<double>(GetFramebufferSize().first) / GetWindowSize().first;
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x *= buffer_window_ratio;
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y *= buffer_window_ratio;
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// invert y to match OpenGL convention
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y = state_.rect[0].height - y;
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// save
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state_.dx = x - state_.x;
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state_.dy = y - state_.y;
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state_.x = x;
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state_.y = y;
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// find mouse rectangle
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state_.mouserect = mjr_findRect(mju_round(x), mju_round(y), state_.nrect-1, state_.rect+1) + 1;
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}
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} // namespace mujoco
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