Rename simulate.fully_managed_ to simulate.is_passive_ with flipped semantics.

PiperOrigin-RevId: 570815258 Change-Id: Iaffdb0e52bcdb31cff7bd29cb820913e3838f0ee
2023-10-04 14:49:06 -07:00
parent 3e12f0d50c
commit e9613f0cc9
4 changed files with 50 additions and 50 deletions
@@ -70,12 +70,12 @@ class SimulateWrapper {
 public:
  SimulateWrapper(std::unique_ptr<PlatformUIAdapter> platform_ui_adapter,
                  py::object scn, py::object cam, py::object opt,
-                  py::object pert, bool fully_managed)
+                  py::object pert, bool is_passive)
      : simulate_(new mujoco::Simulate(
            std::move(platform_ui_adapter), scn.cast<MjvSceneWrapper&>().get(),
            cam.cast<MjvCameraWrapper&>().get(),
            opt.cast<MjvOptionWrapper&>().get(),
-            pert.cast<MjvPerturbWrapper&>().get(), fully_managed)),
+            pert.cast<MjvPerturbWrapper&>().get(), is_passive)),
        m_(py::none()),
        d_(py::none()),
        scn_(scn),
@@ -194,12 +194,13 @@ PYBIND11_MODULE(_simulate, pymodule) {
  py::class_<SimulateWrapper>(pymodule, "Simulate")
      .def_readonly_static("MAX_GEOM", &mujoco::Simulate::kMaxGeom)
      .def(py::init([](py::object scn, py::object cam, py::object opt,
-                       py::object pert, bool fully_managed,
+                       py::object pert, bool run_physics_thread,
                       py::object key_callback) {
+        bool is_passive = !run_physics_thread;
        return std::make_unique<SimulateWrapper>(
            std::make_unique<UIAdapterWithPyCallback<UIAdapter>>(
                key_callback),
-            scn, cam, opt, pert, fully_managed);
+            scn, cam, opt, pert, is_passive);
      }))
      .def("destroy", &SimulateWrapper::Destroy,
           py::call_guard<py::gil_scoped_release>())
@@ -15,6 +15,7 @@
 #include <chrono>
 #include <cstdint>
 #include <cstdio>
+#include <cstdlib>
 #include <cstring>
 #include <iostream>
 #include <memory>
@@ -22,8 +23,6 @@
 #include <new>
 #include <string>
 #include <thread>
-#include <type_traits>
-#include <vector>

 #include <mujoco/mujoco.h>
 #include "glfw_adapter.h"
@@ -490,7 +489,7 @@ int main(int argc, char** argv) {
  // simulate object encapsulates the UI
  auto sim = std::make_unique<mj::Simulate>(
      std::make_unique<mj::GlfwAdapter>(),
-      &scn, &cam, &opt, &pert, /* fully_managed = */ true
+      &scn, &cam, &opt, &pert, /* is_passive = */ false
  );

  const char* filename = nullptr;
@@ -674,7 +674,7 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {

 // make physics section of UI
 void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
-  mjOption* opt = sim->fully_managed_ ? &sim->m_->opt : &sim->scnstate_.model.opt;
+  mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
  mjuiDef defPhysics[] = {
    {mjITEM_SECTION,   "Physics",       oldstate, nullptr,           "AP"},
    {mjITEM_SELECT,    "Integrator",    2, &(opt->integrator),        "Euler\nRK4\nimplicit\nimplicitfast"},
@@ -866,8 +866,8 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {

 // make visualization section of UI
 void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
-  mjStatistic* stat = sim->fully_managed_ ? &sim->m_->stat : &sim->scnstate_.model.stat;
-  mjVisual* vis = sim->fully_managed_ ? &sim->m_->vis : &sim->scnstate_.model.vis;
+  mjStatistic* stat = sim->is_passive_ ? &sim->scnstate_.model.stat : &sim->m_->stat;
+  mjVisual* vis = sim->is_passive_ ? &sim->scnstate_.model.vis : &sim->m_->vis;

  mjuiDef defVisualization[] = {
    {mjITEM_SECTION,   "Visualization", oldstate, nullptr, "AV"},
@@ -1001,7 +1001,7 @@ void MakeJointSection(mj::Simulate* sim, int oldstate) {
      }

      // set data and name
-      if (sim->fully_managed_) {
+      if (!sim->is_passive_) {
        defSlider[0].pdata = &sim->d_->qpos[sim->m_->jnt_qposadr[i]];
      } else {
        defSlider[0].pdata = &sim->qpos_[sim->jnt_qposadr_[i]];
@@ -1053,7 +1053,7 @@ void MakeControlSection(mj::Simulate* sim, int oldstate) {
    }

    // set data and name
-    if (sim->fully_managed_) {
+    if (!sim->is_passive_) {
      defSlider[0].pdata = &sim->d_->ctrl[i];
    } else {
      defSlider[0].pdata = &sim->ctrl_[i];
@@ -1242,16 +1242,16 @@ int UiPredicate(int category, void* userdata) {

  switch (category) {
  case 2:                 // require model
-    return sim->m_ || !sim->fully_managed_;
+    return sim->m_ || sim->is_passive_;

  case 3:                 // require model and nkey
-    return sim->fully_managed_ && sim->nkey_;
+    return !sim->is_passive_ && sim->nkey_;

  case 4:                 // require model and paused
    return sim->m_ && !sim->run;

  case 5:                 // require model and fully managed mode
-    return sim->fully_managed_ && sim->m_;
+    return !sim->is_passive_ && sim->m_;

  default:
    return 1;
@@ -1401,7 +1401,7 @@ void UiEvent(mjuiState* state) {

    // physics section
    else if (it && it->sectionid==SECT_PHYSICS && sim->m_) {
-      mjOption* opt = sim->fully_managed_ ? &sim->m_->opt : &sim->scnstate_.model.opt;
+      mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;

      // update disable flags in mjOption
      opt->disableflags = 0;
@@ -1500,7 +1500,7 @@ void UiEvent(mjuiState* state) {
  if (state->type==mjEVENT_KEY && state->key!=0) {
    switch (state->key) {
    case ' ':                   // Mode
-      if (sim->fully_managed_ && sim->m_) {
+      if (!sim->is_passive_ && sim->m_) {
        sim->run = 1 - sim->run;
        sim->pert.active = 0;

@@ -1511,7 +1511,7 @@ void UiEvent(mjuiState* state) {
      break;

    case mjKEY_RIGHT:           // step forward
-      if (sim->fully_managed_ && sim->m_ && !sim->run) {
+      if (!sim->is_passive_ && sim->m_ && !sim->run) {
        ClearTimers(sim->d_);

        // currently in scrubber: increment scrub, load state, update slider UI
@@ -1533,7 +1533,7 @@ void UiEvent(mjuiState* state) {
      break;

    case mjKEY_LEFT:           // step backward
-      if (sim->fully_managed_ && sim->m_) {
+      if (!sim->is_passive_ && sim->m_) {
        sim->run = 0;
        ClearTimers(sim->d_);

@@ -1549,7 +1549,7 @@ void UiEvent(mjuiState* state) {
      break;

    case mjKEY_PAGE_UP:         // select parent body
-      if ((sim->m_ || !sim->fully_managed_) && sim->pert.select > 0) {
+      if ((sim->m_ || sim->is_passive_) && sim->pert.select > 0) {
        sim->pert.select = sim->body_parentid_[sim->pert.select];
        sim->pert.skinselect = -1;

@@ -1562,7 +1562,7 @@ void UiEvent(mjuiState* state) {
      break;

    case ']':                   // cycle up fixed cameras
-      if ((sim->m_ || !sim->fully_managed_) && sim->ncam_) {
+      if ((sim->m_ || !sim->is_passive_) && sim->ncam_) {
        sim->cam.type = mjCAMERA_FIXED;
        // camera = {0 or 1} are reserved for the free and tracking cameras
        if (sim->camera < 2 || sim->camera == 2 + sim->ncam_ - 1) {
@@ -1576,7 +1576,7 @@ void UiEvent(mjuiState* state) {
      break;

    case '[':                   // cycle down fixed cameras
-      if ((sim->m_ || !sim->fully_managed_) && sim->ncam_) {
+      if ((sim->m_ || sim->is_passive_) && sim->ncam_) {
        sim->cam.type = mjCAMERA_FIXED;
        // camera = {0 or 1} are reserved for the free and tracking cameras
        if (sim->camera <= 2) {
@@ -1590,14 +1590,14 @@ void UiEvent(mjuiState* state) {
      break;

    case mjKEY_F6:                   // cycle frame visualisation
-      if (sim->m_ || !sim->fully_managed_) {
+      if (sim->m_ || sim->is_passive_) {
        sim->opt.frame = (sim->opt.frame + 1) % mjNFRAME;
        mjui0_update_section(sim, SECT_RENDERING);
      }
      break;

    case mjKEY_F7:                   // cycle label visualisation
-      if (sim->m_ || !sim->fully_managed_) {
+      if (sim->m_ || sim->is_passive_) {
        sim->opt.label = (sim->opt.label + 1) % mjNLABEL;
        mjui0_update_section(sim, SECT_RENDERING);
      }
@@ -1610,7 +1610,7 @@ void UiEvent(mjuiState* state) {
      break;

    case '-':                   // slow down
-      if (sim->fully_managed_) {
+      if (!sim->is_passive_) {
        int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
        if (sim->real_time_index < numclicks-1 && !state->shift) {
          sim->real_time_index++;
@@ -1620,7 +1620,7 @@ void UiEvent(mjuiState* state) {
      break;

    case '=':                   // speed up
-      if (sim->fully_managed_ && sim->real_time_index > 0 && !state->shift) {
+      if (!sim->is_passive_ && sim->real_time_index > 0 && !state->shift) {
        sim->real_time_index--;
        sim->speed_changed = true;
      }
@@ -1633,7 +1633,7 @@ void UiEvent(mjuiState* state) {
  // 3D scroll
  if (state->type==mjEVENT_SCROLL && state->mouserect==3) {
    // emulate vertical mouse motion = 2% of window height
-    if (sim->fully_managed_) {
+    if (!sim->is_passive_) {
      mjv_moveCamera(sim->m_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
    } else {
      mjv_moveCameraFromState(
@@ -1646,7 +1646,7 @@ void UiEvent(mjuiState* state) {
  if (state->type==mjEVENT_PRESS && state->mouserect==3) {
    // set perturbation
    int newperturb = 0;
-    if (state->control && sim->pert.select>0 && (sim->m_ || !sim->fully_managed_)) {
+    if (state->control && sim->pert.select>0 && (sim->m_ || sim->is_passive_)) {
      // right: translate;  left: rotate
      if (state->right) {
        newperturb = mjPERT_TRANSLATE;
@@ -1659,7 +1659,7 @@ void UiEvent(mjuiState* state) {
    }

    // handle double-click
-    if (state->doubleclick && (sim->m_ || !sim->fully_managed_)) {
+    if (state->doubleclick && (sim->m_ || sim->is_passive_)) {
      sim->pending_.select = true;
      std::memcpy(&sim->pending_.select_state, state, sizeof(sim->pending_.select_state));

@@ -1672,7 +1672,7 @@ void UiEvent(mjuiState* state) {
  }

  // 3D release
-  if (state->type==mjEVENT_RELEASE && state->dragrect==3 && (sim->m_ || !sim->fully_managed_)) {
+  if (state->type==mjEVENT_RELEASE && state->dragrect==3 && (sim->m_ || sim->is_passive_)) {
    // stop perturbation
    sim->pert.active = 0;
    sim->pending_.newperturb = 0;
@@ -1680,7 +1680,7 @@ void UiEvent(mjuiState* state) {
  }

  // 3D move
-  if (state->type==mjEVENT_MOVE && state->dragrect==3 && (sim->m_ || !sim->fully_managed_)) {
+  if (state->type==mjEVENT_MOVE && state->dragrect==3 && (sim->m_ || sim->is_passive_)) {
    // determine action based on mouse button
    mjtMouse action;
    if (state->right) {
@@ -1694,7 +1694,7 @@ void UiEvent(mjuiState* state) {
    // move perturb or camera
    mjrRect r = state->rect[3];
    if (sim->pert.active) {
-      if (sim->fully_managed_) {
+      if (!sim->is_passive_) {
        mjv_movePerturb(
            sim->m_, sim->d_, action, state->dx / r.height, -state->dy / r.height,
            &sim->scn, &sim->pert);
@@ -1704,7 +1704,7 @@ void UiEvent(mjuiState* state) {
            &sim->scn, &sim->pert);
      }
    } else {
-      if (sim->fully_managed_) {
+      if (!sim->is_passive_) {
        mjv_moveCamera(
            sim->m_, action, state->dx / r.height, -state->dy / r.height,
            &sim->scn, &sim->cam);
@@ -1718,7 +1718,7 @@ void UiEvent(mjuiState* state) {
  }

  // Dropped files
-  if (state->type == mjEVENT_FILESDROP && state->dropcount > 0 && sim->fully_managed_) {
+  if (state->type == mjEVENT_FILESDROP && state->dropcount > 0 && !sim->is_passive_) {
    while (sim->droploadrequest.load()) {}
    mju::strcpy_arr(sim->dropfilename, state->droppaths[0]);
    sim->droploadrequest.store(true);
@@ -1739,8 +1739,8 @@ namespace mju = ::mujoco::sample_util;
 Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
                   mjvScene* scn, mjvCamera* cam,
                   mjvOption* opt, mjvPerturb* pert,
-                   bool fully_managed)
-    : fully_managed_(fully_managed),
+                   bool is_passive)
+    : is_passive_(is_passive),
      scn(*scn),
      cam(*cam),
      opt(*opt),
@@ -1808,7 +1808,7 @@ void Simulate::Sync() {
    }
  }

-  if (!fully_managed_) {
+  if (is_passive_) {
    // synchronize m_->opt with changes made via the UI
 #define X(name)                                                  \
  if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) { \
@@ -2007,7 +2007,7 @@ void Simulate::Sync() {
  }

  // update scene
-  if (fully_managed_) {
+  if (!is_passive_) {
    mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
  } else {
    mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
@@ -2033,7 +2033,7 @@ void Simulate::Sync() {
  // clear timers once profiler info has been copied
  ClearTimers(d_);

-  if (this->run || !this->fully_managed_) {
+  if (this->run || this->is_passive_) {
    // clear old perturbations, apply new
    mju_zero(d_->xfrc_applied, 6*m_->nbody);
    mjv_applyPerturbPose(m_, d_, &this->pert, 0);  // mocap bodies only
@@ -2148,7 +2148,7 @@ void Simulate::LoadOnRenderThread() {
  ctrl_prev_ = ctrl_;

  // allocate history buffer: smaller of {2000 states, 100 MB}
-  if (this->fully_managed_) {
+  if (!this->is_passive_) {
    constexpr int kHistoryLength = 2000;
    constexpr int kMaxHistoryBytes = 1e8;

@@ -2172,7 +2172,7 @@ void Simulate::LoadOnRenderThread() {
  }

  // re-create scene and context
-  if (this->fully_managed_) {
+  if (!this->is_passive_) {
    mjv_makeScene(this->m_, &this->scn, kMaxGeom);
  } else {
    mjopt_prev_ = m_->opt;
@@ -2204,7 +2204,7 @@ void Simulate::LoadOnRenderThread() {
  }

  // update scene
-  if (fully_managed_) {
+  if (!is_passive_) {
    mjv_updateScene(this->m_, this->d_,
                    &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
  } else {
@@ -2274,7 +2274,7 @@ void Simulate::Render() {
  }

  // no model
-  if (this->fully_managed_ && !this->m_) {
+  if (!this->is_passive_ && !this->m_) {
    // blank screen
    mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);

@@ -2322,7 +2322,7 @@ void Simulate::Render() {
    pending_.ui_update_physics = false;
  }

-  if (!fully_managed_) {
+  if (is_passive_) {
    if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
        (cam_prev_.type != cam.type ||
         cam_prev_.fixedcamid != cam.fixedcamid ||
@@ -2490,7 +2490,7 @@ void Simulate::RenderLoop() {
  InitializeSensor(this);

  // make empty scene
-  if (fully_managed_) {
+  if (!is_passive_) {
    mjv_defaultScene(&this->scn);
    mjv_makeScene(nullptr, &this->scn, kMaxGeom);
  }
@@ -2587,7 +2587,7 @@ void Simulate::RenderLoop() {
      }

      // update scene, doing a full sync if in fully managed mode
-      if (this->fully_managed_) {
+      if (!this->is_passive_) {
        Sync();
      } else {
        scnstate_.data.warning[mjWARN_VGEOMFULL].number += mjv_updateSceneFromState(
@@ -2609,7 +2609,7 @@ void Simulate::RenderLoop() {
    }
  }

-  if (fully_managed_){
+  if (!is_passive_){
    mjv_freeScene(&this->scn);
  } else {
    mjv_freeSceneState(&scnstate_);
@@ -52,7 +52,7 @@ class Simulate {
  Simulate(
      std::unique_ptr<PlatformUIAdapter> platform_ui_adapter,
      mjvScene* scn, mjvCamera* cam,
-      mjvOption* opt, mjvPerturb* pert, bool fully_managed);
+      mjvOption* opt, mjvPerturb* pert, bool is_passive);

  // Synchronize mjModel and mjData state with UI inputs, and update
  // visualization.
@@ -90,9 +90,9 @@ class Simulate {
  // constants
  static constexpr int kMaxFilenameLength = 1000;

-  // whether the viewer is operating in fully managed mode, where it can assume
+  // whether the viewer is operating in passive mode, where it cannot assume
  // that it has exclusive access to mjModel, mjData, and various mjv objects
-  bool fully_managed_ = true;
+  bool is_passive_ = false;

  // model and data to be visualized
  mjModel* mnew_ = nullptr;