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UI improvements. Fixes #1274.

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Copybara import of the project:

--
a1297d997d0b3cc624bbd1e704ffb7fbb2c5db9d by Emo Todorov <etodorov@gmail.com>:

UI imrovements

When OpenGL buffer size is too small to hold entire UI with all sections open, older sections (as determined by latest mouse click) are automatically closed as needed.

To test this new functionality, uncomment the test near the top of mjui_resize().

UI items now have userid, which can be used for event handling.  It is set through the (new) last field of mjuiDef, called otherint.

Sections titles can now have a checkmark - in which case they are rendered differently. Set via mjuiDef.otherint: 0- none (as before), 1- rendering changed but box not shown, 2- box shown.  This can be used to label sections of special interest to the application.

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b0405bfb3005586ef1d2656ea9cc43c608225927 by Emo Todorov <etodorov@gmail.com>:

more ui improvements

Implemented mjPRESERVE state for adding sections and separators, so you don't have to keep track of old states.

simulate.cc is now modified to use this new functionality.  I also made the separators in the Physics section collapsible. If you don't like it, change them back to state 1.

Also added functionality for handling section checkboxes.

--
10f4c49be62a6605a38b7c0c7bfae1629024ba31 by Emo Todorov <etodorov@gmail.com>:

even more ui improvements

Selection boxes that extend below the current UI height are finally rendered in full.

Sections and collapsible separators now have rounded corners. The radius can be controlled from theme spacing.

More theme color settings were added. In particular, color gradients can now be disabled (the two end colors are set independently).

--
96c2dc601a25d31c93b21f8e089d349e729e829e by Emo Todorov <etodorov@gmail.com>:

final ui improvements

Cleaned up the code a bit.

Added more control for color gradients.

--
c9eddb679f36df3f0745d37e3fa90c4e66ee6b98 by Emo Todorov <etodorov@gmail.com>:

bug fix

Fixed some rendering bugs in the new functionality.

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1749 from emotodorov:ui_improve ddfc21dbcf0482b8f0d5eacab21847c302f71440
PiperOrigin-RevId: 646060325
Change-Id: Idb27aae7cd0311d00f26387bcadf5891175e867d
This commit is contained in:
Emo Todorov
2024-06-24 05:30:25 -07:00
committed by Copybara-Service
parent e66b9a36b2
commit ee6a1dba28
10 changed files with 946 additions and 435 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/APIreference/APItypes.rst
+12
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@@ -582,6 +582,18 @@ Item types used in the UI framework.
.. mujoco-include:: mjtItem .. mujoco-include:: mjtItem
.. _mjtSection:
mjtSection
~~~~~~~~~~
State of a UI section.
.. mujoco-include:: mjtSection
.. _tySpecEnums: .. _tySpecEnums:
Spec Spec
doc/includes/references.h
+21 -2
View File
@@ -2286,6 +2286,11 @@ typedef enum mjtItem_ { // UI item type
mjNITEM // number of item types mjNITEM // number of item types
} mjtItem; } mjtItem;
typedef enum mjtSection_ { // UI section state
mjSECT_CLOSED = 0, // closed state (regular section)
mjSECT_OPEN, // open state (regular section)
mjSECT_FIXED // fixed section: always open, no title
} mjtSection;
struct mjuiState_ { // mouse and keyboard state struct mjuiState_ { // mouse and keyboard state
// constants set by user // constants set by user
int nrect; // number of rectangles used int nrect; // number of rectangles used
@@ -2333,6 +2338,8 @@ struct mjuiThemeSpacing_ { // UI visualization theme spacing
int scroll; // scrollbar width int scroll; // scrollbar width
int label; // label width int label; // label width
int section; // section gap int section; // section gap
int cornersect; // corner radius for section
int cornersep; // corner radius for separator
int itemside; // item side gap int itemside; // item side gap
int itemmid; // item middle gap int itemmid; // item middle gap
int itemver; // item vertical gap int itemver; // item vertical gap
@@ -2346,9 +2353,14 @@ struct mjuiThemeColor_ { // UI visualization theme color
float master[3]; // master background float master[3]; // master background
float thumb[3]; // scrollbar thumb float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitlecheck[3]; // section title with checkbox
float secttitlecheck2[3]; // section title with checkbox: bottom color
float sectfont[3]; // section font float sectfont[3]; // section font
float sectsymbol[3]; // section symbol float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane float sectpane[3]; // section pane
float separator[3]; // separator title
float separator2[3]; // separator title: bottom color
float shortcut[3]; // shortcut background float shortcut[3]; // shortcut background
float fontactive[3]; // font active float fontactive[3]; // font active
float fontinactive[3]; // font inactive float fontinactive[3]; // font inactive
@@ -2398,6 +2410,7 @@ struct mjuiItem_ { // UI item
void *pdata; // data pointer (type-specific) void *pdata; // data pointer (type-specific)
int sectionid; // id of section containing item int sectionid; // id of section containing item
int itemid; // id of item within section int itemid; // id of item within section
int userid; // user-supplied id (for event handling)
// type-specific properties // type-specific properties
union { union {
@@ -2409,20 +2422,23 @@ struct mjuiItem_ { // UI item
// internal // internal
mjrRect rect; // rectangle occupied by item mjrRect rect; // rectangle occupied by item
int skip; // item skipped due to closed separator
}; };
typedef struct mjuiItem_ mjuiItem; typedef struct mjuiItem_ mjuiItem;
struct mjuiSection_ { // UI section struct mjuiSection_ { // UI section
// properties // properties
char name[mjMAXUINAME]; // name char name[mjMAXUINAME]; // name
int state; // 0: closed, 1: open int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: hidden, 2: unchecked, 2: checked
int nitem; // number of items in use int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items mjuiItem item[mjMAXUIITEM]; // preallocated array of items
// internal // internal
mjrRect rtitle; // rectangle occupied by title mjrRect rtitle; // rectangle occupied by title
mjrRect rcontent; // rectangle occupied by content mjrRect rcontent; // rectangle occupied by content
int lastclick; // last mouse click over this section
}; };
typedef struct mjuiSection_ mjuiSection; typedef struct mjuiSection_ mjuiSection;
struct mjUI_ { // entire UI struct mjUI_ { // entire UI
@@ -2441,10 +2457,12 @@ struct mjUI_ { // entire UI
int maxheight; // height when all sections open int maxheight; // height when all sections open
int scroll; // scroll from top of UI int scroll; // scroll from top of UI
// mouse focus // mouse focus and count
int mousesect; // 0: none, -1: scroll, otherwise 1+section int mousesect; // 0: none, -1: scroll, otherwise 1+section
int mouseitem; // item within section int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts int mousehelp; // help button down: print shortcuts
int mouseclicks; // number of mouse clicks over UI
int mousesectcheck; // 0: none, otherwise 1+section
// keyboard focus and edit // keyboard focus and edit
int editsect; // 0: none, otherwise 1+section int editsect; // 0: none, otherwise 1+section
@@ -2465,6 +2483,7 @@ struct mjuiDef_ { // table passed to mjui_add()
int state; // state int state; // state
void* pdata; // pointer to data void* pdata; // pointer to data
char other[mjMAXUITEXT]; // string with type-specific properties char other[mjMAXUITEXT]; // string with type-specific properties
int otherint; // int with type-specific properties
}; };
typedef struct mjuiDef_ mjuiDef; typedef struct mjuiDef_ mjuiDef;
typedef enum mjtCatBit_ { // bitflags for mjvGeom category typedef enum mjtCatBit_ { // bitflags for mjvGeom category
include/mujoco/mjui.h
+24 -2
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@@ -26,6 +26,7 @@
#define mjMAXUIRECT 25 // maximum number of rectangles #define mjMAXUIRECT 25 // maximum number of rectangles
#define mjSEPCLOSED 1000 // closed state of adjustable separator #define mjSEPCLOSED 1000 // closed state of adjustable separator
#define mjPRESERVE 2000 // preserve section or separator state
// key codes matching GLFW (user must remap for other frameworks) // key codes matching GLFW (user must remap for other frameworks)
@@ -106,6 +107,13 @@ typedef enum mjtItem_ { // UI item type
} mjtItem; } mjtItem;
typedef enum mjtSection_ { // UI section state
mjSECT_CLOSED = 0, // closed state (regular section)
mjSECT_OPEN, // open state (regular section)
mjSECT_FIXED // fixed section: always open, no title
} mjtSection;
// predicate function: set enable/disable based on item category // predicate function: set enable/disable based on item category
typedef int (*mjfItemEnable)(int category, void* data); typedef int (*mjfItemEnable)(int category, void* data);
@@ -163,6 +171,8 @@ struct mjuiThemeSpacing_ { // UI visualization theme spacing
int scroll; // scrollbar width int scroll; // scrollbar width
int label; // label width int label; // label width
int section; // section gap int section; // section gap
int cornersect; // corner radius for section
int cornersep; // corner radius for separator
int itemside; // item side gap int itemside; // item side gap
int itemmid; // item middle gap int itemmid; // item middle gap
int itemver; // item vertical gap int itemver; // item vertical gap
@@ -180,9 +190,14 @@ struct mjuiThemeColor_ { // UI visualization theme color
float master[3]; // master background float master[3]; // master background
float thumb[3]; // scrollbar thumb float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitlecheck[3]; // section title with checkbox
float secttitlecheck2[3]; // section title with checkbox: bottom color
float sectfont[3]; // section font float sectfont[3]; // section font
float sectsymbol[3]; // section symbol float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane float sectpane[3]; // section pane
float separator[3]; // separator title
float separator2[3]; // separator title: bottom color
float shortcut[3]; // shortcut background float shortcut[3]; // shortcut background
float fontactive[3]; // font active float fontactive[3]; // font active
float fontinactive[3]; // font inactive float fontinactive[3]; // font inactive
@@ -236,6 +251,7 @@ struct mjuiItem_ { // UI item
void *pdata; // data pointer (type-specific) void *pdata; // data pointer (type-specific)
int sectionid; // id of section containing item int sectionid; // id of section containing item
int itemid; // id of item within section int itemid; // id of item within section
int userid; // user-supplied id (for event handling)
// type-specific properties // type-specific properties
union { union {
@@ -247,6 +263,7 @@ struct mjuiItem_ { // UI item
// internal // internal
mjrRect rect; // rectangle occupied by item mjrRect rect; // rectangle occupied by item
int skip; // item skipped due to closed separator
}; };
typedef struct mjuiItem_ mjuiItem; typedef struct mjuiItem_ mjuiItem;
@@ -256,15 +273,17 @@ typedef struct mjuiItem_ mjuiItem;
struct mjuiSection_ { // UI section struct mjuiSection_ { // UI section
// properties // properties
char name[mjMAXUINAME]; // name char name[mjMAXUINAME]; // name
int state; // 0: closed, 1: open int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: hidden, 2: unchecked, 2: checked
int nitem; // number of items in use int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items mjuiItem item[mjMAXUIITEM]; // preallocated array of items
// internal // internal
mjrRect rtitle; // rectangle occupied by title mjrRect rtitle; // rectangle occupied by title
mjrRect rcontent; // rectangle occupied by content mjrRect rcontent; // rectangle occupied by content
int lastclick; // last mouse click over this section
}; };
typedef struct mjuiSection_ mjuiSection; typedef struct mjuiSection_ mjuiSection;
@@ -287,10 +306,12 @@ struct mjUI_ { // entire UI
int maxheight; // height when all sections open int maxheight; // height when all sections open
int scroll; // scroll from top of UI int scroll; // scroll from top of UI
// mouse focus // mouse focus and count
int mousesect; // 0: none, -1: scroll, otherwise 1+section int mousesect; // 0: none, -1: scroll, otherwise 1+section
int mouseitem; // item within section int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts int mousehelp; // help button down: print shortcuts
int mouseclicks; // number of mouse clicks over UI
int mousesectcheck; // 0: none, otherwise 1+section
// keyboard focus and edit // keyboard focus and edit
int editsect; // 0: none, otherwise 1+section int editsect; // 0: none, otherwise 1+section
@@ -315,6 +336,7 @@ struct mjuiDef_ { // table passed to mjui_add()
int state; // state int state; // state
void* pdata; // pointer to data void* pdata; // pointer to data
char other[mjMAXUITEXT]; // string with type-specific properties char other[mjMAXUITEXT]; // string with type-specific properties
int otherint; // int with type-specific properties
}; };
typedef struct mjuiDef_ mjuiDef; typedef struct mjuiDef_ mjuiDef;
introspect/enums.py
+10
View File
@@ -800,4 +800,14 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjNITEM', 14), ('mjNITEM', 14),
]), ]),
)), )),
('mjtSection',
EnumDecl(
name='mjtSection',
declname='enum mjtSection_',
values=dict([
('mjSECT_CLOSED', 0),
('mjSECT_OPEN', 1),
('mjSECT_FIXED', 2),
]),
)),
]) ])
introspect/structs.py
+86 -1
View File
@@ -11350,6 +11350,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='section gap', doc='section gap',
), ),
StructFieldDecl(
name='cornersect',
type=ValueType(name='int'),
doc='corner radius for section',
),
StructFieldDecl(
name='cornersep',
type=ValueType(name='int'),
doc='corner radius for separator',
),
StructFieldDecl( StructFieldDecl(
name='itemside', name='itemside',
type=ValueType(name='int'), type=ValueType(name='int'),
@@ -11416,6 +11426,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc='section title', doc='section title',
), ),
StructFieldDecl(
name='secttitle2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title: bottom color',
),
StructFieldDecl(
name='secttitlecheck',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title with checkbox',
),
StructFieldDecl(
name='secttitlecheck2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title with checkbox: bottom color',
),
StructFieldDecl( StructFieldDecl(
name='sectfont', name='sectfont',
type=ArrayType( type=ArrayType(
@@ -11440,6 +11474,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc='section pane', doc='section pane',
), ),
StructFieldDecl(
name='separator',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='separator title',
),
StructFieldDecl(
name='separator2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='separator title: bottom color',
),
StructFieldDecl( StructFieldDecl(
name='shortcut', name='shortcut',
type=ArrayType( type=ArrayType(
@@ -11602,6 +11652,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='id of item within section', doc='id of item within section',
), ),
StructFieldDecl(
name='userid',
type=ValueType(name='int'),
doc='user-supplied id (for event handling)',
),
AnonymousUnionDecl( AnonymousUnionDecl(
fields=( fields=(
StructFieldDecl( StructFieldDecl(
@@ -11631,6 +11686,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjrRect'), type=ValueType(name='mjrRect'),
doc='rectangle occupied by item', doc='rectangle occupied by item',
), ),
StructFieldDecl(
name='skip',
type=ValueType(name='int'),
doc='item skipped due to closed separator',
),
), ),
)), )),
('mjuiSection', ('mjuiSection',
@@ -11649,7 +11709,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='state', name='state',
type=ValueType(name='int'), type=ValueType(name='int'),
doc='0: closed, 1: open', doc='section state (mjtSection)',
), ),
StructFieldDecl( StructFieldDecl(
name='modifier', name='modifier',
@@ -11661,6 +11721,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='shortcut key; 0: undefined', doc='shortcut key; 0: undefined',
), ),
StructFieldDecl(
name='checkbox',
type=ValueType(name='int'),
doc='0: none, 1: hidden, 2: unchecked, 2: checked',
),
StructFieldDecl( StructFieldDecl(
name='nitem', name='nitem',
type=ValueType(name='int'), type=ValueType(name='int'),
@@ -11684,6 +11749,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjrRect'), type=ValueType(name='mjrRect'),
doc='rectangle occupied by content', doc='rectangle occupied by content',
), ),
StructFieldDecl(
name='lastclick',
type=ValueType(name='int'),
doc='last mouse click over this section',
),
), ),
)), )),
('mjUI', ('mjUI',
@@ -11763,6 +11833,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='help button down: print shortcuts', doc='help button down: print shortcuts',
), ),
StructFieldDecl(
name='mouseclicks',
type=ValueType(name='int'),
doc='number of mouse clicks over UI',
),
StructFieldDecl(
name='mousesectcheck',
type=ValueType(name='int'),
doc='0: none, otherwise 1+section',
),
StructFieldDecl( StructFieldDecl(
name='editsect', name='editsect',
type=ValueType(name='int'), type=ValueType(name='int'),
@@ -11851,6 +11931,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc='string with type-specific properties', doc='string with type-specific properties',
), ),
StructFieldDecl(
name='otherint',
type=ValueType(name='int'),
doc='int with type-specific properties',
),
), ),
)), )),
]) ])
mjx/requirements.txt
+2 -1
View File
@@ -35,7 +35,8 @@ jaxlib==0.4.18; python_version >= '3.9' \
--hash=sha256:9593ff69f424947567e206f3e356b2a2df55ca68e6d815d5adc6cae308e8f652 \ --hash=sha256:9593ff69f424947567e206f3e356b2a2df55ca68e6d815d5adc6cae308e8f652 \
--hash=sha256:2b17b3f05b3bbf8e0ddb85fba339525ac03bac21c9f26d0f83dcea1b1654353e \ --hash=sha256:2b17b3f05b3bbf8e0ddb85fba339525ac03bac21c9f26d0f83dcea1b1654353e \
--hash=sha256:b35ec08984e2aa5e96ba3f3f8b88e90dee0283649e037f213dec8e85638fa17d \ --hash=sha256:b35ec08984e2aa5e96ba3f3f8b88e90dee0283649e037f213dec8e85638fa17d \
--hash=sha256:0bcc4768d29be80d20fd542aafd3a02510a5b1e47c7953beef8b03a9941fa64d --hash=sha256:0bcc4768d29be80d20fd542aafd3a02510a5b1e47c7953beef8b03a9941fa64d \
--hash=sha256:1e4b0a0d2cfad3905123af2aa0afc2f6fcfaa9a2f74eb247cd5f140645817ab2
pip==23.3.1 \ pip==23.3.1 \
--hash=sha256:55eb67bb6171d37447e82213be585b75fe2b12b359e993773aca4de9247a052b --hash=sha256:55eb67bb6171d37447e82213be585b75fe2b12b359e993773aca4de9247a052b
pytest==7.4.2 \ pytest==7.4.2 \
simulate/simulate.cc
+53 -55
View File
@@ -117,13 +117,13 @@ enum {
// file section of UI // file section of UI
const mjuiDef defFile[] = { const mjuiDef defFile[] = {
{mjITEM_SECTION, "File", 1, nullptr, "AF"}, {mjITEM_SECTION, "File", mjPRESERVE, nullptr, "AF"},
{mjITEM_BUTTON, "Save xml", 2, nullptr, ""}, {mjITEM_BUTTON, "Save xml", 2, nullptr, ""},
{mjITEM_BUTTON, "Save mjb", 2, nullptr, ""}, {mjITEM_BUTTON, "Save mjb", 2, nullptr, ""},
{mjITEM_BUTTON, "Print model", 2, nullptr, "CM"}, {mjITEM_BUTTON, "Print model", 2, nullptr, "CM"},
{mjITEM_BUTTON, "Print data", 2, nullptr, "CD"}, {mjITEM_BUTTON, "Print data", 2, nullptr, "CD"},
{mjITEM_BUTTON, "Quit", 1, nullptr, "CQ"}, {mjITEM_BUTTON, "Quit", 1, nullptr, "CQ"},
{mjITEM_BUTTON, "Screenshot", 2, nullptr, "CP"}, {mjITEM_BUTTON, "Screenshot", 2, nullptr, "CP"},
{mjITEM_END} {mjITEM_END}
}; };
@@ -674,15 +674,15 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
//---------------------------------- UI construction ----------------------------------------------- //---------------------------------- UI construction -----------------------------------------------
// make physics section of UI // make physics section of UI
void MakePhysicsSection(mj::Simulate* sim, int oldstate) { void MakePhysicsSection(mj::Simulate* sim) {
mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt; mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
mjuiDef defPhysics[] = { mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", oldstate, nullptr, "AP"}, {mjITEM_SECTION, "Physics", mjPRESERVE, nullptr, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(opt->integrator), "Euler\nRK4\nimplicit\nimplicitfast"}, {mjITEM_SELECT, "Integrator", 2, &(opt->integrator), "Euler\nRK4\nimplicit\nimplicitfast"},
{mjITEM_SELECT, "Cone", 2, &(opt->cone), "Pyramidal\nElliptic"}, {mjITEM_SELECT, "Cone", 2, &(opt->cone), "Pyramidal\nElliptic"},
{mjITEM_SELECT, "Jacobian", 2, &(opt->jacobian), "Dense\nSparse\nAuto"}, {mjITEM_SELECT, "Jacobian", 2, &(opt->jacobian), "Dense\nSparse\nAuto"},
{mjITEM_SELECT, "Solver", 2, &(opt->solver), "PGS\nCG\nNewton"}, {mjITEM_SELECT, "Solver", 2, &(opt->solver), "PGS\nCG\nNewton"},
{mjITEM_SEPARATOR, "Algorithmic Parameters", 1}, {mjITEM_SEPARATOR, "Algorithmic Parameters", mjPRESERVE},
{mjITEM_EDITNUM, "Timestep", 2, &(opt->timestep), "1 0 1"}, {mjITEM_EDITNUM, "Timestep", 2, &(opt->timestep), "1 0 1"},
{mjITEM_EDITINT, "Iterations", 2, &(opt->iterations), "1 0 1000"}, {mjITEM_EDITINT, "Iterations", 2, &(opt->iterations), "1 0 1000"},
{mjITEM_EDITNUM, "Tolerance", 2, &(opt->tolerance), "1 0 1"}, {mjITEM_EDITNUM, "Tolerance", 2, &(opt->tolerance), "1 0 1"},
@@ -695,22 +695,22 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
{mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"}, {mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"},
{mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"}, {mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"},
{mjITEM_EDITINT, "SDF Init", 2, &(opt->sdf_initpoints), "1 1 100"}, {mjITEM_EDITINT, "SDF Init", 2, &(opt->sdf_initpoints), "1 1 100"},
{mjITEM_SEPARATOR, "Physical Parameters", 1}, {mjITEM_SEPARATOR, "Physical Parameters", mjPRESERVE},
{mjITEM_EDITNUM, "Gravity", 2, opt->gravity, "3"}, {mjITEM_EDITNUM, "Gravity", 2, opt->gravity, "3"},
{mjITEM_EDITNUM, "Wind", 2, opt->wind, "3"}, {mjITEM_EDITNUM, "Wind", 2, opt->wind, "3"},
{mjITEM_EDITNUM, "Magnetic", 2, opt->magnetic, "3"}, {mjITEM_EDITNUM, "Magnetic", 2, opt->magnetic, "3"},
{mjITEM_EDITNUM, "Density", 2, &(opt->density), "1"}, {mjITEM_EDITNUM, "Density", 2, &(opt->density), "1"},
{mjITEM_EDITNUM, "Viscosity", 2, &(opt->viscosity), "1"}, {mjITEM_EDITNUM, "Viscosity", 2, &(opt->viscosity), "1"},
{mjITEM_EDITNUM, "Imp Ratio", 2, &(opt->impratio), "1"}, {mjITEM_EDITNUM, "Imp Ratio", 2, &(opt->impratio), "1"},
{mjITEM_SEPARATOR, "Disable Flags", 1}, {mjITEM_SEPARATOR, "Disable Flags", mjPRESERVE},
{mjITEM_END} {mjITEM_END}
}; };
mjuiDef defEnableFlags[] = { mjuiDef defEnableFlags[] = {
{mjITEM_SEPARATOR, "Enable Flags", 1}, {mjITEM_SEPARATOR, "Enable Flags", mjPRESERVE},
{mjITEM_END} {mjITEM_END}
}; };
mjuiDef defOverride[] = { mjuiDef defOverride[] = {
{mjITEM_SEPARATOR, "Contact Override", 1}, {mjITEM_SEPARATOR, "Contact Override", mjPRESERVE},
{mjITEM_EDITNUM, "Margin", 2, &(opt->o_margin), "1"}, {mjITEM_EDITNUM, "Margin", 2, &(opt->o_margin), "1"},
{mjITEM_EDITNUM, "Sol Imp", 2, &(opt->o_solimp), "5"}, {mjITEM_EDITNUM, "Sol Imp", 2, &(opt->o_solimp), "5"},
{mjITEM_EDITNUM, "Sol Ref", 2, &(opt->o_solref), "2"}, {mjITEM_EDITNUM, "Sol Ref", 2, &(opt->o_solref), "2"},
@@ -718,7 +718,7 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
{mjITEM_END} {mjITEM_END}
}; };
mjuiDef defDisableActuator[] = { mjuiDef defDisableActuator[] = {
{mjITEM_SEPARATOR, "Actuator Group Enable", 1}, {mjITEM_SEPARATOR, "Actuator Group Enable", mjPRESERVE},
{mjITEM_CHECKBYTE, "Act Group 0", 2, sim->enableactuator+0, ""}, {mjITEM_CHECKBYTE, "Act Group 0", 2, sim->enableactuator+0, ""},
{mjITEM_CHECKBYTE, "Act Group 1", 2, sim->enableactuator+1, ""}, {mjITEM_CHECKBYTE, "Act Group 1", 2, sim->enableactuator+1, ""},
{mjITEM_CHECKBYTE, "Act Group 2", 2, sim->enableactuator+2, ""}, {mjITEM_CHECKBYTE, "Act Group 2", 2, sim->enableactuator+2, ""},
@@ -757,12 +757,12 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
// make rendering section of UI // make rendering section of UI
void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) { void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
mjuiDef defRendering[] = { mjuiDef defRendering[] = {
{ {
mjITEM_SECTION, mjITEM_SECTION,
"Rendering", "Rendering",
oldstate, mjPRESERVE,
nullptr, nullptr,
"AR" "AR"
}, },
@@ -876,18 +876,18 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
} }
// make visualization section of UI // make visualization section of UI
void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate) { void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
mjStatistic* stat = sim->is_passive_ ? &sim->scnstate_.model.stat : &sim->m_->stat; mjStatistic* stat = sim->is_passive_ ? &sim->scnstate_.model.stat : &sim->m_->stat;
mjVisual* vis = sim->is_passive_ ? &sim->scnstate_.model.vis : &sim->m_->vis; mjVisual* vis = sim->is_passive_ ? &sim->scnstate_.model.vis : &sim->m_->vis;
mjuiDef defVisualization[] = { mjuiDef defVisualization[] = {
{mjITEM_SECTION, "Visualization", oldstate, nullptr, "AV"}, {mjITEM_SECTION, "Visualization", mjPRESERVE, nullptr, "AV"},
{mjITEM_SEPARATOR, "Headlight", 1}, {mjITEM_SEPARATOR, "Headlight", 1},
{mjITEM_RADIO, "Active", 5, &(vis->headlight.active), "Off\nOn"}, {mjITEM_RADIO, "Active", 5, &(vis->headlight.active), "Off\nOn"},
{mjITEM_EDITFLOAT, "Ambient", 2, &(vis->headlight.ambient), "3"}, {mjITEM_EDITFLOAT, "Ambient", 2, &(vis->headlight.ambient), "3"},
{mjITEM_EDITFLOAT, "Diffuse", 2, &(vis->headlight.diffuse), "3"}, {mjITEM_EDITFLOAT, "Diffuse", 2, &(vis->headlight.diffuse), "3"},
{mjITEM_EDITFLOAT, "Specular", 2, &(vis->headlight.specular), "3"}, {mjITEM_EDITFLOAT, "Specular", 2, &(vis->headlight.specular), "3"},
{mjITEM_SEPARATOR, "Free Camera", 1}, {mjITEM_SEPARATOR, "Free Camera", 1},
{mjITEM_RADIO, "Orthographic", 2, &(vis->global.orthographic), "No\nYes"}, {mjITEM_RADIO, "Orthographic", 2, &(vis->global.orthographic), "No\nYes"},
{mjITEM_EDITFLOAT, "Field of view", 2, &(vis->global.fovy), "1"}, {mjITEM_EDITFLOAT, "Field of view", 2, &(vis->global.fovy), "1"},
{mjITEM_EDITNUM, "Center", 2, &(stat->center), "3"}, {mjITEM_EDITNUM, "Center", 2, &(stat->center), "3"},
@@ -937,9 +937,9 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate)
} }
// make group section of UI // make group section of UI
void MakeGroupSection(mj::Simulate* sim, int oldstate) { void MakeGroupSection(mj::Simulate* sim) {
mjuiDef defGroup[] = { mjuiDef defGroup[] = {
{mjITEM_SECTION, "Group enable", oldstate, nullptr, "AG"}, {mjITEM_SECTION, "Group enable", mjPRESERVE, nullptr, "AG"},
{mjITEM_SEPARATOR, "Geom groups", 1}, {mjITEM_SEPARATOR, "Geom groups", 1},
{mjITEM_CHECKBYTE, "Geom 0", 2, sim->opt.geomgroup, " 0"}, {mjITEM_CHECKBYTE, "Geom 0", 2, sim->opt.geomgroup, " 0"},
{mjITEM_CHECKBYTE, "Geom 1", 2, sim->opt.geomgroup+1, " 1"}, {mjITEM_CHECKBYTE, "Geom 1", 2, sim->opt.geomgroup+1, " 1"},
@@ -997,9 +997,9 @@ void MakeGroupSection(mj::Simulate* sim, int oldstate) {
} }
// make joint section of UI // make joint section of UI
void MakeJointSection(mj::Simulate* sim, int oldstate) { void MakeJointSection(mj::Simulate* sim) {
mjuiDef defJoint[] = { mjuiDef defJoint[] = {
{mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ"}, {mjITEM_SECTION, "Joint", mjPRESERVE, nullptr, "AJ"},
{mjITEM_END} {mjITEM_END}
}; };
mjuiDef defSlider[] = { mjuiDef defSlider[] = {
@@ -1050,9 +1050,9 @@ void MakeJointSection(mj::Simulate* sim, int oldstate) {
} }
// make control section of UI // make control section of UI
void MakeControlSection(mj::Simulate* sim, int oldstate) { void MakeControlSection(mj::Simulate* sim) {
mjuiDef defControl[] = { mjuiDef defControl[] = {
{mjITEM_SECTION, "Control", oldstate, nullptr, "AC"}, {mjITEM_SECTION, "Control", mjPRESERVE, nullptr, "AC"},
{mjITEM_BUTTON, "Clear all", 2}, {mjITEM_BUTTON, "Clear all", 2},
{mjITEM_END} {mjITEM_END}
}; };
@@ -1107,35 +1107,17 @@ void MakeControlSection(mj::Simulate* sim, int oldstate) {
// make model-dependent UI sections // make model-dependent UI sections
void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) { void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// get section open-close state, UI 0
int oldstate0[NSECT0];
for (int i=0; i<NSECT0; i++) {
oldstate0[i] = 0;
if (sim->ui0.nsect>i) {
oldstate0[i] = sim->ui0.sect[i].state;
}
}
// get section open-close state, UI 1
int oldstate1[NSECT1];
for (int i=0; i<NSECT1; i++) {
oldstate1[i] = 0;
if (sim->ui1.nsect>i) {
oldstate1[i] = sim->ui1.sect[i].state;
}
}
// clear model-dependent sections of UI // clear model-dependent sections of UI
sim->ui0.nsect = SECT_PHYSICS; sim->ui0.nsect = SECT_PHYSICS;
sim->ui1.nsect = 0; sim->ui1.nsect = 0;
// make // make
MakePhysicsSection(sim, oldstate0[SECT_PHYSICS]); MakePhysicsSection(sim);
MakeRenderingSection(sim, m, oldstate0[SECT_RENDERING]); MakeRenderingSection(sim, m);
MakeVisualizationSection(sim, m, oldstate0[SECT_VISUALIZATION]); MakeVisualizationSection(sim, m);
MakeGroupSection(sim, oldstate0[SECT_GROUP]); MakeGroupSection(sim);
MakeJointSection(sim, oldstate1[SECT_JOINT]); MakeJointSection(sim);
MakeControlSection(sim, oldstate1[SECT_CONTROL]); MakeControlSection(sim);
} }
//---------------------------------- utility functions --------------------------------------------- //---------------------------------- utility functions ---------------------------------------------
@@ -1265,7 +1247,7 @@ int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
fs = 150; fs = 150;
} }
fs = mju_round(fs * 0.02) * 50; fs = mju_round(fs * 0.02) * 50;
fs = mjMIN(250, mjMAX(100, fs)); fs = mjMIN(300, mjMAX(100, fs));
return fs; return fs;
} }
@@ -1322,9 +1304,22 @@ void UiLayout(mjuiState* state) {
rect[3].height = rect[0].height; rect[3].height = rect[0].height;
} }
// modify UI
void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) { void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
mjui_resize(ui, con); mjui_resize(ui, con);
mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
// remake aux buffer only if missing or different
int id = ui->auxid;
if (con->auxFBO[id] == 0 ||
con->auxFBO_r[id] == 0 ||
con->auxColor[id] == 0 ||
con->auxColor_r[id] == 0 ||
con->auxWidth[id] != ui->width ||
con->auxHeight[id] != ui->maxheight ||
con->auxSamples[id] != ui->spacing.samples) {
mjr_addAux(id, ui->width, ui->maxheight, ui->spacing.samples, con);
}
UiLayout(state); UiLayout(state);
mjui_update(-1, -1, ui, state, con); mjui_update(-1, -1, ui, state, con);
} }
@@ -1504,7 +1499,7 @@ void UiEvent(mjuiState* state) {
// remake joint section if joint group changed // remake joint section if joint group changed
if (it->name[0]=='J' && it->name[1]=='o') { if (it->name[0]=='J' && it->name[1]=='o') {
sim->ui1.nsect = SECT_JOINT; sim->ui1.nsect = SECT_JOINT;
MakeJointSection(sim, sim->ui1.sect[SECT_JOINT].state); MakeJointSection(sim);
sim->ui1.nsect = NSECT1; sim->ui1.nsect = NSECT1;
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context()); UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
} }
@@ -2457,7 +2452,7 @@ void Simulate::Render() {
if (pending_.ui_remake_ctrl) { if (pending_.ui_remake_ctrl) {
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) { if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
this->ui1.nsect = SECT_CONTROL; this->ui1.nsect = SECT_CONTROL;
MakeControlSection(this, this->ui1.sect[SECT_CONTROL].state); MakeControlSection(this);
this->ui1.nsect = NSECT1; this->ui1.nsect = NSECT1;
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context()); UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
} }
@@ -2645,12 +2640,15 @@ void Simulate::RenderLoop() {
this->platform_ui->SetEventCallback(UiEvent); this->platform_ui->SetEventCallback(UiEvent);
this->platform_ui->SetLayoutCallback(UiLayout); this->platform_ui->SetLayoutCallback(UiLayout);
// populate uis with standard sections // populate uis with standard sections, open some sections initially
this->ui0.userdata = this; this->ui0.userdata = this;
this->ui1.userdata = this; this->ui1.userdata = this;
mjui_add(&this->ui0, defFile); mjui_add(&this->ui0, defFile);
mjui_add(&this->ui0, this->def_option); mjui_add(&this->ui0, this->def_option);
mjui_add(&this->ui0, this->def_simulation); mjui_add(&this->ui0, this->def_simulation);
this->ui0.sect[0].state = 1;
this->ui0.sect[1].state = 1;
this->ui0.sect[2].state = 1;
mjui_add(&this->ui0, this->def_watch); mjui_add(&this->ui0, this->def_watch);
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context()); UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context()); UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
simulate/simulate.h
+3 -3
View File
@@ -265,7 +265,7 @@ class Simulate {
// Constant arrays needed for the option section of UI and the UI interface // Constant arrays needed for the option section of UI and the UI interface
// TODO setting the size here is not ideal // TODO setting the size here is not ideal
const mjuiDef def_option[13] = { const mjuiDef def_option[13] = {
{mjITEM_SECTION, "Option", 1, nullptr, "AO"}, {mjITEM_SECTION, "Option", mjPRESERVE, nullptr, "AO"},
{mjITEM_CHECKINT, "Help", 2, &this->help, " #290"}, {mjITEM_CHECKINT, "Help", 2, &this->help, " #290"},
{mjITEM_CHECKINT, "Info", 2, &this->info, " #291"}, {mjITEM_CHECKINT, "Info", 2, &this->info, " #291"},
{mjITEM_CHECKINT, "Profiler", 2, &this->profiler, " #292"}, {mjITEM_CHECKINT, "Profiler", 2, &this->profiler, " #292"},
@@ -287,7 +287,7 @@ class Simulate {
// simulation section of UI // simulation section of UI
const mjuiDef def_simulation[14] = { const mjuiDef def_simulation[14] = {
{mjITEM_SECTION, "Simulation", 1, nullptr, "AS"}, {mjITEM_SECTION, "Simulation", mjPRESERVE, nullptr, "AS"},
{mjITEM_RADIO, "", 5, &this->run, "Pause\nRun"}, {mjITEM_RADIO, "", 5, &this->run, "Pause\nRun"},
{mjITEM_BUTTON, "Reset", 2, nullptr, " #259"}, {mjITEM_BUTTON, "Reset", 2, nullptr, " #259"},
{mjITEM_BUTTON, "Reload", 5, nullptr, "CL"}, {mjITEM_BUTTON, "Reload", 5, nullptr, "CL"},
@@ -306,7 +306,7 @@ class Simulate {
// watch section of UI // watch section of UI
const mjuiDef def_watch[5] = { const mjuiDef def_watch[5] = {
{mjITEM_SECTION, "Watch", 0, nullptr, "AW"}, {mjITEM_SECTION, "Watch", mjPRESERVE, nullptr, "AW"},
{mjITEM_EDITTXT, "Field", 2, this->field, "qpos"}, {mjITEM_EDITTXT, "Field", 2, this->field, "qpos"},
{mjITEM_EDITINT, "Index", 2, &this->index, "1"}, {mjITEM_EDITINT, "Index", 2, &this->index, "1"},
{mjITEM_STATIC, "Value", 2, nullptr, " "}, {mjITEM_STATIC, "Value", 2, nullptr, " "},
src/ui/ui_main.c
+717 -371
View File
File diff suppressed because it is too large Load Diff
unity/Runtime/Bindings/MjBindings.cs
+18
View File
@@ -71,6 +71,7 @@ public const int mjMAXUIMULTI = 35;
public const int mjMAXUIEDIT = 7; public const int mjMAXUIEDIT = 7;
public const int mjMAXUIRECT = 25; public const int mjMAXUIRECT = 25;
public const int mjSEPCLOSED = 1000; public const int mjSEPCLOSED = 1000;
public const int mjPRESERVE = 2000;
public const int mjKEY_ESCAPE = 256; public const int mjKEY_ESCAPE = 256;
public const int mjKEY_ENTER = 257; public const int mjKEY_ENTER = 257;
public const int mjKEY_TAB = 258; public const int mjKEY_TAB = 258;
@@ -482,6 +483,11 @@ public enum mjtEvent : int{
mjEVENT_REDRAW = 7, mjEVENT_REDRAW = 7,
mjEVENT_FILESDROP = 8, mjEVENT_FILESDROP = 8,
} }
public enum mjtSection : int{
mjSECT_CLOSED = 0,
mjSECT_OPEN = 1,
mjSECT_FIXED = 2,
}
public enum mjtCatBit : int{ public enum mjtCatBit : int{
mjCAT_STATIC = 1, mjCAT_STATIC = 1,
mjCAT_DYNAMIC = 2, mjCAT_DYNAMIC = 2,
@@ -5722,6 +5728,8 @@ public unsafe struct mjuiThemeSpacing_ {
public int scroll; public int scroll;
public int label; public int label;
public int section; public int section;
public int cornersect;
public int cornersep;
public int itemside; public int itemside;
public int itemmid; public int itemmid;
public int itemver; public int itemver;
@@ -5736,9 +5744,14 @@ public unsafe struct mjuiThemeColor_ {
public fixed float master[3]; public fixed float master[3];
public fixed float thumb[3]; public fixed float thumb[3];
public fixed float secttitle[3]; public fixed float secttitle[3];
public fixed float secttitle2[3];
public fixed float secttitlecheck[3];
public fixed float secttitlecheck2[3];
public fixed float sectfont[3]; public fixed float sectfont[3];
public fixed float sectsymbol[3]; public fixed float sectsymbol[3];
public fixed float sectpane[3]; public fixed float sectpane[3];
public fixed float separator[3];
public fixed float separator2[3];
public fixed float shortcut[3]; public fixed float shortcut[3];
public fixed float fontactive[3]; public fixed float fontactive[3];
public fixed float fontinactive[3]; public fixed float fontinactive[3];
@@ -5786,9 +5799,11 @@ public unsafe struct mjuiSection_ {
public int state; public int state;
public int modifier; public int modifier;
public int shortcut; public int shortcut;
public int checkbox;
public int nitem; public int nitem;
public mjrRect_ rtitle; public mjrRect_ rtitle;
public mjrRect_ rcontent; public mjrRect_ rcontent;
public int lastclick;
} }
[StructLayout(LayoutKind.Sequential)] [StructLayout(LayoutKind.Sequential)]
@@ -5807,6 +5822,8 @@ public unsafe struct mjUI_ {
public int mousesect; public int mousesect;
public int mouseitem; public int mouseitem;
public int mousehelp; public int mousehelp;
public int mouseclicks;
public int mousesectcheck;
public int editsect; public int editsect;
public int edititem; public int edititem;
public int editcursor; public int editcursor;
@@ -5833,6 +5850,7 @@ public unsafe struct mjuiDef_ {
public int state; public int state;
public void* pdata; public void* pdata;
public fixed sbyte other[300]; public fixed sbyte other[300];
public int otherint;
} }
[StructLayout(LayoutKind.Sequential)] [StructLayout(LayoutKind.Sequential)]