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Abstract out GLFW calls from Simulate.

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PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
This commit is contained in:
Saran Tunyasuvunakool
2023-01-06 02:36:01 -08:00
committed by Copybara-Service
parent 048bd43724
commit e40775fab3
15 changed files with 847 additions and 624 deletions
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simulate/simulate.cc
+136 -152
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@@ -20,18 +20,15 @@
#include <cstring>
#include <memory>
#include <mutex>
#include <ratio>
#include <string>
#include <thread>
#include <utility>
#include <GLFW/glfw3.h>
#include "lodepng.h"
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "glfw_dispatch.h"
#include "uitools.h"
#include "platform_ui_adapter.h"
#include "array_safety.h"
// When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
@@ -51,7 +48,8 @@ namespace {
namespace mj = ::mujoco;
namespace mju = ::mujoco::sample_util;
using ::mujoco::Glfw;
using Seconds = std::chrono::duration<double>;
using Milliseconds = std::chrono::duration<double, std::milli>;
//------------------------------------------- global -----------------------------------------------
@@ -350,13 +348,13 @@ void profilershow(mj::Simulate* sim, mjrRect rect) {
rect.width/4,
rect.height/4
};
mjr_figure(viewport, &sim->figtimer, &sim->con);
mjr_figure(viewport, &sim->figtimer, &sim->platform_ui->mjr_context());
viewport.bottom += rect.height/4;
mjr_figure(viewport, &sim->figsize, &sim->con);
mjr_figure(viewport, &sim->figsize, &sim->platform_ui->mjr_context());
viewport.bottom += rect.height/4;
mjr_figure(viewport, &sim->figcost, &sim->con);
mjr_figure(viewport, &sim->figcost, &sim->platform_ui->mjr_context());
viewport.bottom += rect.height/4;
mjr_figure(viewport, &sim->figconstraint, &sim->con);
mjr_figure(viewport, &sim->figconstraint, &sim->platform_ui->mjr_context());
}
@@ -453,7 +451,7 @@ void sensorshow(mj::Simulate* sim, mjrRect rect) {
width,
rect.height/3
};
mjr_figure(viewport, &sim->figsensor, &sim->con);
mjr_figure(viewport, &sim->figsensor, &sim->platform_ui->mjr_context());
}
// prepare info text
@@ -935,12 +933,12 @@ void copykey(mj::Simulate* sim) {
mju::strcat_arr(clipboard, "'/>");
// copy to clipboard
Glfw().glfwSetClipboardString(sim->window, clipboard);
sim->platform_ui->SetClipboardString(clipboard);
}
// millisecond timer, for MuJoCo built-in profiler
mjtNum timer() {
return 1000*Glfw().glfwGetTime();
return Milliseconds(mj::Simulate::Clock::now().time_since_epoch()).count();
}
// clear all times
@@ -975,7 +973,7 @@ void copycamera(mj::Simulate* sim) {
camera[0].up[0], camera[0].up[1], camera[0].up[2]);
// copy spec into clipboard
Glfw().glfwSetClipboardString(sim->window, clipboard);
sim->platform_ui->SetClipboardString(clipboard);
}
// update UI 0 when MuJoCo structures change (except for joint sliders)
@@ -1000,11 +998,36 @@ void updatesettings(mj::Simulate* sim) {
}
// update UI
mjui_update(-1, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(-1, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
// Compute suitable font scale.
int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
// compute framebuffer-to-window ratio
auto [buf_width, buf_height] = platform_ui.GetFramebufferSize();
auto [win_width, win_height] = platform_ui.GetWindowSize();
double b2w = static_cast<double>(buf_width) / win_width;
// compute PPI
double PPI = b2w * platform_ui.GetDisplayPixelsPerInch();
// estimate font scaling, guard against unrealistic PPI
int fs;
if (buf_width > win_width) {
fs = mju_round(b2w * 100);
} else if (PPI>50 && PPI<350) {
fs = mju_round(PPI);
} else {
fs = 150;
}
fs = mju_round(fs * 0.02) * 50;
fs = mjMIN(300, mjMAX(100, fs));
return fs;
}
//---------------------------------- UI hooks (for uitools.c) --------------------------------------
//---------------------------------- UI handlers ---------------------------------------------------
// determine enable/disable item state given category
int uiPredicate(int category, void* userdata) {
@@ -1033,11 +1056,6 @@ void uiLayout(mjuiState* state) {
// set number of rectangles
state->nrect = 4;
// rect 0: entire framebuffer
rect[0].left = 0;
rect[0].bottom = 0;
Glfw().glfwGetFramebufferSize(sim->window, &rect[0].width, &rect[0].height);
// rect 1: UI 0
rect[1].left = 0;
rect[1].width = sim->ui0_enable ? sim->ui0.width : 0;
@@ -1057,6 +1075,13 @@ void uiLayout(mjuiState* state) {
rect[3].height = rect[0].height;
}
void uiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
mjui_resize(ui, con);
mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
uiLayout(state);
mjui_update(-1, -1, ui, state, con);
}
// handle UI event
void uiEvent(mjuiState* state) {
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
@@ -1070,7 +1095,7 @@ void uiEvent(mjuiState* state) {
(state->dragrect==0 && state->mouserect==sim->ui0.rectid) ||
state->type==mjEVENT_KEY) {
// process UI event
mjuiItem* it = mjui_event(&sim->ui0, state, &sim->con);
mjuiItem* it = mjui_event(&sim->ui0, state, &sim->platform_ui->mjr_context());
// file section
if (it && it->sectionid==SECT_FILE) {
@@ -1125,39 +1150,21 @@ void uiEvent(mjuiState* state) {
break;
case 2: // Font
mjr_changeFont(50*(sim->font+1), &sim->con);
mjr_changeFont(50*(sim->font+1), &sim->platform_ui->mjr_context());
break;
case 9: // Full screen
if (Glfw().glfwGetWindowMonitor(sim->window)) {
// restore window from saved data
Glfw().glfwSetWindowMonitor(sim->window, nullptr, sim->windowpos[0], sim->windowpos[1],
sim->windowsize[0], sim->windowsize[1], 0);
}
// currently windowed: switch to full screen
else {
// save window data
Glfw().glfwGetWindowPos(sim->window, sim->windowpos, sim->windowpos+1);
Glfw().glfwGetWindowSize(sim->window, sim->windowsize, sim->windowsize+1);
// switch
Glfw().glfwSetWindowMonitor(sim->window, Glfw().glfwGetPrimaryMonitor(), 0, 0,
sim->vmode.width, sim->vmode.height, sim->vmode.refreshRate);
}
// reinstante vsync, just in case
Glfw().glfwSwapInterval(sim->vsync);
sim->platform_ui->ToggleFullscreen();
break;
case 10: // Vertical sync
Glfw().glfwSwapInterval(sim->vsync);
sim->platform_ui->SetVSync(sim->vsync);
break;
}
// modify UI
uiModify(sim->window, &sim->ui0, state, &sim->con);
uiModify(sim->window, &sim->ui1, state, &sim->con);
uiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
// simulation section
@@ -1245,7 +1252,8 @@ void uiEvent(mjuiState* state) {
} else {
sim->cam.type = mjCAMERA_FREE;
sim->camera = 0;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate,
&sim->platform_ui->mjr_context());
}
} else {
sim->cam.type = mjCAMERA_FIXED;
@@ -1264,7 +1272,7 @@ void uiEvent(mjuiState* state) {
sim->ui1.nsect = SECT_JOINT;
makejoint(sim, sim->ui1.sect[SECT_JOINT].state);
sim->ui1.nsect = NSECT1;
uiModify(sim->window, &sim->ui1, state, &sim->con);
uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
// remake control section if actuator group changed
@@ -1272,7 +1280,7 @@ void uiEvent(mjuiState* state) {
sim->ui1.nsect = SECT_CONTROL;
makecontrol(sim, sim->ui1.sect[SECT_CONTROL].state);
sim->ui1.nsect = NSECT1;
uiModify(sim->window, &sim->ui1, state, &sim->con);
uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
}
@@ -1287,14 +1295,14 @@ void uiEvent(mjuiState* state) {
(state->dragrect==0 && state->mouserect==sim->ui1.rectid) ||
state->type==mjEVENT_KEY) {
// process UI event
mjuiItem* it = mjui_event(&sim->ui1, state, &sim->con);
mjuiItem* it = mjui_event(&sim->ui1, state, &sim->platform_ui->mjr_context());
// control section
if (it && it->sectionid==SECT_CONTROL) {
// clear controls
if (it->itemid==0) {
mju_zero(d->ctrl, m->nu);
mjui_update(SECT_CONTROL, -1, &sim->ui1, &sim->uistate, &sim->con);
mjui_update(SECT_CONTROL, -1, &sim->ui1, &sim->uistate, &sim->platform_ui->mjr_context());
}
}
@@ -1311,7 +1319,7 @@ void uiEvent(mjuiState* state) {
if (m) {
sim->run = 1 - sim->run;
sim->pert.active = 0;
mjui_update(-1, -1, &sim->ui0, state, &sim->con);
mjui_update(-1, -1, &sim->ui0, state, &sim->platform_ui->mjr_context());
}
break;
@@ -1348,7 +1356,7 @@ void uiEvent(mjuiState* state) {
sim->camera += 1;
}
sim->cam.fixedcamid = sim->camera - 2;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
break;
@@ -1362,28 +1370,28 @@ void uiEvent(mjuiState* state) {
sim->camera -= 1;
}
sim->cam.fixedcamid = sim->camera - 2;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
break;
case mjKEY_F6: // cycle frame visualisation
if (m) {
sim->vopt.frame = (sim->vopt.frame + 1) % mjNFRAME;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
break;
case mjKEY_F7: // cycle label visualisation
if (m) {
sim->vopt.label = (sim->vopt.label + 1) % mjNLABEL;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
break;
case mjKEY_ESCAPE: // free camera
sim->cam.type = mjCAMERA_FREE;
sim->camera = 0;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
break;
case '-': // slow down
@@ -1472,7 +1480,8 @@ void uiEvent(mjuiState* state) {
// UI camera
sim->camera = 1;
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate,
&sim->platform_ui->mjr_context());
}
}
@@ -1531,33 +1540,30 @@ void uiEvent(mjuiState* state) {
return;
}
}
void uiRender(mjuiState* state) {
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
sim->render();
}
// drop file callback
void drop(mj::Simulate* sim, int count, const char** paths) {
// make sure list is non-empty
if (count>0) {
// Dropped files
if (state->type == mjEVENT_FILESDROP && state->dropcount > 0) {
while (sim->droploadrequest.load()) {}
mju::strcpy_arr(sim->dropfilename, paths[0]);
mju::strcpy_arr(sim->dropfilename, state->droppaths[0]);
sim->droploadrequest.store(true);
return;
}
// Redraw
if (state->type == mjEVENT_REDRAW) {
sim->render();
return;
}
}
void uiDrop(mjuiState* state, int count, const char** paths) {
mj::Simulate* simulate = static_cast<mj::Simulate*>(state->userdata);
drop(simulate, count, paths);
}
} // namespace
namespace mujoco {
namespace mju = ::mujoco::sample_util;
Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui)
: platform_ui(std::move(platform_ui)),
uistate(this->platform_ui->state()) {}
//------------------------------------ apply pose perturbations ------------------------------------
void Simulate::applyposepertubations(int flg_paused) {
if (this->m != nullptr) {
@@ -1598,7 +1604,7 @@ void Simulate::loadmodel() {
// re-create scene and context
mjv_makeScene(this->m, &this->scn, maxgeom);
mjr_makeContext(this->m, &this->con, 50*(this->font+1));
this->platform_ui->RefreshMjrContext(this->m, 50*(this->font+1));
// clear perturbation state
this->pert.active = 0;
@@ -1616,10 +1622,10 @@ void Simulate::loadmodel() {
mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
// set window title to model name
if (this->window && this->m->names) {
char title[200] = "Simulate : ";
if (this->m->names) {
char title[200] = "MuJoCo : ";
mju::strcat_arr(title, this->m->names);
Glfw().glfwSetWindowTitle(this->window, title);
platform_ui->SetWindowTitle(title);
}
// set keyframe range and divisions
@@ -1631,8 +1637,8 @@ void Simulate::loadmodel() {
makesections(this);
// full ui update
uiModify(this->window, &this->ui0, &this->uistate, &this->con);
uiModify(this->window, &this->ui1, &this->uistate, &this->con);
uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
updatesettings(this);
// clear request
@@ -1659,11 +1665,11 @@ void Simulate::loadmodel() {
// prepare to render
void Simulate::prepare() {
// data for FPS calculation
static double lastupdatetm = 0;
static std::chrono::time_point<Clock> lastupdatetm;
// update interval, save update time
double tmnow = Glfw().glfwGetTime();
double interval = tmnow - lastupdatetm;
auto tmnow = Clock::now();
double interval = Seconds(tmnow - lastupdatetm).count();
interval = mjMIN(1, mjMAX(0.0001, interval));
lastupdatetm = tmnow;
@@ -1678,12 +1684,12 @@ void Simulate::prepare() {
// update watch
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
watch(this);
mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->con);
mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
}
// update joint
if (this->ui1_enable && this->ui1.sect[SECT_JOINT].state) {
mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->con);
mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// update info text
@@ -1693,7 +1699,7 @@ void Simulate::prepare() {
// update control
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->con);
mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// update profiler
@@ -1712,6 +1718,11 @@ void Simulate::prepare() {
// render the ui to the window
void Simulate::render() {
if (this->platform_ui->RefreshMjrContext(this->m, 50*(this->font+1))) {
uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// get 3D rectangle and reduced for profiler
mjrRect rect = this->uistate.rect[3];
mjrRect smallrect = rect;
@@ -1726,39 +1737,43 @@ void Simulate::render() {
// label
if (this->loadrequest) {
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, "loading", nullptr, &this->con);
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, "loading", nullptr,
&this->platform_ui->mjr_context());
} else {
char intro_message[Simulate::kMaxFilenameLength];
mju::sprintf_arr(intro_message,
"MuJoCo version %s\nDrag-and-drop model file here", mj_versionString());
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0, &this->con);
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0,
&this->platform_ui->mjr_context());
}
// show last loading error
if (this->loadError[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0, &this->con);
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
&this->platform_ui->mjr_context());
}
// render uis
if (this->ui0_enable) {
mjui_render(&this->ui0, &this->uistate, &this->con);
mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
}
if (this->ui1_enable) {
mjui_render(&this->ui1, &this->uistate, &this->con);
mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// finalize
Glfw().glfwSwapBuffers(this->window);
this->platform_ui->SwapBuffers();
return;
}
// render scene
mjr_render(rect, &this->scn, &this->con);
mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
// show last loading error
if (this->loadError[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0, &this->con);
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
&this->platform_ui->mjr_context());
}
// make pause/loading label
@@ -1794,28 +1809,30 @@ void Simulate::render() {
std::string newline = !pauseloadlabel.empty() && rtlabel[0] ? "\n" : "";
std::string topleftlabel = rtlabel + newline + pauseloadlabel;
mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect,
topleftlabel.c_str(), nullptr, &this->con);
topleftlabel.c_str(), nullptr, &this->platform_ui->mjr_context());
}
// show ui 0
if (this->ui0_enable) {
mjui_render(&this->ui0, &this->uistate, &this->con);
mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
}
// show ui 1
if (this->ui1_enable) {
mjui_render(&this->ui1, &this->uistate, &this->con);
mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// show help
if (this->help) {
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content, &this->con);
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content,
&this->platform_ui->mjr_context());
}
// show info
if (this->info) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content, &this->con);
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content,
&this->platform_ui->mjr_context());
}
// show profiler
@@ -1836,7 +1853,7 @@ void Simulate::render() {
if (!rgb) {
mju_error("could not allocate buffer for screenshot");
}
mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &con);
mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &this->platform_ui->mjr_context());
// flip up-down
for (int r = 0; r < h/2; ++r) {
@@ -1861,45 +1878,15 @@ void Simulate::render() {
}
// finalize
Glfw().glfwSwapBuffers(this->window);
this->platform_ui->SwapBuffers();
}
// clear callbacks registered in external structures
void Simulate::clearcallback() {
uiClearCallback(this->window);
}
void Simulate::renderloop() {
// Set timer callback (milliseconds)
mjcb_time = timer;
// multisampling
Glfw().glfwWindowHint(GLFW_SAMPLES, 4);
Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
// get videomode and save
this->vmode = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
// use videomode refreshrate if nonzero
if (this->vmode.refreshRate) this->refreshRate = this->vmode.refreshRate;
// create window
this->window = Glfw().glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
"Simulate", nullptr, nullptr);
if (!this->window) {
Glfw().glfwTerminate();
mju_error("could not create window");
}
// save window position and size
Glfw().glfwGetWindowPos(this->window, this->windowpos, this->windowpos+1);
Glfw().glfwGetWindowSize(this->window, this->windowsize, this->windowsize+1);
// make context current, set v-sync
Glfw().glfwMakeContextCurrent(this->window);
Glfw().glfwSwapInterval(this->vsync);
// init abstract visualization
mjv_defaultCamera(&this->cam);
mjv_defaultOption(&this->vopt);
@@ -1911,31 +1898,38 @@ void Simulate::renderloop() {
mjv_makeScene(nullptr, &this->scn, maxgeom);
// select default font
int fontscale = uiFontScale(this->window);
int fontscale = ComputeFontScale(*this->platform_ui);
this->font = fontscale/50 - 1;
// make empty context
mjr_defaultContext(&this->con);
mjr_makeContext(nullptr, &this->con, fontscale);
this->platform_ui->RefreshMjrContext(nullptr, fontscale);
// init state and uis
std::memset(&this->uistate, 0, sizeof(mjuiState));
std::memset(&this->ui0, 0, sizeof(mjUI));
std::memset(&this->ui1, 0, sizeof(mjUI));
auto [buf_width, buf_height] = this->platform_ui->GetFramebufferSize();
this->uistate.nrect = 1;
this->uistate.rect[0].width = buf_width;
this->uistate.rect[0].height = buf_height;
this->ui0.spacing = mjui_themeSpacing(this->spacing);
this->ui0.color = mjui_themeColor(this->color);
this->ui0.predicate = uiPredicate;
this->ui0.rectid = 1;
this->ui0.auxid = 0;
this->ui1.spacing = mjui_themeSpacing(this->spacing);
this->ui1.color = mjui_themeColor(this->color);
this->ui1.predicate = uiPredicate;
this->ui1.rectid = 2;
this->ui1.auxid = 1;
// set GLFW callbacks
// set GUI adapter callbacks
this->uistate.userdata = this;
uiSetCallback(this->window, &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
this->platform_ui->SetEventCallback(uiEvent);
this->platform_ui->SetLayoutCallback(uiLayout);
// populate uis with standard sections
this->ui0.userdata = this;
@@ -1944,11 +1938,11 @@ void Simulate::renderloop() {
mjui_add(&this->ui0, this->defOption);
mjui_add(&this->ui0, this->defSimulation);
mjui_add(&this->ui0, this->defWatch);
uiModify(this->window, &this->ui0, &this->uistate, &this->con);
uiModify(this->window, &this->ui1, &this->uistate, &this->con);
uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
// run event loop
while (!Glfw().glfwWindowShouldClose(this->window) && !this->exitrequest.load()) {
while (!this->platform_ui->ShouldCloseWindow() && !this->exitrequest.load()) {
{
const std::lock_guard<std::mutex> lock(this->mtx);
@@ -1959,8 +1953,8 @@ void Simulate::renderloop() {
this->loadrequest = 1;
}
// handle events (calls all callbacks)
Glfw().glfwPollEvents();
// poll and handle events
this->platform_ui->PollEvents();
// prepare to render
this->prepare();
@@ -1972,16 +1966,6 @@ void Simulate::renderloop() {
this->exitrequest.store(true);
this->clearcallback();
mjv_freeScene(&this->scn);
mjr_freeContext(&this->con);
Glfw().glfwDestroyWindow(this->window);
}
//------------------------------------ setup the glfw dispatch table -------------------------------
void setglfwdlhandle(void* dlhandle) {
Glfw(dlhandle);
}
} // namespace mujoco