- Remove hard-coded button sizes (48×32) from toolbar icons; buttons now use default ImGui sizing, matching the existing copy-camera button.
- Remove the Unload button (available via menu).
- Add ImGui_ColorButtonEx widget with per-corner rounding via ImDrawFlags, enabling segmented button-group visuals.
- Use segmented rounding for the pause/viscous/play triplet: rounded-left, square, rounded-right.
- Make pause and play buttons 40% wider than the viscous button for emphasis.
- Replace the theme combo dropdown with a cycling button.
- Reduce toolbar height from 48px to 34px and vertically center content via WindowPadding.
- Zero out table CellPadding in the toolbar for precise vertical centering.
- Remove the speed combo's inflated vertical padding.
PiperOrigin-RevId: 906853958
Change-Id: I6e4ec7243adb9e0f1f06f8779fa896a6865c46c7
* **Dynamic Full-Window Scaling**: Charts in the Performance and Solver panels now expand to fill the entire pane, automatically arranging side-by-side or stacked based on window orientation to eliminate scrollbars.
* **Responsive Decorators**: Added reusable C++ ImPlot helper functions that auto-hide titles, legends, and tick labels when the plot surface is small.
* **Cleaner Visualization**: Refined chart titles (e.g., "CPU msec vs frame", "Convergence vs iter") and removed redundant axis labels for improved scannability.
These changes were based on the plot behavior of //third_party/mujoco/src/experimental/py/sample/implot.py This is an incremental improvement, we can make the plots even nicer in future.
PiperOrigin-RevId: 906351914
Change-Id: I8cb19c19bf807f0107c717066250a71bcf7e325f
- Reorder Physics section, move Actuator Groups to end.
- Rename "Physics Settings" → "Physics", "Rendering Settings" → "Rendering".
- Reduce IndentSpacing from 20 to 6.
- Reduce FramePadding Y from 6 to 2 for narrower buttons and popups.
- Remove explicit Unindent/Indent overrides in Rendering and Visibility Groups
sections so buttons are naturally indented under their tree nodes.
- Dynamically adjust convergence and counts plot X-axis limits based on actual
solver iterations instead of hardcoded 20.
PiperOrigin-RevId: 906244477
Change-Id: Ic3e6e6e793395158c8cb6692af885884ca3f7f50
Texture IDs were assigned using textures_.size() + 1, which is not monotonic: after erasures the map shrinks and previously used IDs can be reassigned to new textures. This causes multiple ImGui images to reference the same underlying Filament texture, rendering them all with the same pixel data. This fix replaces the size-based scheme with a monotonically increasing counter (next_tex_id_) that never reuses IDs.
PiperOrigin-RevId: 906214496
Change-Id: I5a388861ad9565c8e00e27b39cc9c76c9750ca1e
* Remove the explicit io.Fonts->Build() call from InitImGui, which was deprecated in Dear ImGui v1.92.0. With ImGuiBackendFlags_RendererHasTextures already set, the font atlas is now built lazily by ImGui and communicated to backends via the ImTextureStatus_WantCreate protocol.
* Add proper texture shutdown in ~ImguiBridge by iterating ImGui::GetPlatformIO().Textures and destroying all tracked textures, per the //third_party/dear_imgui/docs/BACKENDS.md instructions.
* Remove the "OK but missing" and "WantUpdates but missing" texture recovery hacks from Update(). These handled a state where ImGui thought textures were alive but the Filament-side storage had been torn down. With proper destruction acknowledgement (SetStatus(Destroyed) + SetTexID(Invalid)), ImGui will now transition destroyed textures to WantCreate on the next frame, and the normal creation path handles it cleanly.
PiperOrigin-RevId: 905886622
Change-Id: Ic449eeaf083740a67eae9c637fb53546a6192b28
Always execute the engine in non-threading (wasm) builds.
And stop rendering if any beginFrame call returns false.
PiperOrigin-RevId: 905000139
Change-Id: I0a6f06a07a8fc0ab0251a67be13a9d170d4a905d
This is a combination of minor tweaks to the existing Studio WASM application, CMake cleanup to make it buildable, and integration with GitHub Actions for deployment.
The new features added are drag-and-drop, model specification through `?model=` URL parameter, HTTP and HTTPS resource provider, and a user-visible loading message while the model is loading.
PiperOrigin-RevId: 904594610
Change-Id: I3a73b1ca0fcd6fc9ba192469942b2dab010a9308
The filament library provides APIs for creating the low-level
objects such as meshes and textures. The compat library provides
the high-level compatibility layer between mjvScene and the core
library.
PiperOrigin-RevId: 904504900
Change-Id: Ida1aecab4b9a8aefbbf6b0a0c4ba7ff164864b8e
Refactor FilamentContext to allow multiple render requests to
be submitted onto a single RenderTarget. The main scene and the
ux scene are then submitted as two separate requests that share
the same target, resulting in a single, composited render.
PiperOrigin-RevId: 904324801
Change-Id: I7c47ec4f8d159320612fa33384c01e8db3414daa
Also allow multiple Meshes to be assigned at once rather than one at a
time.
This simplifies both the usage and implementation of Renderable.
PiperOrigin-RevId: 902665683
Change-Id: I23ff365a54fd6a3814ed3452b1e094ae9f698a1b
Add clamping to slider values in both ImGui widgets and mjUI to ensure they remain within the defined min/max ranges, preventing potential floating point inaccuracies from causing values to slightly exceed the bounds.
PiperOrigin-RevId: 902660458
Change-Id: Ia153ae7907f07b890f2b5ac2e3a4be93ecae7bd3
Collect all entries from the recursive directory iterator, sort them, and then check for the filename. This ensures that if multiple files with the same name exist in different subdirectories, the one found is always the same, regardless of the filesystem's directory iteration order.
PiperOrigin-RevId: 902487291
Change-Id: Ia4c45cd2e3cab4a4e3825c267fc47c3134f99f76
Simplifies Renderable as it no longer has the option of owning
any Meshes. Instead, the ModelObjects owns the Meshes for
flex and skin geom (just like it owns all the other mjModel
Meshes).
PiperOrigin-RevId: 902485912
Change-Id: I8b9f9d394de6c46f7e25aa4b3885a374aad05294
Allows the Renderable to update its own MaterialInstances whenever
Material textures or parameters are modified. Each Renderable now
also knows how it is intended to be used (i.e. scene objects or ux)
which allows it to correctly pick the underlying filament::Material
to use.
PiperOrigin-RevId: 901161990
Change-Id: Ic280731d39c272c50d6ad100cec7116e683cbc79
ObjectManger now manages low-level filament Texture and
Material objects directly. Moves the IBL Texture to the
SceneBridge class.
PiperOrigin-RevId: 900626110
Change-Id: Idd39464bfb324188dd54975a500954d4ebb29006
Use an unlit material for decorative elements and do not render them
in the reflection pass.
PiperOrigin-RevId: 899560291
Change-Id: I3b035d556432c850ce8240e0c4c4c2d6645d7bf2
Instead, use a set of functions to create/update a Renderable
from an mjvGeom.
This completely isolates mjvScene/mjvGeom from SceneView,
making SceneView a more general purpose class.
PiperOrigin-RevId: 899475268
Change-Id: I48a3a45bc8fff3e1f514847c7a1ca8ab3a1ff16e
*** Original change description ***
Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.
PiperOrigin-RevId: 899425542
Change-Id: Ifb6c5d3b762789d821bfa9826f5d6d983e8af7d3
Haroon Qureshi