Saran Tunyasuvunakool
b362cb4972
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData. To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData. Fixes https://github.com/deepmind/mujoco/issues/796 PiperOrigin-RevId: 525723636 Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2352 lines
73 KiB
C++
2352 lines
73 KiB
C++
// 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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#include "simulate.h"
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#include <atomic>
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#include <chrono>
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#include <cstdio>
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#include <cstring>
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#include <memory>
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#include <ratio>
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#include <string>
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#include <type_traits>
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#include <utility>
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#include "lodepng.h"
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#include <mujoco/mjdata.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mjxmacro.h>
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#include <mujoco/mujoco.h>
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#include "platform_ui_adapter.h"
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#include "array_safety.h"
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// When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
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// resource directory. This causes files to be saved into the bundle, which is not the desired
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// behavior. Instead, we open a save dialog box to ask the user where to put the file.
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// Since the dialog box logic needs to be written in Objective-C, we separate it into a different
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// source file.
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#ifdef __APPLE__
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std::string GetSavePath(const char* filename);
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#else
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static std::string GetSavePath(const char* filename) {
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return filename;
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}
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#endif
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namespace {
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namespace mj = ::mujoco;
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namespace mju = ::mujoco::sample_util;
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using Seconds = std::chrono::duration<double>;
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using Milliseconds = std::chrono::duration<double, std::milli>;
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template <typename T>
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inline bool ScalarsDiffer(const T& a, const T& b) {
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return a != b;
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}
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template <typename T, int N>
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inline bool ArraysDiffer(const T (&a)[N], const T (&b)[N]) {
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for (int i = 0; i < N; ++i) {
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if (a[i] != b[i]) {
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return true;
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}
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}
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return false;
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}
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template <typename T>
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inline bool Differ(const T& a, const T& b) {
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if constexpr (std::is_array_v<T>) {
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return ArraysDiffer(a, b);
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} else {
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return ScalarsDiffer(a, b);
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}
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}
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template <typename T>
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inline void CopyScalar(T& dst, const T& src) {
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dst = src;
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}
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template <typename T, int N>
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inline void CopyArray(T (&dst)[N], const T (&src)[N]) {
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for (int i = 0; i < N; ++i) {
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dst[i] = src[i];
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}
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}
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template <typename T>
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inline void Copy(T& dst, const T& src) {
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if constexpr (std::is_array_v<T>) {
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CopyArray(dst, src);
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} else {
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CopyScalar(dst, src);
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}
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}
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//------------------------------------------- global -----------------------------------------------
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const double zoom_increment = 0.02; // ratio of one click-wheel zoom increment to vertical extent
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// section ids
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enum {
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// left ui
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SECT_FILE = 0,
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SECT_OPTION,
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SECT_SIMULATION,
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SECT_WATCH,
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SECT_PHYSICS,
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SECT_RENDERING,
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SECT_GROUP,
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NSECT0,
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// right ui
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SECT_JOINT = 0,
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SECT_CONTROL,
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NSECT1
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};
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// file section of UI
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const mjuiDef defFile[] = {
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{mjITEM_SECTION, "File", 1, nullptr, "AF"},
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{mjITEM_BUTTON, "Save xml", 2, nullptr, ""},
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{mjITEM_BUTTON, "Save mjb", 2, nullptr, ""},
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{mjITEM_BUTTON, "Print model", 2, nullptr, "CM"},
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{mjITEM_BUTTON, "Print data", 2, nullptr, "CD"},
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{mjITEM_BUTTON, "Quit", 1, nullptr, "CQ"},
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{mjITEM_BUTTON, "Screenshot", 2, nullptr, "CP"},
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{mjITEM_END}
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};
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// help strings
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const char help_content[] =
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"Space\n"
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"+ -\n"
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"Right arrow\n"
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"[ ]\n"
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"Esc\n"
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"Double-click\n"
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"Page Up\n"
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"Right double-click\n"
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"Ctrl Right double-click\n"
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"Scroll, middle drag\n"
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"Left drag\n"
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"[Shift] right drag\n"
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"Ctrl [Shift] drag\n"
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"Ctrl [Shift] right drag\n"
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"F1\n"
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"F2\n"
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"F3\n"
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"F4\n"
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"F5\n"
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"UI right hold\n"
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"UI title double-click";
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const char help_title[] =
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"Play / Pause\n"
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"Speed up / down\n"
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"Step\n"
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"Cycle cameras\n"
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"Free camera\n"
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"Select\n"
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"Select parent\n"
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"Center\n"
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"Tracking camera\n"
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"Zoom\n"
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"View rotate\n"
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"View translate\n"
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"Object rotate\n"
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"Object translate\n"
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"Help\n"
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"Info\n"
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"Profiler\n"
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"Sensors\n"
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"Full screen\n"
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"Show UI shortcuts\n"
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"Expand/collapse all";
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//-------------------------------- profiler, sensor, info, watch -----------------------------------
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// init profiler figures
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void InitializeProfiler(mj::Simulate* sim) {
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// set figures to default
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mjv_defaultFigure(&sim->figconstraint);
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mjv_defaultFigure(&sim->figcost);
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mjv_defaultFigure(&sim->figtimer);
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mjv_defaultFigure(&sim->figsize);
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// titles
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mju::strcpy_arr(sim->figconstraint.title, "Counts");
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mju::strcpy_arr(sim->figcost.title, "Convergence (log 10)");
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mju::strcpy_arr(sim->figsize.title, "Dimensions");
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mju::strcpy_arr(sim->figtimer.title, "CPU time (msec)");
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// x-labels
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mju::strcpy_arr(sim->figconstraint.xlabel, "Solver iteration");
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mju::strcpy_arr(sim->figcost.xlabel, "Solver iteration");
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mju::strcpy_arr(sim->figsize.xlabel, "Video frame");
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mju::strcpy_arr(sim->figtimer.xlabel, "Video frame");
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// y-tick nubmer formats
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mju::strcpy_arr(sim->figconstraint.yformat, "%.0f");
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mju::strcpy_arr(sim->figcost.yformat, "%.1f");
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mju::strcpy_arr(sim->figsize.yformat, "%.0f");
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mju::strcpy_arr(sim->figtimer.yformat, "%.2f");
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// colors
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sim->figconstraint.figurergba[0] = 0.1f;
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sim->figcost.figurergba[2] = 0.2f;
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sim->figsize.figurergba[0] = 0.1f;
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sim->figtimer.figurergba[2] = 0.2f;
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sim->figconstraint.figurergba[3] = 0.5f;
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sim->figcost.figurergba[3] = 0.5f;
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sim->figsize.figurergba[3] = 0.5f;
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sim->figtimer.figurergba[3] = 0.5f;
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// legends
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mju::strcpy_arr(sim->figconstraint.linename[0], "total");
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mju::strcpy_arr(sim->figconstraint.linename[1], "active");
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mju::strcpy_arr(sim->figconstraint.linename[2], "changed");
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mju::strcpy_arr(sim->figconstraint.linename[3], "evals");
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mju::strcpy_arr(sim->figconstraint.linename[4], "updates");
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mju::strcpy_arr(sim->figcost.linename[0], "improvement");
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mju::strcpy_arr(sim->figcost.linename[1], "gradient");
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mju::strcpy_arr(sim->figcost.linename[2], "lineslope");
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mju::strcpy_arr(sim->figsize.linename[0], "dof");
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mju::strcpy_arr(sim->figsize.linename[1], "body");
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mju::strcpy_arr(sim->figsize.linename[2], "constraint");
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mju::strcpy_arr(sim->figsize.linename[3], "sqrt(nnz)");
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mju::strcpy_arr(sim->figsize.linename[4], "contact");
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mju::strcpy_arr(sim->figsize.linename[5], "iteration");
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mju::strcpy_arr(sim->figtimer.linename[0], "total");
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mju::strcpy_arr(sim->figtimer.linename[1], "collision");
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mju::strcpy_arr(sim->figtimer.linename[2], "prepare");
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mju::strcpy_arr(sim->figtimer.linename[3], "solve");
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mju::strcpy_arr(sim->figtimer.linename[4], "other");
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// grid sizes
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sim->figconstraint.gridsize[0] = 5;
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sim->figconstraint.gridsize[1] = 5;
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sim->figcost.gridsize[0] = 5;
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sim->figcost.gridsize[1] = 5;
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sim->figsize.gridsize[0] = 3;
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sim->figsize.gridsize[1] = 5;
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sim->figtimer.gridsize[0] = 3;
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sim->figtimer.gridsize[1] = 5;
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// minimum ranges
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sim->figconstraint.range[0][0] = 0;
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sim->figconstraint.range[0][1] = 20;
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sim->figconstraint.range[1][0] = 0;
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sim->figconstraint.range[1][1] = 80;
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sim->figcost.range[0][0] = 0;
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sim->figcost.range[0][1] = 20;
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sim->figcost.range[1][0] = -15;
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sim->figcost.range[1][1] = 5;
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sim->figsize.range[0][0] = -200;
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sim->figsize.range[0][1] = 0;
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sim->figsize.range[1][0] = 0;
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sim->figsize.range[1][1] = 100;
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sim->figtimer.range[0][0] = -200;
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sim->figtimer.range[0][1] = 0;
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sim->figtimer.range[1][0] = 0;
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sim->figtimer.range[1][1] = 0.4f;
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// init x axis on history figures (do not show yet)
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for (int n=0; n<6; n++)
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for (int i=0; i<mjMAXLINEPNT; i++) {
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sim->figtimer.linedata[n][2*i] = -i;
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sim->figsize.linedata[n][2*i] = -i;
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}
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}
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// update profiler figures
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void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
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// update constraint figure
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sim->figconstraint.linepnt[0] = mjMIN(mjMIN(d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for (int i=1; i<5; i++) {
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sim->figconstraint.linepnt[i] = sim->figconstraint.linepnt[0];
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}
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if (m->opt.solver==mjSOL_PGS) {
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sim->figconstraint.linepnt[3] = 0;
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sim->figconstraint.linepnt[4] = 0;
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}
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if (m->opt.solver==mjSOL_CG) {
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sim->figconstraint.linepnt[4] = 0;
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}
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for (int i=0; i<sim->figconstraint.linepnt[0]; i++) {
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// x
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sim->figconstraint.linedata[0][2*i] = i;
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sim->figconstraint.linedata[1][2*i] = i;
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sim->figconstraint.linedata[2][2*i] = i;
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sim->figconstraint.linedata[3][2*i] = i;
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sim->figconstraint.linedata[4][2*i] = i;
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// y
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sim->figconstraint.linedata[0][2*i+1] = d->nefc;
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sim->figconstraint.linedata[1][2*i+1] = d->solver[i].nactive;
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sim->figconstraint.linedata[2][2*i+1] = d->solver[i].nchange;
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sim->figconstraint.linedata[3][2*i+1] = d->solver[i].neval;
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sim->figconstraint.linedata[4][2*i+1] = d->solver[i].nupdate;
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}
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// update cost figure
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sim->figcost.linepnt[0] = mjMIN(mjMIN(d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for (int i=1; i<3; i++) {
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sim->figcost.linepnt[i] = sim->figcost.linepnt[0];
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}
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if (m->opt.solver==mjSOL_PGS) {
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sim->figcost.linepnt[1] = 0;
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sim->figcost.linepnt[2] = 0;
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}
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for (int i=0; i<sim->figcost.linepnt[0]; i++) {
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// x
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sim->figcost.linedata[0][2*i] = i;
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sim->figcost.linedata[1][2*i] = i;
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sim->figcost.linedata[2][2*i] = i;
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// y
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sim->figcost.linedata[0][2*i+1] = mju_log10(mju_max(mjMINVAL, d->solver[i].improvement));
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sim->figcost.linedata[1][2*i+1] = mju_log10(mju_max(mjMINVAL, d->solver[i].gradient));
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sim->figcost.linedata[2][2*i+1] = mju_log10(mju_max(mjMINVAL, d->solver[i].lineslope));
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}
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// get timers: total, collision, prepare, solve, other
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mjtNum total = d->timer[mjTIMER_STEP].duration;
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int number = d->timer[mjTIMER_STEP].number;
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if (!number) {
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total = d->timer[mjTIMER_FORWARD].duration;
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number = d->timer[mjTIMER_FORWARD].number;
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}
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number = mjMAX(1, number);
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float tdata[5] = {
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static_cast<float>(total/number),
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static_cast<float>(d->timer[mjTIMER_POS_COLLISION].duration/number),
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static_cast<float>(d->timer[mjTIMER_POS_MAKE].duration/number) +
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static_cast<float>(d->timer[mjTIMER_POS_PROJECT].duration/number),
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static_cast<float>(d->timer[mjTIMER_CONSTRAINT].duration/number),
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0
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};
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tdata[4] = tdata[0] - tdata[1] - tdata[2] - tdata[3];
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// update figtimer
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int pnt = mjMIN(201, sim->figtimer.linepnt[0]+1);
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for (int n=0; n<5; n++) {
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// shift data
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for (int i=pnt-1; i>0; i--) {
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sim->figtimer.linedata[n][2*i+1] = sim->figtimer.linedata[n][2*i-1];
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}
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// assign new
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sim->figtimer.linepnt[n] = pnt;
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sim->figtimer.linedata[n][1] = tdata[n];
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}
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// get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter
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float sdata[6] = {
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static_cast<float>(m->nv),
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static_cast<float>(m->nbody),
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static_cast<float>(d->nefc),
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static_cast<float>(mju_sqrt(d->solver_nnz)),
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static_cast<float>(d->ncon),
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static_cast<float>(d->solver_iter)
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};
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// update figsize
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pnt = mjMIN(201, sim->figsize.linepnt[0]+1);
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for (int n=0; n<6; n++) {
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// shift data
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for (int i=pnt-1; i>0; i--) {
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sim->figsize.linedata[n][2*i+1] = sim->figsize.linedata[n][2*i-1];
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}
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// assign new
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sim->figsize.linepnt[n] = pnt;
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sim->figsize.linedata[n][1] = sdata[n];
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}
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}
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// show profiler figures
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void ShowProfiler(mj::Simulate* sim, mjrRect rect) {
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mjrRect viewport = {
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rect.left + rect.width - rect.width/4,
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rect.bottom,
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rect.width/4,
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rect.height/4
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};
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mjr_figure(viewport, &sim->figtimer, &sim->platform_ui->mjr_context());
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &sim->figsize, &sim->platform_ui->mjr_context());
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &sim->figcost, &sim->platform_ui->mjr_context());
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &sim->figconstraint, &sim->platform_ui->mjr_context());
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}
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// init sensor figure
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void InitializeSensor(mj::Simulate* sim) {
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mjvFigure& figsensor = sim->figsensor;
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// set figure to default
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mjv_defaultFigure(&figsensor);
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figsensor.figurergba[3] = 0.5f;
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// set flags
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figsensor.flg_extend = 1;
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figsensor.flg_barplot = 1;
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figsensor.flg_symmetric = 1;
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// title
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mju::strcpy_arr(figsensor.title, "Sensor data");
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// y-tick nubmer format
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mju::strcpy_arr(figsensor.yformat, "%.1f");
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// grid size
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figsensor.gridsize[0] = 2;
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figsensor.gridsize[1] = 3;
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// minimum range
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figsensor.range[0][0] = 0;
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figsensor.range[0][1] = 0;
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figsensor.range[1][0] = -1;
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figsensor.range[1][1] = 1;
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}
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// update sensor figure
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void UpdateSensor(mj::Simulate* sim, const mjModel* m, const mjData* d) {
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mjvFigure& figsensor = sim->figsensor;
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static const int maxline = 10;
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// clear linepnt
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for (int i=0; i<maxline; i++) {
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figsensor.linepnt[i] = 0;
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}
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// start with line 0
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int lineid = 0;
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// loop over sensors
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|
for (int n=0; n<m->nsensor; n++) {
|
|
// go to next line if type is different
|
|
if (n>0 && m->sensor_type[n]!=m->sensor_type[n-1]) {
|
|
lineid = mjMIN(lineid+1, maxline-1);
|
|
}
|
|
|
|
// get info about this sensor
|
|
mjtNum cutoff = (m->sensor_cutoff[n]>0 ? m->sensor_cutoff[n] : 1);
|
|
int adr = m->sensor_adr[n];
|
|
int dim = m->sensor_dim[n];
|
|
|
|
// data pointer in line
|
|
int p = figsensor.linepnt[lineid];
|
|
|
|
// fill in data for this sensor
|
|
for (int i=0; i<dim; i++) {
|
|
// check size
|
|
if ((p+2*i)>=mjMAXLINEPNT/2) {
|
|
break;
|
|
}
|
|
|
|
// x
|
|
figsensor.linedata[lineid][2*p+4*i] = adr+i;
|
|
figsensor.linedata[lineid][2*p+4*i+2] = adr+i;
|
|
|
|
// y
|
|
figsensor.linedata[lineid][2*p+4*i+1] = 0;
|
|
figsensor.linedata[lineid][2*p+4*i+3] = d->sensordata[adr+i]/cutoff;
|
|
}
|
|
|
|
// update linepnt
|
|
figsensor.linepnt[lineid] = mjMIN(mjMAXLINEPNT-1, figsensor.linepnt[lineid]+2*dim);
|
|
}
|
|
}
|
|
|
|
// show sensor figure
|
|
void ShowSensor(mj::Simulate* sim, mjrRect rect) {
|
|
// constant width with and without profiler
|
|
int width = sim->profiler ? rect.width/3 : rect.width/4;
|
|
|
|
// render figure on the right
|
|
mjrRect viewport = {
|
|
rect.left + rect.width - width,
|
|
rect.bottom,
|
|
width,
|
|
rect.height/3
|
|
};
|
|
mjr_figure(viewport, &sim->figsensor, &sim->platform_ui->mjr_context());
|
|
}
|
|
|
|
// prepare info text
|
|
void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
|
|
char (&title)[mj::Simulate::kMaxFilenameLength],
|
|
char (&content)[mj::Simulate::kMaxFilenameLength]) {
|
|
char tmp[20];
|
|
|
|
// compute solver error
|
|
mjtNum solerr = 0;
|
|
if (d->solver_iter) {
|
|
int ind = mjMIN(d->solver_iter-1, mjNSOLVER-1);
|
|
solerr = mju_min(d->solver[ind].improvement, d->solver[ind].gradient);
|
|
if (solerr==0) {
|
|
solerr = mju_max(d->solver[ind].improvement, d->solver[ind].gradient);
|
|
}
|
|
}
|
|
solerr = mju_log10(mju_max(mjMINVAL, solerr));
|
|
|
|
// format FPS text
|
|
char fps[10];
|
|
if (sim->fps_ < 1) {
|
|
mju::sprintf_arr(fps, "%0.1f ", sim->fps_);
|
|
} else {
|
|
mju::sprintf_arr(fps, "%.0f ", sim->fps_);
|
|
}
|
|
|
|
// prepare info text
|
|
mju::strcpy_arr(title, "Time\nSize\nPruning\nCPU\nSolver \nFPS\nMemory");
|
|
int broad_pruning = d->nbodypair_broad ? (100.0*d->nbodypair_narrow)/d->nbodypair_broad : 0;
|
|
int mid_pruning = d->ngeompair_mid ? (100.0*d->nbodypair_narrow)/d->ngeompair_mid : 0;
|
|
mju::sprintf_arr(content,
|
|
"%-9.3f\n%d (%d con)\nb: %d%% m: %d%%\n%.3f\n%.1f (%d it)\n%s\n%.2g of %s",
|
|
d->time,
|
|
d->nefc, d->ncon,
|
|
broad_pruning, mid_pruning,
|
|
sim->run ?
|
|
d->timer[mjTIMER_STEP].duration / mjMAX(1, d->timer[mjTIMER_STEP].number) :
|
|
d->timer[mjTIMER_FORWARD].duration / mjMAX(1, d->timer[mjTIMER_FORWARD].number),
|
|
solerr, d->solver_iter,
|
|
fps,
|
|
d->maxuse_arena/(double)(d->nstack * sizeof(mjtNum)),
|
|
mju_writeNumBytes(d->nstack * sizeof(mjtNum)));
|
|
|
|
// add Energy if enabled
|
|
{
|
|
if (mjENABLED(mjENBL_ENERGY)) {
|
|
mju::sprintf_arr(tmp, "\n%.3f", d->energy[0]+d->energy[1]);
|
|
mju::strcat_arr(content, tmp);
|
|
mju::strcat_arr(title, "\nEnergy");
|
|
}
|
|
|
|
// add FwdInv if enabled
|
|
if (mjENABLED(mjENBL_FWDINV)) {
|
|
mju::sprintf_arr(tmp, "\n%.1f %.1f",
|
|
mju_log10(mju_max(mjMINVAL, d->solver_fwdinv[0])),
|
|
mju_log10(mju_max(mjMINVAL, d->solver_fwdinv[1])));
|
|
mju::strcat_arr(content, tmp);
|
|
mju::strcat_arr(title, "\nFwdInv");
|
|
}
|
|
}
|
|
}
|
|
|
|
// sprintf forwarding, to avoid compiler warning in x-macro
|
|
void PrintField(char (&str)[mjMAXUINAME], void* ptr) {
|
|
mju::sprintf_arr(str, "%g", *static_cast<mjtNum*>(ptr));
|
|
}
|
|
|
|
// update watch
|
|
void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
|
|
// clear
|
|
sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
|
|
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
|
|
|
|
// prepare symbols needed by xmacro
|
|
MJDATA_POINTERS_PREAMBLE(m);
|
|
|
|
// find specified field in mjData arrays, update value
|
|
#define X(TYPE, NAME, NR, NC) \
|
|
if (!mju::strcmp_arr(#NAME, sim->field) && \
|
|
!mju::strcmp_arr(#TYPE, "mjtNum")) { \
|
|
if (sim->index >= 0 && sim->index < m->NR * NC) { \
|
|
PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0],d->NAME + sim->index); \
|
|
} else { \
|
|
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index"); \
|
|
} \
|
|
return; \
|
|
}
|
|
|
|
MJDATA_POINTERS
|
|
#undef X
|
|
}
|
|
|
|
|
|
//---------------------------------- UI construction -----------------------------------------------
|
|
|
|
// make physics section of UI
|
|
void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
|
|
mjOption* opt = sim->fully_managed_ ? &sim->m_->opt : &sim->scnstate_.model.opt;
|
|
mjuiDef defPhysics[] = {
|
|
{mjITEM_SECTION, "Physics", oldstate, nullptr, "AP"},
|
|
{mjITEM_SELECT, "Integrator", 2, &(opt->integrator), "Euler\nRK4\nimplicit\nimplicitfast"},
|
|
{mjITEM_SELECT, "Collision", 2, &(opt->collision), "All\nPair\nDynamic"},
|
|
{mjITEM_SELECT, "Cone", 2, &(opt->cone), "Pyramidal\nElliptic"},
|
|
{mjITEM_SELECT, "Jacobian", 2, &(opt->jacobian), "Dense\nSparse\nAuto"},
|
|
{mjITEM_SELECT, "Solver", 2, &(opt->solver), "PGS\nCG\nNewton"},
|
|
{mjITEM_SEPARATOR, "Algorithmic Parameters", 1},
|
|
{mjITEM_EDITNUM, "Timestep", 2, &(opt->timestep), "1 0 1"},
|
|
{mjITEM_EDITINT, "Iterations", 2, &(opt->iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "Tolerance", 2, &(opt->tolerance), "1 0 1"},
|
|
{mjITEM_EDITINT, "Noslip Iter", 2, &(opt->noslip_iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "Noslip Tol", 2, &(opt->noslip_tolerance), "1 0 1"},
|
|
{mjITEM_EDITINT, "MRR Iter", 2, &(opt->mpr_iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "MPR Tol", 2, &(opt->mpr_tolerance), "1 0 1"},
|
|
{mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"},
|
|
{mjITEM_SEPARATOR, "Physical Parameters", 1},
|
|
{mjITEM_EDITNUM, "Gravity", 2, opt->gravity, "3"},
|
|
{mjITEM_EDITNUM, "Wind", 2, opt->wind, "3"},
|
|
{mjITEM_EDITNUM, "Magnetic", 2, opt->magnetic, "3"},
|
|
{mjITEM_EDITNUM, "Density", 2, &(opt->density), "1"},
|
|
{mjITEM_EDITNUM, "Viscosity", 2, &(opt->viscosity), "1"},
|
|
{mjITEM_EDITNUM, "Imp Ratio", 2, &(opt->impratio), "1"},
|
|
{mjITEM_SEPARATOR, "Disable Flags", 1},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defEnableFlags[] = {
|
|
{mjITEM_SEPARATOR, "Enable Flags", 1},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defOverride[] = {
|
|
{mjITEM_SEPARATOR, "Contact Override", 1},
|
|
{mjITEM_EDITNUM, "Margin", 2, &(opt->o_margin), "1"},
|
|
{mjITEM_EDITNUM, "Sol Imp", 2, &(opt->o_solimp), "5"},
|
|
{mjITEM_EDITNUM, "Sol Ref", 2, &(opt->o_solref), "2"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add physics
|
|
mjui_add(&sim->ui0, defPhysics);
|
|
|
|
// add flags programmatically
|
|
mjuiDef defFlag[] = {
|
|
{mjITEM_CHECKINT, "", 2, nullptr, ""},
|
|
{mjITEM_END}
|
|
};
|
|
for (int i=0; i<mjNDISABLE; i++) {
|
|
mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
|
|
defFlag[0].pdata = sim->disable + i;
|
|
mjui_add(&sim->ui0, defFlag);
|
|
}
|
|
mjui_add(&sim->ui0, defEnableFlags);
|
|
for (int i=0; i<mjNENABLE; i++) {
|
|
mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
|
|
defFlag[0].pdata = sim->enable + i;
|
|
mjui_add(&sim->ui0, defFlag);
|
|
}
|
|
|
|
// add contact override
|
|
mjui_add(&sim->ui0, defOverride);
|
|
}
|
|
|
|
|
|
|
|
// make rendering section of UI
|
|
void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
|
|
mjuiDef defRendering[] = {
|
|
{
|
|
mjITEM_SECTION,
|
|
"Rendering",
|
|
oldstate,
|
|
nullptr,
|
|
"AR"
|
|
},
|
|
{
|
|
mjITEM_SELECT,
|
|
"Camera",
|
|
2,
|
|
&(sim->camera),
|
|
"Free\nTracking"
|
|
},
|
|
{
|
|
mjITEM_SELECT,
|
|
"Label",
|
|
2,
|
|
&(sim->opt.label),
|
|
"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
|
|
"Actuator\nConstraint\nSkin\nSelection\nSel Pnt\nContact\nForce"
|
|
},
|
|
{
|
|
mjITEM_SELECT,
|
|
"Frame",
|
|
2,
|
|
&(sim->opt.frame),
|
|
"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
|
|
},
|
|
{
|
|
mjITEM_BUTTON,
|
|
"Copy camera",
|
|
2,
|
|
nullptr,
|
|
""
|
|
},
|
|
{
|
|
mjITEM_SEPARATOR,
|
|
"Model Elements",
|
|
1
|
|
},
|
|
{
|
|
mjITEM_END
|
|
}
|
|
};
|
|
mjuiDef defOpenGL[] = {
|
|
{mjITEM_SEPARATOR, "OpenGL Effects", 1},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add model cameras, up to UI limit
|
|
for (int i=0; i<mjMIN(m->ncam, mjMAXUIMULTI-2); i++) {
|
|
// prepare name
|
|
char camname[mjMAXUITEXT] = "\n";
|
|
if (m->names[m->name_camadr[i]]) {
|
|
mju::strcat_arr(camname, m->names+m->name_camadr[i]);
|
|
} else {
|
|
mju::sprintf_arr(camname, "\nCamera %d", i);
|
|
}
|
|
|
|
// check string length
|
|
if (mju::strlen_arr(camname) + mju::strlen_arr(defRendering[1].other)>=mjMAXUITEXT-1) {
|
|
break;
|
|
}
|
|
|
|
// add camera
|
|
mju::strcat_arr(defRendering[1].other, camname);
|
|
}
|
|
|
|
// add rendering standard
|
|
mjui_add(&sim->ui0, defRendering);
|
|
|
|
// add flags programmatically
|
|
mjuiDef defFlag[] = {
|
|
{mjITEM_CHECKBYTE, "", 2, nullptr, ""},
|
|
{mjITEM_END}
|
|
};
|
|
for (int i=0; i<mjNVISFLAG; i++) {
|
|
// set name, remove "&"
|
|
mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
|
|
for (int j=0; j<strlen(mjVISSTRING[i][0]); j++)
|
|
if (mjVISSTRING[i][0][j]=='&') {
|
|
mju_strncpy(
|
|
defFlag[0].name+j, mjVISSTRING[i][0]+j+1, mju::sizeof_arr(defFlag[0].name)-j);
|
|
break;
|
|
}
|
|
|
|
// set shortcut and data
|
|
if (mjVISSTRING[i][2][0]) {
|
|
mju::sprintf_arr(defFlag[0].other, " %s", mjVISSTRING[i][2]);
|
|
} else {
|
|
mju::sprintf_arr(defFlag[0].other, "");
|
|
}
|
|
defFlag[0].pdata = sim->opt.flags + i;
|
|
mjui_add(&sim->ui0, defFlag);
|
|
}
|
|
|
|
// create tree slider
|
|
mjuiDef defTree[] = {
|
|
{mjITEM_SLIDERINT, "Tree depth", 2, &sim->opt.bvh_depth, "-1 15"},
|
|
{mjITEM_END}
|
|
};
|
|
mjui_add(&sim->ui0, defTree);
|
|
|
|
mjui_add(&sim->ui0, defOpenGL);
|
|
for (int i=0; i<mjNRNDFLAG; i++) {
|
|
mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
|
|
if (mjRNDSTRING[i][2][0]) {
|
|
mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
|
|
} else {
|
|
mju::sprintf_arr(defFlag[0].other, "");
|
|
}
|
|
defFlag[0].pdata = sim->scn.flags + i;
|
|
mjui_add(&sim->ui0, defFlag);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// make group section of UI
|
|
void MakeGroupSection(mj::Simulate* sim, int oldstate) {
|
|
mjuiDef defGroup[] = {
|
|
{mjITEM_SECTION, "Group enable", oldstate, nullptr, "AG"},
|
|
{mjITEM_SEPARATOR, "Geom groups", 1},
|
|
{mjITEM_CHECKBYTE, "Geom 0", 2, sim->opt.geomgroup, " 0"},
|
|
{mjITEM_CHECKBYTE, "Geom 1", 2, sim->opt.geomgroup+1, " 1"},
|
|
{mjITEM_CHECKBYTE, "Geom 2", 2, sim->opt.geomgroup+2, " 2"},
|
|
{mjITEM_CHECKBYTE, "Geom 3", 2, sim->opt.geomgroup+3, " 3"},
|
|
{mjITEM_CHECKBYTE, "Geom 4", 2, sim->opt.geomgroup+4, " 4"},
|
|
{mjITEM_CHECKBYTE, "Geom 5", 2, sim->opt.geomgroup+5, " 5"},
|
|
{mjITEM_SEPARATOR, "Site groups", 1},
|
|
{mjITEM_CHECKBYTE, "Site 0", 2, sim->opt.sitegroup, "S0"},
|
|
{mjITEM_CHECKBYTE, "Site 1", 2, sim->opt.sitegroup+1, "S1"},
|
|
{mjITEM_CHECKBYTE, "Site 2", 2, sim->opt.sitegroup+2, "S2"},
|
|
{mjITEM_CHECKBYTE, "Site 3", 2, sim->opt.sitegroup+3, "S3"},
|
|
{mjITEM_CHECKBYTE, "Site 4", 2, sim->opt.sitegroup+4, "S4"},
|
|
{mjITEM_CHECKBYTE, "Site 5", 2, sim->opt.sitegroup+5, "S5"},
|
|
{mjITEM_SEPARATOR, "Joint groups", 1},
|
|
{mjITEM_CHECKBYTE, "Joint 0", 2, sim->opt.jointgroup, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 1", 2, sim->opt.jointgroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 2", 2, sim->opt.jointgroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 3", 2, sim->opt.jointgroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 4", 2, sim->opt.jointgroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 5", 2, sim->opt.jointgroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Tendon groups", 1},
|
|
{mjITEM_CHECKBYTE, "Tendon 0", 2, sim->opt.tendongroup, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 1", 2, sim->opt.tendongroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 2", 2, sim->opt.tendongroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 3", 2, sim->opt.tendongroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 4", 2, sim->opt.tendongroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 5", 2, sim->opt.tendongroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Actuator groups", 1},
|
|
{mjITEM_CHECKBYTE, "Actuator 0", 2, sim->opt.actuatorgroup, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 1", 2, sim->opt.actuatorgroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 2", 2, sim->opt.actuatorgroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 3", 2, sim->opt.actuatorgroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 4", 2, sim->opt.actuatorgroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 5", 2, sim->opt.actuatorgroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Skin groups", 1},
|
|
{mjITEM_CHECKBYTE, "Skin 0", 2, sim->opt.skingroup, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 1", 2, sim->opt.skingroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 2", 2, sim->opt.skingroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 3", 2, sim->opt.skingroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 4", 2, sim->opt.skingroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 5", 2, sim->opt.skingroup+5, ""},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&sim->ui0, defGroup);
|
|
}
|
|
|
|
// make joint section of UI
|
|
void MakeJointSection(mj::Simulate* sim, int oldstate) {
|
|
mjuiDef defJoint[] = {
|
|
{mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ"},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defSlider[] = {
|
|
{mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&sim->ui1, defJoint);
|
|
defSlider[0].state = 4;
|
|
|
|
// add scalar joints, exit if UI limit reached
|
|
int itemcnt = 0;
|
|
for (int i=0; i < sim->jnt_type_.size() && itemcnt<mjMAXUIITEM; i++)
|
|
if ((sim->jnt_type_[i]==mjJNT_HINGE || sim->jnt_type_[i]==mjJNT_SLIDE)) {
|
|
// skip if joint group is disabled
|
|
if (!sim->opt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->jnt_group_[i]))]) {
|
|
continue;
|
|
}
|
|
|
|
// set data and name
|
|
if (sim->fully_managed_) {
|
|
defSlider[0].pdata = &sim->d_->qpos[sim->m_->jnt_qposadr[i]];
|
|
} else {
|
|
defSlider[0].pdata = &sim->qpos_[sim->jnt_qposadr_[i]];
|
|
}
|
|
if (!sim->jnt_names_[i].empty()) {
|
|
mju::strcpy_arr(defSlider[0].name, sim->jnt_names_[i].c_str());
|
|
} else {
|
|
mju::sprintf_arr(defSlider[0].name, "joint %d", i);
|
|
}
|
|
|
|
// set range
|
|
if (sim->jnt_range_[i].has_value())
|
|
mju::sprintf_arr(defSlider[0].other, "%.4g %.4g",
|
|
sim->jnt_range_[i]->first, sim->jnt_range_[i]->second);
|
|
else if (sim->jnt_type_[i]==mjJNT_SLIDE) {
|
|
mju::strcpy_arr(defSlider[0].other, "-1 1");
|
|
} else {
|
|
mju::strcpy_arr(defSlider[0].other, "-3.1416 3.1416");
|
|
}
|
|
|
|
// add and count
|
|
mjui_add(&sim->ui1, defSlider);
|
|
itemcnt++;
|
|
}
|
|
}
|
|
|
|
// make control section of UI
|
|
void MakeControlSection(mj::Simulate* sim, int oldstate) {
|
|
mjuiDef defControl[] = {
|
|
{mjITEM_SECTION, "Control", oldstate, nullptr, "AC"},
|
|
{mjITEM_BUTTON, "Clear all", 2},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defSlider[] = {
|
|
{mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&sim->ui1, defControl);
|
|
defSlider[0].state = 2;
|
|
|
|
// add controls, exit if UI limit reached (Clear button already added)
|
|
int itemcnt = 1;
|
|
for (int i=0; i < sim->actuator_ctrlrange_.size() && itemcnt<mjMAXUIITEM; i++) {
|
|
// skip if actuator group is disabled
|
|
if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->actuator_group_[i]))]) {
|
|
continue;
|
|
}
|
|
|
|
// set data and name
|
|
if (sim->fully_managed_) {
|
|
defSlider[0].pdata = &sim->d_->ctrl[i];
|
|
} else {
|
|
defSlider[0].pdata = &sim->ctrl_[i];
|
|
}
|
|
if (!sim->actuator_names_[i].empty()) {
|
|
mju::strcpy_arr(defSlider[0].name, sim->actuator_names_[i].c_str());
|
|
} else {
|
|
mju::sprintf_arr(defSlider[0].name, "control %d", i);
|
|
}
|
|
|
|
// set range
|
|
if (sim->actuator_ctrlrange_[i].has_value())
|
|
mju::sprintf_arr(defSlider[0].other, "%.4g %.4g",
|
|
sim->actuator_ctrlrange_[i]->first, sim->actuator_ctrlrange_[i]->second);
|
|
else {
|
|
mju::strcpy_arr(defSlider[0].other, "-1 1");
|
|
}
|
|
|
|
// add and count
|
|
mjui_add(&sim->ui1, defSlider);
|
|
itemcnt++;
|
|
}
|
|
}
|
|
|
|
// make model-dependent UI sections
|
|
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
|
|
sim->ui0.nsect = SECT_PHYSICS;
|
|
sim->ui1.nsect = 0;
|
|
|
|
// make
|
|
MakePhysicsSection(sim, oldstate0[SECT_PHYSICS]);
|
|
MakeRenderingSection(sim, m, oldstate0[SECT_RENDERING]);
|
|
MakeGroupSection(sim, oldstate0[SECT_GROUP]);
|
|
MakeJointSection(sim, oldstate1[SECT_JOINT]);
|
|
MakeControlSection(sim, oldstate1[SECT_CONTROL]);
|
|
}
|
|
|
|
//---------------------------------- utility functions ---------------------------------------------
|
|
|
|
// align and scale view
|
|
void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
|
|
// use default free camera parameters
|
|
mjv_defaultFreeCamera(m, &sim->cam);
|
|
}
|
|
|
|
|
|
// copy qpos to clipboard as key
|
|
void CopyPose(mj::Simulate* sim, const mjModel* m, const mjData* d) {
|
|
char clipboard[5000] = "<key qpos='";
|
|
char buf[200];
|
|
|
|
// prepare string
|
|
for (int i=0; i<m->nq; i++) {
|
|
mju::sprintf_arr(buf, i==m->nq-1 ? "%g" : "%g ", d->qpos[i]);
|
|
mju::strcat_arr(clipboard, buf);
|
|
}
|
|
mju::strcat_arr(clipboard, "'/>");
|
|
|
|
// copy to clipboard
|
|
sim->platform_ui->SetClipboardString(clipboard);
|
|
}
|
|
|
|
// millisecond timer, for MuJoCo built-in profiler
|
|
mjtNum Timer() {
|
|
return Milliseconds(mj::Simulate::Clock::now().time_since_epoch()).count();
|
|
}
|
|
|
|
// clear all times
|
|
void ClearTimers(mjData* d) {
|
|
for (int i=0; i<mjNTIMER; i++) {
|
|
d->timer[i].duration = 0;
|
|
d->timer[i].number = 0;
|
|
}
|
|
}
|
|
|
|
// copy current camera to clipboard as MJCF specification
|
|
void CopyCamera(mj::Simulate* sim) {
|
|
mjvGLCamera* camera = sim->scn.camera;
|
|
|
|
char clipboard[500];
|
|
mjtNum cam_right[3];
|
|
mjtNum cam_forward[3];
|
|
mjtNum cam_up[3];
|
|
|
|
// get camera spec from the GLCamera
|
|
mju_f2n(cam_forward, camera[0].forward, 3);
|
|
mju_f2n(cam_up, camera[0].up, 3);
|
|
mju_cross(cam_right, cam_forward, cam_up);
|
|
|
|
// make MJCF camera spec
|
|
mju::sprintf_arr(clipboard,
|
|
"<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f %.3f %.3f\"/>\n",
|
|
(camera[0].pos[0] + camera[1].pos[0]) / 2,
|
|
(camera[0].pos[1] + camera[1].pos[1]) / 2,
|
|
(camera[0].pos[2] + camera[1].pos[2]) / 2,
|
|
cam_right[0], cam_right[1], cam_right[2],
|
|
camera[0].up[0], camera[0].up[1], camera[0].up[2]);
|
|
|
|
// copy spec into clipboard
|
|
sim->platform_ui->SetClipboardString(clipboard);
|
|
}
|
|
|
|
// update UI 0 when MuJoCo structures change (except for joint sliders)
|
|
void UpdateSettings(mj::Simulate* sim, const mjModel* m) {
|
|
// physics flags
|
|
for (int i=0; i<mjNDISABLE; i++) {
|
|
sim->disable[i] = ((m->opt.disableflags & (1<<i)) !=0);
|
|
}
|
|
for (int i=0; i<mjNENABLE; i++) {
|
|
sim->enable[i] = ((m->opt.enableflags & (1<<i)) !=0);
|
|
}
|
|
|
|
// camera
|
|
if (sim->cam.type==mjCAMERA_FIXED) {
|
|
sim->camera = 2 + sim->cam.fixedcamid;
|
|
} else if (sim->cam.type==mjCAMERA_TRACKING) {
|
|
sim->camera = 1;
|
|
} else {
|
|
sim->camera = 0;
|
|
}
|
|
|
|
// update UI
|
|
sim->pending_.full_ui_update = true;
|
|
}
|
|
|
|
// Compute suitable font scale.
|
|
int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
|
|
// compute framebuffer-to-window ratio
|
|
auto [buf_width, buf_height] = platform_ui.GetFramebufferSize();
|
|
auto [win_width, win_height] = platform_ui.GetWindowSize();
|
|
double b2w = static_cast<double>(buf_width) / win_width;
|
|
|
|
// compute PPI
|
|
double PPI = b2w * platform_ui.GetDisplayPixelsPerInch();
|
|
|
|
// estimate font scaling, guard against unrealistic PPI
|
|
int fs;
|
|
if (buf_width > win_width) {
|
|
fs = mju_round(b2w * 100);
|
|
} else if (PPI>50 && PPI<350) {
|
|
fs = mju_round(PPI);
|
|
} else {
|
|
fs = 150;
|
|
}
|
|
fs = mju_round(fs * 0.02) * 50;
|
|
fs = mjMIN(300, mjMAX(100, fs));
|
|
|
|
return fs;
|
|
}
|
|
|
|
|
|
//---------------------------------- UI handlers ---------------------------------------------------
|
|
|
|
// determine enable/disable item state given category
|
|
int UiPredicate(int category, void* userdata) {
|
|
mj::Simulate* sim = static_cast<mj::Simulate*>(userdata);
|
|
|
|
switch (category) {
|
|
case 2: // require model
|
|
return sim->m_ || !sim->fully_managed_;
|
|
|
|
case 3: // require model and nkey
|
|
return sim->fully_managed_ && 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_;
|
|
|
|
default:
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
// set window layout
|
|
void UiLayout(mjuiState* state) {
|
|
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
|
|
mjrRect* rect = state->rect;
|
|
|
|
// set number of rectangles
|
|
state->nrect = 4;
|
|
|
|
// rect 1: UI 0
|
|
rect[1].left = 0;
|
|
rect[1].width = sim->ui0_enable ? sim->ui0.width : 0;
|
|
rect[1].bottom = 0;
|
|
rect[1].height = rect[0].height;
|
|
|
|
// rect 2: UI 1
|
|
rect[2].width = sim->ui1_enable ? sim->ui1.width : 0;
|
|
rect[2].left = mjMAX(0, rect[0].width - rect[2].width);
|
|
rect[2].bottom = 0;
|
|
rect[2].height = rect[0].height;
|
|
|
|
// rect 3: 3D plot (everything else is an overlay)
|
|
rect[3].left = rect[1].width;
|
|
rect[3].width = mjMAX(0, rect[0].width - rect[1].width - rect[2].width);
|
|
rect[3].bottom = 0;
|
|
rect[3].height = rect[0].height;
|
|
}
|
|
|
|
void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
|
|
mjui_resize(ui, con);
|
|
mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
|
|
UiLayout(state);
|
|
mjui_update(-1, -1, ui, state, con);
|
|
}
|
|
|
|
// handle UI event
|
|
void UiEvent(mjuiState* state) {
|
|
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
|
|
|
|
// call UI 0 if event is directed to it
|
|
if ((state->dragrect==sim->ui0.rectid) ||
|
|
(state->dragrect==0 && state->mouserect==sim->ui0.rectid) ||
|
|
state->type==mjEVENT_KEY) {
|
|
// process UI event
|
|
mjuiItem* it = mjui_event(&sim->ui0, state, &sim->platform_ui->mjr_context());
|
|
|
|
// file section
|
|
if (it && it->sectionid==SECT_FILE) {
|
|
switch (it->itemid) {
|
|
case 0: // Save xml
|
|
sim->pending_.save_xml = GetSavePath("mjmodel.xml");
|
|
break;
|
|
|
|
case 1: // Save mjb
|
|
sim->pending_.save_mjb = GetSavePath("mjmodel.mjb");
|
|
break;
|
|
|
|
case 2: // Print model
|
|
sim->pending_.print_model = GetSavePath("MJMODEL.TXT");
|
|
break;
|
|
|
|
case 3: // Print data
|
|
sim->pending_.print_data = GetSavePath("MJDATA.TXT");
|
|
break;
|
|
|
|
case 4: // Quit
|
|
sim->exitrequest.store(1);
|
|
break;
|
|
|
|
case 5: // Screenshot
|
|
sim->screenshotrequest.store(true);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// option section
|
|
else if (it && it->sectionid==SECT_OPTION) {
|
|
switch (it->itemid) {
|
|
case 0: // Spacing
|
|
sim->ui0.spacing = mjui_themeSpacing(sim->spacing);
|
|
sim->ui1.spacing = mjui_themeSpacing(sim->spacing);
|
|
break;
|
|
|
|
case 1: // Color
|
|
sim->ui0.color = mjui_themeColor(sim->color);
|
|
sim->ui1.color = mjui_themeColor(sim->color);
|
|
break;
|
|
|
|
case 2: // Font
|
|
mjr_changeFont(50*(sim->font+1), &sim->platform_ui->mjr_context());
|
|
break;
|
|
|
|
case 9: // Full screen
|
|
sim->platform_ui->ToggleFullscreen();
|
|
break;
|
|
|
|
case 10: // Vertical sync
|
|
sim->platform_ui->SetVSync(sim->vsync);
|
|
break;
|
|
}
|
|
|
|
// modify UI
|
|
UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
|
|
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
|
|
}
|
|
|
|
// simulation section
|
|
else if (it && it->sectionid==SECT_SIMULATION) {
|
|
switch (it->itemid) {
|
|
case 1: // Reset
|
|
sim->pending_.reset = true;
|
|
break;
|
|
|
|
case 2: // Reload
|
|
sim->uiloadrequest.fetch_add(1);
|
|
break;
|
|
|
|
case 3: // Align
|
|
sim->pending_.align = true;
|
|
break;
|
|
|
|
case 4: // Copy pose
|
|
sim->pending_.copy_pose = true;
|
|
break;
|
|
|
|
case 5: // Adjust key
|
|
case 6: // Load key
|
|
sim->pending_.load_key = true;
|
|
break;
|
|
|
|
case 7: // Save key
|
|
sim->pending_.save_key = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// physics section
|
|
else if (it && it->sectionid==SECT_PHYSICS && sim->m_) {
|
|
mjOption* opt = sim->fully_managed_ ? &sim->m_->opt : &sim->scnstate_.model.opt;
|
|
|
|
// update disable flags in mjOption
|
|
opt->disableflags = 0;
|
|
for (int i=0; i<mjNDISABLE; i++)
|
|
if (sim->disable[i]) {
|
|
opt->disableflags |= (1<<i);
|
|
}
|
|
|
|
// update enable flags in mjOption
|
|
opt->enableflags = 0;
|
|
for (int i=0; i<mjNENABLE; i++)
|
|
if (sim->enable[i]) {
|
|
opt->enableflags |= (1<<i);
|
|
}
|
|
}
|
|
|
|
// rendering section
|
|
else if (it && it->sectionid==SECT_RENDERING) {
|
|
// set camera in mjvCamera
|
|
if (sim->camera==0) {
|
|
sim->cam.type = mjCAMERA_FREE;
|
|
} else if (sim->camera==1) {
|
|
if (sim->pert.select>0) {
|
|
sim->cam.type = mjCAMERA_TRACKING;
|
|
sim->cam.trackbodyid = sim->pert.select;
|
|
sim->cam.fixedcamid = -1;
|
|
} else {
|
|
sim->cam.type = mjCAMERA_FREE;
|
|
sim->camera = 0;
|
|
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate,
|
|
&sim->platform_ui->mjr_context());
|
|
}
|
|
} else {
|
|
sim->cam.type = mjCAMERA_FIXED;
|
|
sim->cam.fixedcamid = sim->camera - 2;
|
|
}
|
|
// copy camera spec to clipboard (as MJCF element)
|
|
if (it->itemid == 3) {
|
|
CopyCamera(sim);
|
|
}
|
|
}
|
|
|
|
// group section
|
|
else if (it && it->sectionid==SECT_GROUP) {
|
|
// remake joint section if joint group changed
|
|
if (it->name[0]=='J' && it->name[1]=='o') {
|
|
sim->ui1.nsect = SECT_JOINT;
|
|
MakeJointSection(sim, sim->ui1.sect[SECT_JOINT].state);
|
|
sim->ui1.nsect = NSECT1;
|
|
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
|
|
}
|
|
|
|
// remake control section if actuator group changed
|
|
if (it->name[0]=='A' && it->name[1]=='c') {
|
|
sim->ui1.nsect = SECT_CONTROL;
|
|
MakeControlSection(sim, sim->ui1.sect[SECT_CONTROL].state);
|
|
sim->ui1.nsect = NSECT1;
|
|
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
|
|
}
|
|
}
|
|
|
|
// stop if UI processed event
|
|
if (it!=nullptr || (state->type==mjEVENT_KEY && state->key==0)) {
|
|
return;
|
|
}
|
|
}
|
|
|
|
// call UI 1 if event is directed to it
|
|
if ((state->dragrect==sim->ui1.rectid) ||
|
|
(state->dragrect==0 && state->mouserect==sim->ui1.rectid) ||
|
|
state->type==mjEVENT_KEY) {
|
|
// process UI event
|
|
mjuiItem* it = mjui_event(&sim->ui1, state, &sim->platform_ui->mjr_context());
|
|
|
|
// control section
|
|
if (it && it->sectionid==SECT_CONTROL) {
|
|
// clear controls
|
|
if (it->itemid==0) {
|
|
sim->pending_.zero_ctrl = true;
|
|
}
|
|
}
|
|
|
|
// stop if UI processed event
|
|
if (it!=nullptr || (state->type==mjEVENT_KEY && state->key==0)) {
|
|
return;
|
|
}
|
|
}
|
|
|
|
// shortcut not handled by UI
|
|
if (state->type==mjEVENT_KEY && state->key!=0) {
|
|
switch (state->key) {
|
|
case ' ': // Mode
|
|
if (sim->fully_managed_ && sim->m_) {
|
|
sim->run = 1 - sim->run;
|
|
sim->pert.active = 0;
|
|
mjui_update(-1, -1, &sim->ui0, state, &sim->platform_ui->mjr_context());
|
|
}
|
|
break;
|
|
|
|
case mjKEY_RIGHT: // step forward
|
|
if (sim->fully_managed_ && sim->m_ && !sim->run) {
|
|
ClearTimers(sim->d_);
|
|
mj_step(sim->m_, sim->d_);
|
|
UpdateProfiler(sim, sim->m_, sim->d_);
|
|
UpdateSensor(sim, sim->m_, sim->d_);
|
|
UpdateSettings(sim, sim->m_);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_PAGE_UP: // select parent body
|
|
if ((sim->m_ || !sim->fully_managed_) && sim->pert.select > 0) {
|
|
sim->pert.select = sim->body_parentid_[sim->pert.select];
|
|
sim->pert.skinselect = -1;
|
|
|
|
// stop perturbation if world reached
|
|
if (sim->pert.select<=0) {
|
|
sim->pert.active = 0;
|
|
}
|
|
}
|
|
|
|
break;
|
|
|
|
case ']': // cycle up fixed cameras
|
|
if ((sim->m_ || !sim->fully_managed_) && 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) {
|
|
sim->camera = 2;
|
|
} else {
|
|
sim->camera += 1;
|
|
}
|
|
sim->cam.fixedcamid = sim->camera - 2;
|
|
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
|
|
}
|
|
break;
|
|
|
|
case '[': // cycle down fixed cameras
|
|
if ((sim->m_ || !sim->fully_managed_) && 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;
|
|
} else {
|
|
sim->camera -= 1;
|
|
}
|
|
sim->cam.fixedcamid = sim->camera - 2;
|
|
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
|
|
}
|
|
break;
|
|
|
|
case mjKEY_F6: // cycle frame visualisation
|
|
if (sim->m_ || !sim->fully_managed_) {
|
|
sim->opt.frame = (sim->opt.frame + 1) % mjNFRAME;
|
|
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
|
|
}
|
|
break;
|
|
|
|
case mjKEY_F7: // cycle label visualisation
|
|
if (sim->m_ || !sim->fully_managed_) {
|
|
sim->opt.label = (sim->opt.label + 1) % mjNLABEL;
|
|
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
|
|
}
|
|
break;
|
|
|
|
case mjKEY_ESCAPE: // free camera
|
|
sim->cam.type = mjCAMERA_FREE;
|
|
sim->camera = 0;
|
|
mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
|
|
break;
|
|
|
|
case '-': // slow down
|
|
if (sim->fully_managed_) {
|
|
int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
|
|
if (sim->real_time_index < numclicks-1 && !state->shift) {
|
|
sim->real_time_index++;
|
|
sim->speed_changed = true;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case '=': // speed up
|
|
if (sim->fully_managed_ && sim->real_time_index > 0 && !state->shift) {
|
|
sim->real_time_index--;
|
|
sim->speed_changed = true;
|
|
}
|
|
break;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D scroll
|
|
if (state->type==mjEVENT_SCROLL && state->mouserect==3) {
|
|
// emulate vertical mouse motion = 2% of window height
|
|
if (sim->fully_managed_) {
|
|
mjv_moveCamera(sim->m_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
|
|
} else {
|
|
mjv_moveCameraFromState(
|
|
&sim->scnstate_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
|
|
}
|
|
return;
|
|
}
|
|
|
|
// 3D press
|
|
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_)) {
|
|
// right: translate; left: rotate
|
|
if (state->right) {
|
|
newperturb = mjPERT_TRANSLATE;
|
|
} else if (state->left) {
|
|
newperturb = mjPERT_ROTATE;
|
|
}
|
|
if (newperturb && !sim->pert.active) {
|
|
sim->pending_.newperturb = newperturb;
|
|
}
|
|
}
|
|
|
|
// handle double-click
|
|
if (state->doubleclick && (sim->m_ || !sim->fully_managed_)) {
|
|
sim->pending_.select = true;
|
|
std::memcpy(&sim->pending_.select_state, state, sizeof(sim->pending_.select_state));
|
|
|
|
// stop perturbation on select
|
|
sim->pert.active = 0;
|
|
sim->pending_.newperturb = 0;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D release
|
|
if (state->type==mjEVENT_RELEASE && state->dragrect==3 && (sim->m_ || !sim->fully_managed_)) {
|
|
// stop perturbation
|
|
sim->pert.active = 0;
|
|
sim->pending_.newperturb = 0;
|
|
return;
|
|
}
|
|
|
|
// 3D move
|
|
if (state->type==mjEVENT_MOVE && state->dragrect==3 && (sim->m_ || !sim->fully_managed_)) {
|
|
// determine action based on mouse button
|
|
mjtMouse action;
|
|
if (state->right) {
|
|
action = state->shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
|
|
} else if (state->left) {
|
|
action = state->shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
|
|
} else {
|
|
action = mjMOUSE_ZOOM;
|
|
}
|
|
|
|
// move perturb or camera
|
|
mjrRect r = state->rect[3];
|
|
if (sim->pert.active) {
|
|
if (sim->fully_managed_) {
|
|
mjv_movePerturb(
|
|
sim->m_, sim->d_, action, state->dx / r.height, -state->dy / r.height,
|
|
&sim->scn, &sim->pert);
|
|
} else {
|
|
mjv_movePerturbFromState(
|
|
&sim->scnstate_, action, state->dx / r.height, -state->dy / r.height,
|
|
&sim->scn, &sim->pert);
|
|
}
|
|
} else {
|
|
if (sim->fully_managed_) {
|
|
mjv_moveCamera(
|
|
sim->m_, action, state->dx / r.height, -state->dy / r.height,
|
|
&sim->scn, &sim->cam);
|
|
} else {
|
|
mjv_moveCameraFromState(
|
|
&sim->scnstate_, action, state->dx / r.height, -state->dy / r.height,
|
|
&sim->scn, &sim->cam);
|
|
}
|
|
}
|
|
return;
|
|
}
|
|
|
|
// Dropped files
|
|
if (state->type == mjEVENT_FILESDROP && state->dropcount > 0 && sim->fully_managed_) {
|
|
while (sim->droploadrequest.load()) {}
|
|
mju::strcpy_arr(sim->dropfilename, state->droppaths[0]);
|
|
sim->droploadrequest.store(true);
|
|
return;
|
|
}
|
|
|
|
// Redraw
|
|
if (state->type == mjEVENT_REDRAW) {
|
|
sim->Render();
|
|
return;
|
|
}
|
|
}
|
|
} // namespace
|
|
|
|
namespace mujoco {
|
|
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),
|
|
scn(*scn),
|
|
cam(*cam),
|
|
opt(*opt),
|
|
pert(*pert),
|
|
platform_ui(std::move(platform_ui)),
|
|
uistate(this->platform_ui->state()) {
|
|
mjv_defaultSceneState(&scnstate_);
|
|
}
|
|
|
|
void Simulate::Sync() {
|
|
if (!m_) {
|
|
return;
|
|
}
|
|
|
|
bool update_profiler = this->profiler && (this->run || !this->m_);
|
|
bool update_sensor = this->sensor && (this->run || !this->m_);
|
|
bool update_settings = false;
|
|
|
|
for (int i = 0; i < m_->njnt; ++i) {
|
|
std::optional<std::pair<mjtNum, mjtNum>> range;
|
|
if (m_->jnt_limited[i]) {
|
|
range.emplace(m_->jnt_range[2*i], m_->jnt_range[2*i + 1]);
|
|
}
|
|
if (jnt_range_[i] != range) {
|
|
pending_.ui_update_joint = true;
|
|
jnt_range_[i].swap(range);
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < m_->nu; ++i) {
|
|
std::optional<std::pair<mjtNum, mjtNum>> range;
|
|
if (m_->actuator_ctrllimited[i]) {
|
|
range.emplace(m_->actuator_ctrlrange[2*i], m_->actuator_ctrlrange[2*i + 1]);
|
|
}
|
|
if (actuator_ctrlrange_[i] != range) {
|
|
pending_.ui_update_ctrl = true;
|
|
actuator_ctrlrange_[i].swap(range);
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < m_->nq; ++i) {
|
|
if (qpos_[i] != qpos_prev_[i]) {
|
|
d_->qpos[i] = qpos_[i];
|
|
} else {
|
|
qpos_[i] = d_->qpos[i];
|
|
}
|
|
if (qpos_prev_[i] != qpos_[i]) {
|
|
pending_.ui_update_joint = true;
|
|
qpos_prev_[i] = qpos_[i];
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < m_->nu; ++i) {
|
|
if (ctrl_[i] != ctrl_prev_[i]) {
|
|
d_->ctrl[i] = ctrl_[i];
|
|
} else {
|
|
ctrl_[i] = d_->ctrl[i];
|
|
}
|
|
if (ctrl_prev_[i] != ctrl_[i]) {
|
|
pending_.ui_update_ctrl = true;
|
|
ctrl_prev_[i] = ctrl_[i];
|
|
}
|
|
}
|
|
|
|
if (!fully_managed_) {
|
|
// synchronize m_->opt with changes made via the UI
|
|
#define X(name) \
|
|
if (Differ(scnstate_.model.opt.name, mjopt_prev_.name)) { \
|
|
pending_.ui_update_physics = true; \
|
|
Copy(m_->opt.name, scnstate_.model.opt.name); \
|
|
}
|
|
|
|
X(timestep);
|
|
X(apirate);
|
|
X(impratio);
|
|
X(tolerance);
|
|
X(noslip_tolerance);
|
|
X(mpr_tolerance);
|
|
X(gravity);
|
|
X(wind);
|
|
X(magnetic);
|
|
X(density);
|
|
X(viscosity);
|
|
X(o_margin);
|
|
X(o_solref);
|
|
X(o_solimp);
|
|
X(integrator);
|
|
X(collision);
|
|
X(cone);
|
|
X(jacobian);
|
|
X(solver);
|
|
X(iterations);
|
|
X(noslip_iterations);
|
|
X(mpr_iterations);
|
|
X(disableflags);
|
|
X(enableflags);
|
|
|
|
#undef X
|
|
|
|
// synchronize number of mjWARN_VGEOMFULL warnings
|
|
if (scnstate_.data.warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
|
|
d_->warning[mjWARN_VGEOMFULL].number +=
|
|
scnstate_.data.warning[mjWARN_VGEOMFULL].number - warn_vgeomfull_prev_;
|
|
}
|
|
}
|
|
|
|
if (pending_.save_xml) {
|
|
char err[200];
|
|
if (!pending_.save_xml->empty() && !mj_saveLastXML(pending_.save_xml->c_str(), m_, err, 200)) {
|
|
std::printf("Save XML error: %s", err);
|
|
}
|
|
pending_.save_xml = std::nullopt;
|
|
}
|
|
|
|
if (pending_.save_mjb) {
|
|
if (!pending_.save_mjb->empty()) {
|
|
mj_saveModel(m_, pending_.save_mjb->c_str(), nullptr, 0);
|
|
}
|
|
pending_.save_mjb = std::nullopt;
|
|
}
|
|
|
|
if (pending_.print_model) {
|
|
if (!pending_.print_model->empty()) {
|
|
mj_printModel(m_, pending_.print_model->c_str());
|
|
}
|
|
pending_.print_model = std::nullopt;
|
|
}
|
|
|
|
if (pending_.print_data) {
|
|
if (!pending_.print_data->empty()) {
|
|
mj_printData(m_, d_, pending_.print_data->c_str());
|
|
}
|
|
pending_.print_data = std::nullopt;
|
|
}
|
|
|
|
if (pending_.reset) {
|
|
mj_resetData(m_, d_);
|
|
mj_forward(m_, d_);
|
|
update_profiler = true;
|
|
update_sensor = true;
|
|
update_settings = true;
|
|
pending_.reset = false;
|
|
}
|
|
|
|
if (pending_.align) {
|
|
AlignAndScaleView(this, m_);
|
|
update_settings = true;
|
|
pending_.align = false;
|
|
}
|
|
|
|
if (pending_.copy_pose) {
|
|
CopyPose(this, m_, d_);
|
|
pending_.copy_pose = false;
|
|
}
|
|
|
|
if (pending_.load_key) {
|
|
int i = this->key;
|
|
d_->time = m_->key_time[i];
|
|
mju_copy(d_->qpos, m_->key_qpos + i*m_->nq, m_->nq);
|
|
mju_copy(d_->qvel, m_->key_qvel + i*m_->nv, m_->nv);
|
|
mju_copy(d_->act, m_->key_act + i*m_->na, m_->na);
|
|
mju_copy(d_->mocap_pos, m_->key_mpos + i*3*m_->nmocap, 3*m_->nmocap);
|
|
mju_copy(d_->mocap_quat, m_->key_mquat + i*4*m_->nmocap,
|
|
4*m_->nmocap);
|
|
mju_copy(d_->ctrl, m_->key_ctrl + i*m_->nu, m_->nu);
|
|
mj_forward(m_, d_);
|
|
update_profiler = true;
|
|
update_sensor = true;
|
|
update_settings = true;
|
|
pending_.load_key = false;
|
|
}
|
|
|
|
if (pending_.save_key) {
|
|
int i = this->key;
|
|
m_->key_time[i] = d_->time;
|
|
mju_copy(m_->key_qpos + i*m_->nq, d_->qpos, m_->nq);
|
|
mju_copy(m_->key_qvel + i*m_->nv, d_->qvel, m_->nv);
|
|
mju_copy(m_->key_act + i*m_->na, d_->act, m_->na);
|
|
mju_copy(m_->key_mpos + i*3*m_->nmocap, d_->mocap_pos, 3*m_->nmocap);
|
|
mju_copy(m_->key_mquat + i*4*m_->nmocap, d_->mocap_quat, 4*m_->nmocap);
|
|
mju_copy(m_->key_ctrl + i*m_->nu, d_->ctrl, m_->nu);
|
|
pending_.save_key = false;
|
|
}
|
|
|
|
if (pending_.zero_ctrl) {
|
|
mju_zero(d_->ctrl, m_->nu);
|
|
pending_.zero_ctrl = false;
|
|
}
|
|
|
|
// perturbation onset: reset reference
|
|
if (pending_.newperturb) {
|
|
mjv_initPerturb(m_, d_, &this->scn, &this->pert);
|
|
this->pert.active = pending_.newperturb;
|
|
pending_.newperturb = 0;
|
|
}
|
|
|
|
if (pending_.select) {
|
|
// determine selection mode
|
|
int selmode;
|
|
if (pending_.select_state.button==mjBUTTON_LEFT) {
|
|
selmode = 1;
|
|
} else if (pending_.select_state.control) {
|
|
selmode = 3;
|
|
} else {
|
|
selmode = 2;
|
|
}
|
|
|
|
// find geom and 3D click point, get corresponding body
|
|
mjrRect r = pending_.select_state.rect[3];
|
|
mjtNum selpnt[3];
|
|
int selgeom, selskin;
|
|
int selbody = mjv_select(m_, d_, &this->opt,
|
|
static_cast<mjtNum>(r.width) / r.height,
|
|
(pending_.select_state.x - r.left) / r.width,
|
|
(pending_.select_state.y - r.bottom) / r.height,
|
|
&this->scn, selpnt, &selgeom, &selskin);
|
|
|
|
// set lookat point, start tracking is requested
|
|
if (selmode==2 || selmode==3) {
|
|
// copy selpnt if anything clicked
|
|
if (selbody>=0) {
|
|
mju_copy3(this->cam.lookat, selpnt);
|
|
}
|
|
|
|
// switch to tracking camera if dynamic body clicked
|
|
if (selmode==3 && selbody>0) {
|
|
// mujoco camera
|
|
this->cam.type = mjCAMERA_TRACKING;
|
|
this->cam.trackbodyid = selbody;
|
|
this->cam.fixedcamid = -1;
|
|
|
|
// UI camera
|
|
this->camera = 1;
|
|
mjui_update(SECT_RENDERING, -1, &this->ui0, &pending_.select_state,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
}
|
|
|
|
// set body selection
|
|
else {
|
|
if (selbody>=0) {
|
|
// record selection
|
|
this->pert.select = selbody;
|
|
this->pert.skinselect = selskin;
|
|
|
|
// compute localpos
|
|
mjtNum tmp[3];
|
|
mju_sub3(tmp, selpnt, d_->xpos + 3*this->pert.select);
|
|
mju_mulMatTVec(this->pert.localpos, d_->xmat + 9*this->pert.select, tmp, 3, 3);
|
|
} else {
|
|
this->pert.select = 0;
|
|
this->pert.skinselect = -1;
|
|
}
|
|
}
|
|
pending_.select = false;
|
|
}
|
|
|
|
// update scene
|
|
if (fully_managed_) {
|
|
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
|
|
} else {
|
|
mjv_updateSceneState(m_, d_, &scnstate_);
|
|
mjopt_prev_ = scnstate_.model.opt;
|
|
warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
|
|
}
|
|
|
|
// update watch
|
|
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
|
|
UpdateWatch(this, m_, d_);
|
|
}
|
|
|
|
// update info text
|
|
if (this->info) {
|
|
UpdateInfoText(this, m_, d_, this->info_title, this->info_content);
|
|
}
|
|
if (update_profiler) { UpdateProfiler(this, m_, d_); }
|
|
if (update_sensor) { UpdateSensor(this, m_, d_); }
|
|
if (update_settings) { UpdateSettings(this, m_); }
|
|
|
|
// clear timers once profiler info has been copied
|
|
ClearTimers(d_);
|
|
|
|
if (this->run || !this->fully_managed_) {
|
|
// clear old perturbations, apply new
|
|
mju_zero(d_->xfrc_applied, 6*m_->nbody);
|
|
mjv_applyPerturbPose(m_, d_, &this->pert, 0); // mocap bodies only
|
|
mjv_applyPerturbForce(m_, d_, &this->pert);
|
|
} else {
|
|
mjv_applyPerturbPose(m_, d_, &this->pert, 1); // mocap and dynamic bodies
|
|
}
|
|
}
|
|
|
|
//------------------------- Tell the render thread to load a file and wait -------------------------
|
|
void Simulate::Load(mjModel* m,
|
|
mjData* d,
|
|
const char* displayed_filename) {
|
|
this->mnew_ = m;
|
|
this->dnew_ = d;
|
|
mju::strcpy_arr(this->filename, displayed_filename);
|
|
|
|
{
|
|
MutexLock lock(mtx);
|
|
this->loadrequest = 2;
|
|
|
|
// Wait for the render thread to be done loading
|
|
// so that we know the old model and data's memory can
|
|
// be free'd by the other thread (sometimes python)
|
|
cond_loadrequest.wait(lock, [this]() { return this->loadrequest == 0; });
|
|
}
|
|
}
|
|
|
|
//------------------------------------- load mjb or xml model --------------------------------------
|
|
void Simulate::LoadOnRenderThread() {
|
|
this->m_ = this->mnew_;
|
|
this->d_ = this->dnew_;
|
|
|
|
ncam_ = this->mnew_->ncam;
|
|
nkey_ = this->mnew_->nkey;
|
|
body_parentid_.resize(this->mnew_->nbody);
|
|
std::memcpy(body_parentid_.data(), this->mnew_->body_parentid,
|
|
sizeof(this->mnew_->body_parentid[0]) * this->mnew_->nbody);
|
|
|
|
jnt_type_.resize(this->mnew_->njnt);
|
|
std::memcpy(jnt_type_.data(), this->mnew_->jnt_type,
|
|
sizeof(this->mnew_->jnt_type[0]) * this->mnew_->njnt);
|
|
|
|
jnt_group_.resize(this->mnew_->njnt);
|
|
std::memcpy(jnt_group_.data(), this->mnew_->jnt_group,
|
|
sizeof(this->mnew_->jnt_group[0]) * this->mnew_->njnt);
|
|
|
|
jnt_qposadr_.resize(this->mnew_->njnt);
|
|
std::memcpy(jnt_qposadr_.data(), this->mnew_->jnt_qposadr,
|
|
sizeof(this->mnew_->jnt_qposadr[0]) * this->mnew_->njnt);
|
|
|
|
jnt_range_.clear();
|
|
jnt_range_.reserve(this->mnew_->njnt);
|
|
for (int i = 0; i < this->mnew_->njnt; ++i) {
|
|
if (this->mnew_->jnt_limited[i]) {
|
|
jnt_range_.push_back(
|
|
std::make_pair(this->mnew_->jnt_range[2 * i], this->mnew_->jnt_range[2 * i + 1]));
|
|
} else {
|
|
jnt_range_.push_back(std::nullopt);
|
|
}
|
|
}
|
|
|
|
jnt_names_.clear();
|
|
jnt_names_.reserve(this->mnew_->njnt);
|
|
for (int i = 0; i < this->mnew_->njnt; ++i) {
|
|
jnt_names_.emplace_back(this->mnew_->names + this->mnew_->name_jntadr[i]);
|
|
}
|
|
|
|
actuator_group_.resize(this->mnew_->nu);
|
|
std::memcpy(actuator_group_.data(), this->mnew_->actuator_group,
|
|
sizeof(this->mnew_->actuator_group[0]) * this->mnew_->nu);
|
|
|
|
actuator_ctrlrange_.clear();
|
|
actuator_ctrlrange_.reserve(this->mnew_->nu);
|
|
for (int i = 0; i < this->mnew_->nu; ++i) {
|
|
if (this->mnew_->actuator_ctrllimited[i]) {
|
|
actuator_ctrlrange_.push_back(std::make_pair(
|
|
this->mnew_->actuator_ctrlrange[2 * i], this->mnew_->actuator_ctrlrange[2 * i + 1]));
|
|
} else {
|
|
actuator_ctrlrange_.push_back(std::nullopt);
|
|
}
|
|
}
|
|
|
|
actuator_names_.clear();
|
|
actuator_names_.reserve(this->mnew_->nu);
|
|
for (int i = 0; i < this->mnew_->nu; ++i) {
|
|
actuator_names_.emplace_back(this->mnew_->names + this->mnew_->name_actuatoradr[i]);
|
|
}
|
|
|
|
qpos_.resize(this->mnew_->nq);
|
|
std::memcpy(qpos_.data(), this->dnew_->qpos, sizeof(this->dnew_->qpos[0]) * this->mnew_->nq);
|
|
qpos_prev_ = qpos_;
|
|
|
|
ctrl_.resize(this->mnew_->nu);
|
|
std::memcpy(ctrl_.data(), this->dnew_->ctrl, sizeof(this->dnew_->ctrl[0]) * this->mnew_->nu);
|
|
ctrl_prev_ = ctrl_;
|
|
|
|
// re-create scene and context
|
|
if (this->fully_managed_) {
|
|
mjv_makeScene(this->mnew_, &this->scn, kMaxGeom);
|
|
} else {
|
|
mjopt_prev_ = mnew_->opt;
|
|
opt_prev_ = opt;
|
|
cam_prev_ = cam;
|
|
warn_vgeomfull_prev_ = dnew_->warning[mjWARN_VGEOMFULL].number;
|
|
mjv_makeSceneState(this->mnew_, this->dnew_, &this->scnstate_, kMaxGeom);
|
|
}
|
|
|
|
this->platform_ui->RefreshMjrContext(this->mnew_, 50*(this->font+1));
|
|
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
|
|
if (!this->platform_ui->IsGPUAccelerated()) {
|
|
this->scn.flags[mjRND_SHADOW] = 0;
|
|
this->scn.flags[mjRND_REFLECTION] = 0;
|
|
}
|
|
|
|
// clear perturbation state
|
|
this->pert.active = 0;
|
|
this->pert.select = 0;
|
|
this->pert.skinselect = -1;
|
|
|
|
// align and scale view unless reloading the same file
|
|
if (this->filename[0] &&
|
|
mju::strcmp_arr(this->filename, this->previous_filename)) {
|
|
AlignAndScaleView(this, this->mnew_);
|
|
mju::strcpy_arr(this->previous_filename, this->filename);
|
|
}
|
|
|
|
// update scene
|
|
if (fully_managed_) {
|
|
mjv_updateScene(this->mnew_, this->dnew_,
|
|
&this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
|
|
} else {
|
|
mjv_updateSceneState(this->mnew_, this->dnew_, &this->scnstate_);
|
|
}
|
|
|
|
// set window title to model name
|
|
if (this->mnew_->names) {
|
|
char title[200] = "MuJoCo : ";
|
|
mju::strcat_arr(title, this->mnew_->names);
|
|
platform_ui->SetWindowTitle(title);
|
|
}
|
|
|
|
// set keyframe range and divisions
|
|
this->ui0.sect[SECT_SIMULATION].item[5].slider.range[0] = 0;
|
|
this->ui0.sect[SECT_SIMULATION].item[5].slider.range[1] = mjMAX(0, this->mnew_->nkey - 1);
|
|
this->ui0.sect[SECT_SIMULATION].item[5].slider.divisions = mjMAX(1, this->mnew_->nkey - 1);
|
|
|
|
// rebuild UI sections
|
|
MakeUiSections(this, this->mnew_, this->dnew_);
|
|
|
|
// full ui update
|
|
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
UpdateSettings(this, this->mnew_);
|
|
|
|
// clear request
|
|
this->loadrequest = 0;
|
|
cond_loadrequest.notify_all();
|
|
|
|
// set real time index
|
|
int numclicks = sizeof(this->percentRealTime) / sizeof(this->percentRealTime[0]);
|
|
float min_error = 1e6;
|
|
float desired = mju_log(100*this->mnew_->vis.global.realtime);
|
|
for (int click=0; click<numclicks; click++) {
|
|
float error = mju_abs(mju_log(this->percentRealTime[click]) - desired);
|
|
if (error < min_error) {
|
|
min_error = error;
|
|
this->real_time_index = click;
|
|
}
|
|
}
|
|
|
|
this->mnew_ = nullptr;
|
|
this->dnew_ = nullptr;
|
|
}
|
|
|
|
|
|
//------------------------------------------- rendering --------------------------------------------
|
|
|
|
// render the ui to the window
|
|
void Simulate::Render() {
|
|
// update rendering context buffer size if required
|
|
if (this->platform_ui->EnsureContextSize()) {
|
|
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// get 3D rectangle and reduced for profiler
|
|
mjrRect rect = this->uistate.rect[3];
|
|
mjrRect smallrect = rect;
|
|
if (this->profiler) {
|
|
smallrect.width = rect.width - rect.width/4;
|
|
}
|
|
|
|
// no model
|
|
if (this->fully_managed_ && !this->m_) {
|
|
// blank screen
|
|
mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);
|
|
|
|
// label
|
|
if (this->loadrequest) {
|
|
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, "loading", nullptr,
|
|
&this->platform_ui->mjr_context());
|
|
} else {
|
|
char intro_message[Simulate::kMaxFilenameLength];
|
|
mju::sprintf_arr(intro_message,
|
|
"MuJoCo version %s\nDrag-and-drop model file here", mj_versionString());
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// show last loading error
|
|
if (this->load_error[0]) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// render uis
|
|
if (this->ui0_enable) {
|
|
mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
if (this->ui1_enable) {
|
|
mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// finalize
|
|
this->platform_ui->SwapBuffers();
|
|
|
|
return;
|
|
}
|
|
|
|
// update UI sections from last sync
|
|
if (pending_.full_ui_update) {
|
|
mjui_update(-1, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
mjui_update(-1, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
pending_.full_ui_update = false;
|
|
pending_.ui_update_physics = false;
|
|
pending_.ui_update_joint = false;
|
|
pending_.ui_update_ctrl = false;
|
|
} else {
|
|
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
|
|
mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
|
|
if (pending_.ui_update_physics) {
|
|
if (this->ui0_enable && this->ui0.sect[SECT_PHYSICS].state) {
|
|
mjui_update(SECT_PHYSICS, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
pending_.ui_update_physics = false;
|
|
}
|
|
|
|
if (!fully_managed_) {
|
|
if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
|
|
(cam_prev_.type != cam.type ||
|
|
cam_prev_.fixedcamid != cam.fixedcamid ||
|
|
cam_prev_.trackbodyid != cam.trackbodyid ||
|
|
opt_prev_.label != opt.label || opt_prev_.frame != opt.frame ||
|
|
Differ(opt_prev_.flags, opt.flags))) {
|
|
mjui_update(SECT_RENDERING, -1, &this->ui0, &this->uistate,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
|
|
(Differ(opt_prev_.geomgroup, opt.geomgroup) ||
|
|
Differ(opt_prev_.sitegroup, opt.sitegroup) ||
|
|
Differ(opt_prev_.jointgroup, opt.jointgroup) ||
|
|
Differ(opt_prev_.tendongroup, opt.tendongroup) ||
|
|
Differ(opt_prev_.actuatorgroup, opt.actuatorgroup) ||
|
|
Differ(opt_prev_.skingroup, opt.skingroup))) {
|
|
mjui_update(SECT_GROUP, -1, &this->ui0, &this->uistate,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
opt_prev_ = opt;
|
|
cam_prev_ = cam;
|
|
}
|
|
|
|
if (pending_.ui_update_joint) {
|
|
if (this->ui1_enable && this->ui1.sect[SECT_JOINT].state) {
|
|
mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
pending_.ui_update_joint = false;
|
|
}
|
|
|
|
if (pending_.ui_update_ctrl) {
|
|
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
|
|
mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
pending_.ui_update_ctrl = false;
|
|
}
|
|
}
|
|
|
|
// render scene
|
|
mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
|
|
|
|
// show last loading error
|
|
if (this->load_error[0]) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// make pause/loading label
|
|
std::string pauseloadlabel;
|
|
if (!this->run || this->loadrequest) {
|
|
pauseloadlabel = this->loadrequest ? "loading" : "pause";
|
|
}
|
|
|
|
// get desired and actual percent-of-real-time
|
|
float desiredRealtime = this->percentRealTime[this->real_time_index];
|
|
float actualRealtime = 100 / this->measured_slowdown;
|
|
|
|
// if running, check for misalignment of more than 10%
|
|
float realtime_offset = mju_abs(actualRealtime - desiredRealtime);
|
|
bool misaligned = this->run && realtime_offset > 0.1 * desiredRealtime;
|
|
|
|
// make realtime overlay label
|
|
char rtlabel[30] = {'\0'};
|
|
if (desiredRealtime != 100.0 || misaligned) {
|
|
// print desired realtime
|
|
int labelsize = std::snprintf(rtlabel,
|
|
sizeof(rtlabel), "%g%%", desiredRealtime);
|
|
|
|
// if misaligned, append to label
|
|
if (misaligned) {
|
|
std::snprintf(rtlabel+labelsize,
|
|
sizeof(rtlabel)-labelsize, " (%-4.1f%%)", actualRealtime);
|
|
}
|
|
}
|
|
|
|
// draw top left overlay
|
|
if (!pauseloadlabel.empty() || rtlabel[0]) {
|
|
std::string newline = !pauseloadlabel.empty() && rtlabel[0] ? "\n" : "";
|
|
std::string topleftlabel = rtlabel + newline + pauseloadlabel;
|
|
mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect,
|
|
topleftlabel.c_str(), nullptr, &this->platform_ui->mjr_context());
|
|
}
|
|
|
|
|
|
// show ui 0
|
|
if (this->ui0_enable) {
|
|
mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// show ui 1
|
|
if (this->ui1_enable) {
|
|
mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// show help
|
|
if (this->help) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// show info
|
|
if (this->info) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content,
|
|
&this->platform_ui->mjr_context());
|
|
}
|
|
|
|
// show profiler
|
|
if (this->profiler) {
|
|
ShowProfiler(this, rect);
|
|
}
|
|
|
|
// show sensor
|
|
if (this->sensor) {
|
|
ShowSensor(this, smallrect);
|
|
}
|
|
|
|
// take screenshot, save to file
|
|
if (this->screenshotrequest.exchange(false)) {
|
|
const unsigned int h = uistate.rect[0].height;
|
|
const unsigned int w = uistate.rect[0].width;
|
|
std::unique_ptr<unsigned char[]> rgb(new unsigned char[3*w*h]);
|
|
if (!rgb) {
|
|
mju_error("could not allocate buffer for screenshot");
|
|
}
|
|
mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &this->platform_ui->mjr_context());
|
|
|
|
// flip up-down
|
|
for (int r = 0; r < h/2; ++r) {
|
|
unsigned char* top_row = &rgb[3*w*r];
|
|
unsigned char* bottom_row = &rgb[3*w*(h-1-r)];
|
|
std::swap_ranges(top_row, top_row+3*w, bottom_row);
|
|
}
|
|
|
|
// save as PNG
|
|
// TODO(b/241577466): Parse the stem of the filename and use a .PNG extension.
|
|
// Unfortunately, if we just yank ".xml"/".mjb" from the filename and append .PNG, the macOS
|
|
// file dialog does not automatically open that location. Thus, we defer to a default
|
|
// "screenshot.png" for now.
|
|
const std::string path = GetSavePath("screenshot.png");
|
|
if (!path.empty()) {
|
|
if (lodepng::encode(path, rgb.get(), w, h, LCT_RGB)) {
|
|
mju_error("could not save screenshot");
|
|
} else {
|
|
std::printf("saved screenshot: %s\n", path.c_str());
|
|
}
|
|
}
|
|
}
|
|
|
|
// finalize
|
|
this->platform_ui->SwapBuffers();
|
|
}
|
|
|
|
|
|
|
|
void Simulate::RenderLoop() {
|
|
// Set timer callback (milliseconds)
|
|
mjcb_time = Timer;
|
|
|
|
// init abstract visualization
|
|
mjv_defaultCamera(&this->cam);
|
|
mjv_defaultOption(&this->opt);
|
|
InitializeProfiler(this);
|
|
InitializeSensor(this);
|
|
|
|
// make empty scene
|
|
if (fully_managed_) {
|
|
mjv_defaultScene(&this->scn);
|
|
mjv_makeScene(nullptr, &this->scn, kMaxGeom);
|
|
}
|
|
|
|
if (!this->platform_ui->IsGPUAccelerated()) {
|
|
this->scn.flags[mjRND_SHADOW] = 0;
|
|
this->scn.flags[mjRND_REFLECTION] = 0;
|
|
}
|
|
|
|
// select default font
|
|
int fontscale = ComputeFontScale(*this->platform_ui);
|
|
this->font = fontscale/50 - 1;
|
|
|
|
// make empty context
|
|
this->platform_ui->RefreshMjrContext(nullptr, fontscale);
|
|
|
|
// init state and uis
|
|
std::memset(&this->uistate, 0, sizeof(mjuiState));
|
|
std::memset(&this->ui0, 0, sizeof(mjUI));
|
|
std::memset(&this->ui1, 0, sizeof(mjUI));
|
|
|
|
auto [buf_width, buf_height] = this->platform_ui->GetFramebufferSize();
|
|
this->uistate.nrect = 1;
|
|
this->uistate.rect[0].width = buf_width;
|
|
this->uistate.rect[0].height = buf_height;
|
|
|
|
this->ui0.spacing = mjui_themeSpacing(this->spacing);
|
|
this->ui0.color = mjui_themeColor(this->color);
|
|
this->ui0.predicate = UiPredicate;
|
|
this->ui0.rectid = 1;
|
|
this->ui0.auxid = 0;
|
|
|
|
this->ui1.spacing = mjui_themeSpacing(this->spacing);
|
|
this->ui1.color = mjui_themeColor(this->color);
|
|
this->ui1.predicate = UiPredicate;
|
|
this->ui1.rectid = 2;
|
|
this->ui1.auxid = 1;
|
|
|
|
// set GUI adapter callbacks
|
|
this->uistate.userdata = this;
|
|
this->platform_ui->SetEventCallback(UiEvent);
|
|
this->platform_ui->SetLayoutCallback(UiLayout);
|
|
|
|
// populate uis with standard sections
|
|
this->ui0.userdata = this;
|
|
this->ui1.userdata = this;
|
|
mjui_add(&this->ui0, defFile);
|
|
mjui_add(&this->ui0, this->def_option);
|
|
mjui_add(&this->ui0, this->def_simulation);
|
|
mjui_add(&this->ui0, this->def_watch);
|
|
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
|
|
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
|
|
|
|
// set VSync to initial value
|
|
this->platform_ui->SetVSync(this->vsync);
|
|
|
|
frames_ = 0;
|
|
last_fps_update_ = mj::Simulate::Clock::now();
|
|
|
|
// run event loop
|
|
while (!this->platform_ui->ShouldCloseWindow() && !this->exitrequest.load()) {
|
|
{
|
|
const MutexLock lock(this->mtx);
|
|
|
|
// load model (not on first pass, to show "loading" label)
|
|
if (this->loadrequest==1) {
|
|
this->LoadOnRenderThread();
|
|
} else if (this->loadrequest>1) {
|
|
this->loadrequest = 1;
|
|
}
|
|
|
|
// poll and handle events
|
|
this->platform_ui->PollEvents();
|
|
|
|
// update scene, doing a full sync if in fully managed mode
|
|
if (this->fully_managed_) {
|
|
Sync();
|
|
} else {
|
|
scnstate_.data.warning[mjWARN_VGEOMFULL].number += mjv_updateSceneFromState(
|
|
&scnstate_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
|
|
}
|
|
} // MutexLock (unblocks simulation thread)
|
|
|
|
// render while simulation is running
|
|
this->Render();
|
|
|
|
// update FPS stat, at most 5 times per second
|
|
auto now = mj::Simulate::Clock::now();
|
|
double interval = Seconds(now - last_fps_update_).count();
|
|
++frames_;
|
|
if (interval > 0.2) {
|
|
last_fps_update_ = now;
|
|
fps_ = frames_ / interval;
|
|
frames_ = 0;
|
|
}
|
|
}
|
|
|
|
if (fully_managed_){
|
|
mjv_freeScene(&this->scn);
|
|
}
|
|
|
|
this->exitrequest.store(2);
|
|
}
|
|
} // namespace mujoco
|