Merge pull request #201 from aftersomemath:refactor-simulate
PiperOrigin-RevId: 465044152 Change-Id: I54e65a30764a444dbd175260314d685fd7ffa6a1
This commit is contained in:
Saran Tunyasuvunakool
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// Copyright 2021 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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#ifndef MUJOCO_SIMULATE_SIMULATE_H_
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#define MUJOCO_SIMULATE_SIMULATE_H_
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#include <atomic>
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#include <condition_variable>
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#include <mutex>
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#include <thread>
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#include <GLFW/glfw3.h>
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#include <mujoco/mujoco.h>
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#ifdef MJSIMULATE_STATIC
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// static library
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#define MJSIMULATEAPI
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#define MJSIMULATELOCAL
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#else
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#ifdef MJSIMULATE_DLL_EXPORTS
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#define MJSIMULATEAPI MUJOCO_HELPER_DLL_EXPORT
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#else
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#define MJSIMULATEAPI MUJOCO_HELPER_DLL_IMPORT
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#endif
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#define MJSIMULATELOCAL MUJOCO_HELPER_DLL_LOCAL
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#endif
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namespace mujoco {
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//-------------------------------- global -----------------------------------------------
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// Simulate states not contained in MuJoCo structures
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class MJSIMULATEAPI Simulate {
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public:
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// create object and initialize the simulate ui
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Simulate() = default;
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// Apply UI pose perturbations to model and data
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void applyposepertubations(int flg_paused);
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// Apply UI force perturbations to model and data
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void applyforceperturbations();
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// Request that the Simulate UI thread render a new model
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// optionally delete the old model and data when done
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void load(const char* file, mjModel* m, mjData* d, bool delete_old_m_d);
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// functions below are used by the renderthread
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// load mjb or xml model that has been requested by load()
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void loadmodel();
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// prepare to render
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void prepare();
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// render the ui to the window
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void render();
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// clear callbacks registered in external structures
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void clearcallback();
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// loop to render the UI (must be called from main thread because of MacOS)
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// https://discourse.glfw.org/t/multithreading-glfw/573/5
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void renderloop();
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// constants
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static constexpr int kMaxFilenameLength = 1000;
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// model and data to be visualized
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mjModel* mnew = nullptr;
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mjData* dnew = nullptr;
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bool delete_old_m_d = false;
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mjModel* m = nullptr;
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mjData* d = nullptr;
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std::mutex mtx;
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std::condition_variable cond_loadrequest;
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std::atomic_bool exitrequest = false;
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// option
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int spacing = 0;
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int color = 0;
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int font = 0;
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int ui0_enable = 1;
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int ui1_enable = 1;
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int help = 0;
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int info = 0;
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int profiler = 0;
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int sensor = 0;
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int fullscreen = 0;
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int vsync = 1;
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int busywait = 0;
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// simulation
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int run = 1;
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// keyframe index
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int key = 0;
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std::atomic_int uiloadrequest = 0;
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std::atomic_bool droploadrequest = false;
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// 2: render thread asked to update its model
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// 1: showing "loading" label, about to load
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// 0: model loaded or no load requested.
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int loadrequest = 0;
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// strings
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char loadError[kMaxFilenameLength] = "";
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char dropfilename[kMaxFilenameLength] = "";
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char filename[kMaxFilenameLength] = "";
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char previous_filename[kMaxFilenameLength] = "";
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int slow_down = 1;
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bool speed_changed = true;
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double ctrlnoisestd = 0.0;
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double ctrlnoiserate = 0.0;
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// watch
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char field[mjMAXUITEXT] = "qpos";
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int index = 0;
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// physics: need sync
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int disable[mjNDISABLE] = {0};
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int enable[mjNENABLE] = {0};
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// rendering: need sync
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int camera = 0;
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// abstract visualization
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mjvScene scn = {};
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mjvCamera cam = {};
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mjvOption vopt = {};
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mjvPerturb pert = {};
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mjvFigure figconstraint = {};
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mjvFigure figcost = {};
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mjvFigure figtimer = {};
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mjvFigure figsize = {};
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mjvFigure figsensor = {};
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// OpenGL rendering and UI
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GLFWvidmode vmode = {};
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int windowpos[2] = {0};
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int windowsize[2] = {0};
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mjrContext con = {};
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GLFWwindow* window = nullptr;
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mjuiState uistate = {};
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mjUI ui0 = {};
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mjUI ui1 = {};
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// Constant arrays needed for the option section of UI and the UI interface
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// TODO setting the size here is not ideal
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const mjuiDef defOption[14] = {
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{mjITEM_SECTION, "Option", 1, nullptr, "AO"},
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{mjITEM_SELECT, "Spacing", 1, &this->spacing, "Tight\nWide"},
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{mjITEM_SELECT, "Color", 1, &this->color, "Default\nOrange\nWhite\nBlack"},
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{mjITEM_SELECT, "Font", 1, &this->font, "50 %\n100 %\n150 %\n200 %\n250 %\n300 %"},
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{mjITEM_CHECKINT, "Left UI (Tab)", 1, &this->ui0_enable, " #258"},
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{mjITEM_CHECKINT, "Right UI", 1, &this->ui1_enable, "S#258"},
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{mjITEM_CHECKINT, "Help", 2, &this->help, " #290"},
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{mjITEM_CHECKINT, "Info", 2, &this->info, " #291"},
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{mjITEM_CHECKINT, "Profiler", 2, &this->profiler, " #292"},
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{mjITEM_CHECKINT, "Sensor", 2, &this->sensor, " #293"},
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#ifdef __APPLE__
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{mjITEM_CHECKINT, "Fullscreen", 0, &this->fullscreen, " #294"},
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#else
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{mjITEM_CHECKINT, "Fullscreen", 1, &this->fullscreen, " #294"},
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#endif
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{mjITEM_CHECKINT, "Vertical Sync", 1, &this->vsync, ""},
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{mjITEM_CHECKINT, "Busy Wait", 1, &this->busywait, ""},
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{mjITEM_END}
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};
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// simulation section of UI
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const mjuiDef defSimulation[12] = {
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{mjITEM_SECTION, "Simulation", 1, nullptr, "AS"},
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{mjITEM_RADIO, "", 2, &this->run, "Pause\nRun"},
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{mjITEM_BUTTON, "Reset", 2, nullptr, " #259"},
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{mjITEM_BUTTON, "Reload", 2, nullptr, "CL"},
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{mjITEM_BUTTON, "Align", 2, nullptr, "CA"},
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{mjITEM_BUTTON, "Copy pose", 2, nullptr, "CC"},
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{mjITEM_SLIDERINT, "Key", 3, &this->key, "0 0"},
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{mjITEM_BUTTON, "Load key", 3},
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{mjITEM_BUTTON, "Save key", 3},
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{mjITEM_SLIDERNUM, "Noise scale", 2, &this->ctrlnoisestd, "0 2"},
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{mjITEM_SLIDERNUM, "Noise rate", 2, &this->ctrlnoiserate, "0 2"},
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{mjITEM_END}
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};
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// watch section of UI
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const mjuiDef defWatch[5] = {
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{mjITEM_SECTION, "Watch", 0, nullptr, "AW"},
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{mjITEM_EDITTXT, "Field", 2, this->field, "qpos"},
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{mjITEM_EDITINT, "Index", 2, &this->index, "1"},
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{mjITEM_STATIC, "Value", 2, nullptr, " "},
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{mjITEM_END}
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};
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// info strings
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char info_title[Simulate::kMaxFilenameLength] = {0};
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char info_content[Simulate::kMaxFilenameLength] = {0};
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};
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} // namespace mujoco
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#endif
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