Rename mjrf_render to mjrf_renderScene to avoid naming collision.
This function is will be removed in a future CL.
PiperOrigin-RevId: 910764245
Change-Id: If4d05e806a9699570ca4bbc882f28bfdd05dbd8d
- 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
* 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
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
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead.
PiperOrigin-RevId: 896612678
Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
Separate out the parts of the FilamentContext initialization that
depends on the mjModel into a separate Init function.
PiperOrigin-RevId: 890373341
Change-Id: I06b524668cd60dad804d437958f4f6606c46200b
The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated.
PiperOrigin-RevId: 885595503
Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
model_holder.cc modified to disable multi-threaded compilation for WASM builds. index.html `animate()` function modified so the animation rendering loop executes asynchronously with async/await calls. These changes are sufficient to make xml files without references work (e.g., humanoid.xml), more work is needed to make the vfs work so multi-file models can load.
PiperOrigin-RevId: 885537402
Change-Id: I3469cae48e7268073be334b99bf907c5ed8c27a7
The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.
PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.
PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
The editor panel allows you to add, remove, and modify spec elements
as well as recompiling and loading the spec.
Also includes utilities for handling vertically split panels.
PiperOrigin-RevId: 875658785
Change-Id: I18b10971d587db5eb1e65a033e1dc042faac7f1d
There are enough differences between how the two are structured that
having separate implementations makes things easier to implement
despite some minor code duplication.
PiperOrigin-RevId: 875287973
Change-Id: Id49e089e5e1944291ce79e79f8cb71d048a942cc
Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.
PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
Haroon Qureshi