Saran Tunyasuvunakool
2067 lines
60 KiB
C++
2067 lines
60 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 "mjxmacro.h"
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#include "uitools.h"
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#include "stdio.h"
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#include "string.h"
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#include <thread>
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#include <mutex>
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#include <chrono>
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//-------------------------------- global -----------------------------------------------
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// constants
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const int maxgeom = 5000; // preallocated geom array in mjvScene
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const double syncmisalign = 0.1; // maximum time mis-alignment before re-sync
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const double refreshfactor = 0.7; // fraction of refresh available for simulation
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// model and data
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mjModel* m = NULL;
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mjData* d = NULL;
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char filename[1000] = "";
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// abstract visualization
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mjvScene scn;
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mjvCamera cam;
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mjvOption vopt;
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mjvPerturb pert;
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mjvFigure figconstraint;
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mjvFigure figcost;
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mjvFigure figtimer;
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mjvFigure figsize;
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mjvFigure figsensor;
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// OpenGL rendering and UI
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GLFWvidmode vmode;
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int windowpos[2];
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int windowsize[2];
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mjrContext con;
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GLFWwindow* window = NULL;
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mjuiState uistate;
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mjUI ui0, ui1;
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// UI settings not contained in MuJoCo structures
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struct
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{
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// file
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int exitrequest = 0;
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// option
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int spacing = 0;
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int color = 0;
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int font = 0;
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int ui0 = 1;
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int ui1 = 1;
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int help = 0;
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int info = 0;
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int profiler = 0;
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int sensor = 0;
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int fullscreen = 0;
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int vsync = 1;
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int busywait = 0;
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// simulation
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int run = 1;
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int key = 0;
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int loadrequest = 0;
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// watch
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char field[mjMAXUITEXT] = "qpos";
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int index = 0;
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// physics: need sync
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int disable[mjNDISABLE];
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int enable[mjNENABLE];
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// rendering: need sync
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int camera = 0;
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} settings;
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// section ids
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enum
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{
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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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{
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{mjITEM_SECTION, "File", 1, NULL, "AF"},
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{mjITEM_BUTTON, "Save xml", 2, NULL, ""},
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{mjITEM_BUTTON, "Save mjb", 2, NULL, ""},
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{mjITEM_BUTTON, "Print model", 2, NULL, "CM"},
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{mjITEM_BUTTON, "Print data", 2, NULL, "CD"},
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{mjITEM_BUTTON, "Quit", 1, NULL, "CQ"},
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{mjITEM_END}
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};
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// option section of UI
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const mjuiDef defOption[] =
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{
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{mjITEM_SECTION, "Option", 1, NULL, "AO"},
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{mjITEM_SELECT, "Spacing", 1, &settings.spacing, "Tight\nWide"},
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{mjITEM_SELECT, "Color", 1, &settings.color, "Default\nOrange\nWhite\nBlack"},
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{mjITEM_SELECT, "Font", 1, &settings.font, "50 %\n100 %\n150 %\n200 %\n250 %\n300 %"},
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{mjITEM_CHECKINT, "Left UI (Tab)", 1, &settings.ui0, " #258"},
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{mjITEM_CHECKINT, "Right UI", 1, &settings.ui1, "S#258"},
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{mjITEM_CHECKINT, "Help", 2, &settings.help, " #290"},
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{mjITEM_CHECKINT, "Info", 2, &settings.info, " #291"},
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{mjITEM_CHECKINT, "Profiler", 2, &settings.profiler, " #292"},
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{mjITEM_CHECKINT, "Sensor", 2, &settings.sensor, " #293"},
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#ifdef __APPLE__
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{mjITEM_CHECKINT, "Fullscreen", 0, &settings.fullscreen, " #294"},
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#else
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{mjITEM_CHECKINT, "Fullscreen", 1, &settings.fullscreen, " #294"},
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#endif
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{mjITEM_CHECKINT, "Vertical Sync", 1, &settings.vsync, " #295"},
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{mjITEM_CHECKINT, "Busy Wait", 1, &settings.busywait, " #296"},
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{mjITEM_END}
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};
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// simulation section of UI
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const mjuiDef defSimulation[] =
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{
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{mjITEM_SECTION, "Simulation", 1, NULL, "AS"},
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{mjITEM_RADIO, "", 2, &settings.run, "Pause\nRun"},
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{mjITEM_BUTTON, "Reset", 2, NULL, " #259"},
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{mjITEM_BUTTON, "Reload", 2, NULL, "CL"},
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{mjITEM_BUTTON, "Align", 2, NULL, "CA"},
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{mjITEM_BUTTON, "Copy pose", 2, NULL, "CC"},
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{mjITEM_SLIDERINT, "Key", 3, &settings.key, "0 0"},
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{mjITEM_BUTTON, "Reset to key", 3},
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{mjITEM_BUTTON, "Set key", 3},
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{mjITEM_END}
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};
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// watch section of UI
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const mjuiDef defWatch[] =
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{
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{mjITEM_SECTION, "Watch", 0, NULL, "AW"},
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{mjITEM_EDITTXT, "Field", 2, settings.field, "qpos"},
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{mjITEM_EDITINT, "Index", 2, &settings.index, "1"},
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{mjITEM_STATIC, "Value", 2, NULL, " "},
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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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"Alt mouse button\n"
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"UI right hold\n"
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"UI title double-click\n"
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"Space\n"
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"Esc\n"
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"Right arrow\n"
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"Left arrow\n"
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"Down arrow\n"
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"Up arrow\n"
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"Page Up\n"
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"Double-click\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";
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const char help_title[] =
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"Swap left-right\n"
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"Show UI shortcuts\n"
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"Expand/collapse all \n"
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"Pause\n"
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"Free camera\n"
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"Step forward\n"
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"Step back\n"
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"Step forward 100\n"
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"Step back 100\n"
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"Select parent\n"
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"Select\n"
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"Center\n"
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"Track 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";
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// info strings
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char info_title[1000];
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char info_content[1000];
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//----------------------- profiler, sensor, info, watch ---------------------------------
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// init profiler figures
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void profilerinit(void)
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{
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int i, n;
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// set figures to default
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mjv_defaultFigure(&figconstraint);
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mjv_defaultFigure(&figcost);
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mjv_defaultFigure(&figtimer);
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mjv_defaultFigure(&figsize);
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// titles
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strcpy(figconstraint.title, "Counts");
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strcpy(figcost.title, "Convergence (log 10)");
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strcpy(figsize.title, "Dimensions");
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strcpy(figtimer.title, "CPU time (msec)");
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// x-labels
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strcpy(figconstraint.xlabel, "Solver iteration");
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strcpy(figcost.xlabel, "Solver iteration");
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strcpy(figsize.xlabel, "Video frame");
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strcpy(figtimer.xlabel, "Video frame");
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// y-tick nubmer formats
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strcpy(figconstraint.yformat, "%.0f");
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strcpy(figcost.yformat, "%.1f");
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strcpy(figsize.yformat, "%.0f");
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strcpy(figtimer.yformat, "%.2f");
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// colors
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figconstraint.figurergba[0] = 0.1f;
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figcost.figurergba[2] = 0.2f;
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figsize.figurergba[0] = 0.1f;
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figtimer.figurergba[2] = 0.2f;
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figconstraint.figurergba[3] = 0.5f;
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figcost.figurergba[3] = 0.5f;
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figsize.figurergba[3] = 0.5f;
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figtimer.figurergba[3] = 0.5f;
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// legends
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strcpy(figconstraint.linename[0], "total");
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strcpy(figconstraint.linename[1], "active");
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strcpy(figconstraint.linename[2], "changed");
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strcpy(figconstraint.linename[3], "evals");
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strcpy(figconstraint.linename[4], "updates");
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strcpy(figcost.linename[0], "improvement");
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strcpy(figcost.linename[1], "gradient");
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strcpy(figcost.linename[2], "lineslope");
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strcpy(figsize.linename[0], "dof");
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strcpy(figsize.linename[1], "body");
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strcpy(figsize.linename[2], "constraint");
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strcpy(figsize.linename[3], "sqrt(nnz)");
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strcpy(figsize.linename[4], "contact");
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strcpy(figsize.linename[5], "iteration");
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strcpy(figtimer.linename[0], "total");
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strcpy(figtimer.linename[1], "collision");
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strcpy(figtimer.linename[2], "prepare");
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strcpy(figtimer.linename[3], "solve");
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strcpy(figtimer.linename[4], "other");
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// grid sizes
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figconstraint.gridsize[0] = 5;
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figconstraint.gridsize[1] = 5;
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figcost.gridsize[0] = 5;
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figcost.gridsize[1] = 5;
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figsize.gridsize[0] = 3;
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figsize.gridsize[1] = 5;
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figtimer.gridsize[0] = 3;
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figtimer.gridsize[1] = 5;
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// minimum ranges
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figconstraint.range[0][0] = 0;
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figconstraint.range[0][1] = 20;
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figconstraint.range[1][0] = 0;
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figconstraint.range[1][1] = 80;
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figcost.range[0][0] = 0;
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figcost.range[0][1] = 20;
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figcost.range[1][0] = -15;
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figcost.range[1][1] = 5;
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figsize.range[0][0] = -200;
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figsize.range[0][1] = 0;
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figsize.range[1][0] = 0;
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figsize.range[1][1] = 100;
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figtimer.range[0][0] = -200;
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figtimer.range[0][1] = 0;
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figtimer.range[1][0] = 0;
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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( n=0; n<6; n++ )
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for( i=0; i<mjMAXLINEPNT; i++ )
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{
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figtimer.linedata[n][2*i] = (float)-i;
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figsize.linedata[n][2*i] = (float)-i;
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}
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}
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// update profiler figures
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void profilerupdate(void)
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{
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int i, n;
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// update constraint figure
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figconstraint.linepnt[0] = mjMIN(mjMIN(d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for( i=1; i<5; i++ )
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figconstraint.linepnt[i] = figconstraint.linepnt[0];
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if( m->opt.solver==mjSOL_PGS )
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{
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figconstraint.linepnt[3] = 0;
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figconstraint.linepnt[4] = 0;
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}
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if( m->opt.solver==mjSOL_CG )
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figconstraint.linepnt[4] = 0;
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for( i=0; i<figconstraint.linepnt[0]; i++ )
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{
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// x
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figconstraint.linedata[0][2*i] = (float)i;
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figconstraint.linedata[1][2*i] = (float)i;
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figconstraint.linedata[2][2*i] = (float)i;
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figconstraint.linedata[3][2*i] = (float)i;
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figconstraint.linedata[4][2*i] = (float)i;
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// y
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figconstraint.linedata[0][2*i+1] = (float)d->nefc;
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figconstraint.linedata[1][2*i+1] = (float)d->solver[i].nactive;
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figconstraint.linedata[2][2*i+1] = (float)d->solver[i].nchange;
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figconstraint.linedata[3][2*i+1] = (float)d->solver[i].neval;
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figconstraint.linedata[4][2*i+1] = (float)d->solver[i].nupdate;
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}
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// update cost figure
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figcost.linepnt[0] = mjMIN(mjMIN(d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for( i=1; i<3; i++ )
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figcost.linepnt[i] = figcost.linepnt[0];
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if( m->opt.solver==mjSOL_PGS )
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{
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figcost.linepnt[1] = 0;
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figcost.linepnt[2] = 0;
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}
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for( i=0; i<figcost.linepnt[0]; i++ )
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{
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// x
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figcost.linedata[0][2*i] = (float)i;
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figcost.linedata[1][2*i] = (float)i;
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figcost.linedata[2][2*i] = (float)i;
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// y
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figcost.linedata[0][2*i+1] = (float)mju_log10(mju_max(mjMINVAL, d->solver[i].improvement));
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figcost.linedata[1][2*i+1] = (float)mju_log10(mju_max(mjMINVAL, d->solver[i].gradient));
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figcost.linedata[2][2*i+1] = (float)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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{
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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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(float)(total/number),
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(float)(d->timer[mjTIMER_POS_COLLISION].duration/number),
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(float)(d->timer[mjTIMER_POS_MAKE].duration/number) +
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(float)(d->timer[mjTIMER_POS_PROJECT].duration/number),
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(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, figtimer.linepnt[0]+1);
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for( n=0; n<5; n++ )
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{
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// shift data
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for( i=pnt-1; i>0; i-- )
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figtimer.linedata[n][2*i+1] = figtimer.linedata[n][2*i-1];
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// assign new
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figtimer.linepnt[n] = pnt;
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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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(float)m->nv,
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(float)m->nbody,
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(float)d->nefc,
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(float)mju_sqrt((mjtNum)d->solver_nnz),
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(float)d->ncon,
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(float)d->solver_iter
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};
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// update figsize
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pnt = mjMIN(201, figsize.linepnt[0]+1);
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for( n=0; n<6; n++ )
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{
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// shift data
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for( i=pnt-1; i>0; i-- )
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figsize.linedata[n][2*i+1] = figsize.linedata[n][2*i-1];
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// assign new
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figsize.linepnt[n] = pnt;
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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 profilershow(mjrRect rect)
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{
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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, &figtimer, &con);
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &figsize, &con);
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &figcost, &con);
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &figconstraint, &con);
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}
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// init sensor figure
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void sensorinit(void)
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{
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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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strcpy(figsensor.title, "Sensor data");
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// y-tick nubmer format
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strcpy(figsensor.yformat, "%.0f");
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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 sensorupdate(void)
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|
{
|
|
static const int maxline = 10;
|
|
|
|
// clear linepnt
|
|
for( int i=0; i<maxline; i++ )
|
|
figsensor.linepnt[i] = 0;
|
|
|
|
// start with line 0
|
|
int lineid = 0;
|
|
|
|
// loop over sensors
|
|
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] = (float)(adr+i);
|
|
figsensor.linedata[lineid][2*p+4*i+2] = (float)(adr+i);
|
|
|
|
// y
|
|
figsensor.linedata[lineid][2*p+4*i+1] = 0;
|
|
figsensor.linedata[lineid][2*p+4*i+3] = (float)(d->sensordata[adr+i]/cutoff);
|
|
}
|
|
|
|
// update linepnt
|
|
figsensor.linepnt[lineid] = mjMIN(mjMAXLINEPNT-1,
|
|
figsensor.linepnt[lineid]+2*dim);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// show sensor figure
|
|
void sensorshow(mjrRect rect)
|
|
{
|
|
// constant width with and without profiler
|
|
int width = settings.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, &figsensor, &con);
|
|
}
|
|
|
|
|
|
|
|
// prepare info text
|
|
void infotext(char* title, char* content, double interval)
|
|
{
|
|
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));
|
|
|
|
// prepare info text
|
|
strcpy(title, "Time\nSize\nCPU\nSolver \nFPS\nstack\nconbuf\nefcbuf");
|
|
sprintf(content, "%-20.3f\n%d (%d con)\n%.3f\n%.1f (%d it)\n%.0f\n%.3f\n%.3f\n%.3f",
|
|
d->time,
|
|
d->nefc, d->ncon,
|
|
settings.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,
|
|
1/interval,
|
|
d->maxuse_stack/(double)d->nstack,
|
|
d->maxuse_con/(double)m->nconmax,
|
|
d->maxuse_efc/(double)m->njmax);
|
|
|
|
// add Energy if enabled
|
|
if( mjENABLED(mjENBL_ENERGY) )
|
|
{
|
|
sprintf(tmp, "\n%.3f", d->energy[0]+d->energy[1]);
|
|
strcat(content, tmp);
|
|
strcat(title, "\nEnergy");
|
|
}
|
|
|
|
// add FwdInv if enabled
|
|
if( mjENABLED(mjENBL_FWDINV) )
|
|
{
|
|
sprintf(tmp, "\n%.1f %.1f",
|
|
mju_log10(mju_max(mjMINVAL,d->solver_fwdinv[0])),
|
|
mju_log10(mju_max(mjMINVAL,d->solver_fwdinv[1])));
|
|
strcat(content, tmp);
|
|
strcat(title, "\nFwdInv");
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// sprintf forwarding, to avoid compiler warning in x-macro
|
|
void printfield(char* str, void* ptr)
|
|
{
|
|
sprintf(str, "%g", *(mjtNum*)ptr);
|
|
}
|
|
|
|
|
|
|
|
// update watch
|
|
void watch(void)
|
|
{
|
|
// clear
|
|
ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
|
|
strcpy(ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
|
|
|
|
// prepare constants for NC
|
|
int nv = m->nv;
|
|
int njmax = m->njmax;
|
|
|
|
// find specified field in mjData arrays, update value
|
|
#define X(TYPE, NAME, NR, NC) \
|
|
if( !strcmp(#NAME, settings.field) && !strcmp(#TYPE, "mjtNum") ) \
|
|
{ \
|
|
if( settings.index>=0 && settings.index<m->NR*NC ) \
|
|
printfield(ui0.sect[SECT_WATCH].item[2].multi.name[0], \
|
|
d->NAME + settings.index); \
|
|
else \
|
|
strcpy(ui0.sect[SECT_WATCH].item[2].multi.name[0], \
|
|
"invalid index"); \
|
|
return; \
|
|
}
|
|
|
|
MJDATA_POINTERS
|
|
#undef X
|
|
}
|
|
|
|
|
|
|
|
//-------------------------------- UI construction --------------------------------------
|
|
|
|
// make physics section of UI
|
|
void makephysics(int oldstate)
|
|
{
|
|
int i;
|
|
|
|
mjuiDef defPhysics[] =
|
|
{
|
|
{mjITEM_SECTION, "Physics", oldstate, NULL, "AP"},
|
|
{mjITEM_SELECT, "Integrator", 2, &(m->opt.integrator), "Euler\nRK4"},
|
|
{mjITEM_SELECT, "Collision", 2, &(m->opt.collision), "All\nPair\nDynamic"},
|
|
{mjITEM_SELECT, "Cone", 2, &(m->opt.cone), "Pyramidal\nElliptic"},
|
|
{mjITEM_SELECT, "Jacobian", 2, &(m->opt.jacobian), "Dense\nSparse\nAuto"},
|
|
{mjITEM_SELECT, "Solver", 2, &(m->opt.solver), "PGS\nCG\nNewton"},
|
|
{mjITEM_SEPARATOR, "Algorithmic Parameters", 1},
|
|
{mjITEM_EDITNUM, "Timestep", 2, &(m->opt.timestep), "1 0 1"},
|
|
{mjITEM_EDITINT, "Iterations", 2, &(m->opt.iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "Tolerance", 2, &(m->opt.tolerance), "1 0 1"},
|
|
{mjITEM_EDITINT, "Noslip Iter", 2, &(m->opt.noslip_iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "Noslip Tol", 2, &(m->opt.noslip_tolerance), "1 0 1"},
|
|
{mjITEM_EDITINT, "MRR Iter", 2, &(m->opt.mpr_iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "MPR Tol", 2, &(m->opt.mpr_tolerance), "1 0 1"},
|
|
{mjITEM_EDITNUM, "API Rate", 2, &(m->opt.apirate), "1 0 1000"},
|
|
{mjITEM_SEPARATOR, "Physical Parameters", 1},
|
|
{mjITEM_EDITNUM, "Gravity", 2, m->opt.gravity, "3"},
|
|
{mjITEM_EDITNUM, "Wind", 2, m->opt.wind, "3"},
|
|
{mjITEM_EDITNUM, "Magnetic", 2, m->opt.magnetic, "3"},
|
|
{mjITEM_EDITNUM, "Density", 2, &(m->opt.density), "1"},
|
|
{mjITEM_EDITNUM, "Viscosity", 2, &(m->opt.viscosity), "1"},
|
|
{mjITEM_EDITNUM, "Imp Ratio", 2, &(m->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, &(m->opt.o_margin), "1"},
|
|
{mjITEM_EDITNUM, "Sol Imp", 2, &(m->opt.o_solimp), "5"},
|
|
{mjITEM_EDITNUM, "Sol Ref", 2, &(m->opt.o_solref), "2"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add physics
|
|
mjui_add(&ui0, defPhysics);
|
|
|
|
// add flags programmatically
|
|
mjuiDef defFlag[] =
|
|
{
|
|
{mjITEM_CHECKINT, "", 2, NULL, ""},
|
|
{mjITEM_END}
|
|
};
|
|
for( i=0; i<mjNDISABLE; i++ )
|
|
{
|
|
strcpy(defFlag[0].name, mjDISABLESTRING[i]);
|
|
defFlag[0].pdata = settings.disable + i;
|
|
mjui_add(&ui0, defFlag);
|
|
}
|
|
mjui_add(&ui0, defEnableFlags);
|
|
for( i=0; i<mjNENABLE; i++ )
|
|
{
|
|
strcpy(defFlag[0].name, mjENABLESTRING[i]);
|
|
defFlag[0].pdata = settings.enable + i;
|
|
mjui_add(&ui0, defFlag);
|
|
}
|
|
|
|
// add contact override
|
|
mjui_add(&ui0, defOverride);
|
|
}
|
|
|
|
|
|
|
|
// make rendering section of UI
|
|
void makerendering(int oldstate)
|
|
{
|
|
int i, j;
|
|
|
|
mjuiDef defRendering[] =
|
|
{
|
|
{mjITEM_SECTION, "Rendering", oldstate, NULL, "AR"},
|
|
{mjITEM_SELECT, "Camera", 2, &(settings.camera), "Free\nTracking"},
|
|
{mjITEM_SELECT, "Label", 2, &(vopt.label),
|
|
"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\nActuator\nConstraint\nSkin\nSelection\nSel Pnt\nForce"},
|
|
{mjITEM_SELECT, "Frame", 2, &(vopt.frame),
|
|
"None\nBody\nGeom\nSite\nCamera\nLight\nWorld"},
|
|
{mjITEM_SEPARATOR, "Model Elements", 1},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defOpenGL[] =
|
|
{
|
|
{mjITEM_SEPARATOR, "OpenGL Effects", 1},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add model cameras, up to UI limit
|
|
for( i=0; i<mjMIN(m->ncam, mjMAXUIMULTI-2); i++ )
|
|
{
|
|
// prepare name
|
|
char camname[mjMAXUITEXT] = "\n";
|
|
if( m->names[m->name_camadr[i]] )
|
|
strcat(camname, m->names+m->name_camadr[i]);
|
|
else
|
|
sprintf(camname, "\nCamera %d", i);
|
|
|
|
// check string length
|
|
if( strlen(camname) + strlen(defRendering[1].other)>=mjMAXUITEXT-1 )
|
|
break;
|
|
|
|
// add camera
|
|
strcat(defRendering[1].other, camname);
|
|
}
|
|
|
|
// add rendering standard
|
|
mjui_add(&ui0, defRendering);
|
|
|
|
// add flags programmatically
|
|
mjuiDef defFlag[] =
|
|
{
|
|
{mjITEM_CHECKBYTE, "", 2, NULL, ""},
|
|
{mjITEM_END}
|
|
};
|
|
for( i=0; i<mjNVISFLAG; i++ )
|
|
{
|
|
// set name, remove "&"
|
|
strcpy(defFlag[0].name, mjVISSTRING[i][0]);
|
|
for( j=0; j<strlen(mjVISSTRING[i][0]); j++ )
|
|
if( mjVISSTRING[i][0][j]=='&' )
|
|
{
|
|
strcpy(defFlag[0].name+j, mjVISSTRING[i][0]+j+1);
|
|
break;
|
|
}
|
|
|
|
// set shortcut and data
|
|
sprintf(defFlag[0].other, " %s", mjVISSTRING[i][2]);
|
|
defFlag[0].pdata = vopt.flags + i;
|
|
mjui_add(&ui0, defFlag);
|
|
}
|
|
mjui_add(&ui0, defOpenGL);
|
|
for( i=0; i<mjNRNDFLAG; i++ )
|
|
{
|
|
strcpy(defFlag[0].name, mjRNDSTRING[i][0]);
|
|
sprintf(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
|
|
defFlag[0].pdata = scn.flags + i;
|
|
mjui_add(&ui0, defFlag);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// make group section of UI
|
|
void makegroup(int oldstate)
|
|
{
|
|
mjuiDef defGroup[] =
|
|
{
|
|
{mjITEM_SECTION, "Group enable", oldstate, NULL, "AG"},
|
|
{mjITEM_SEPARATOR, "Geom groups", 1},
|
|
{mjITEM_CHECKBYTE, "Geom 0", 2, vopt.geomgroup, " 0"},
|
|
{mjITEM_CHECKBYTE, "Geom 1", 2, vopt.geomgroup+1, " 1"},
|
|
{mjITEM_CHECKBYTE, "Geom 2", 2, vopt.geomgroup+2, " 2"},
|
|
{mjITEM_CHECKBYTE, "Geom 3", 2, vopt.geomgroup+3, " 3"},
|
|
{mjITEM_CHECKBYTE, "Geom 4", 2, vopt.geomgroup+4, " 4"},
|
|
{mjITEM_CHECKBYTE, "Geom 5", 2, vopt.geomgroup+5, " 5"},
|
|
{mjITEM_SEPARATOR, "Site groups", 1},
|
|
{mjITEM_CHECKBYTE, "Site 0", 2, vopt.sitegroup, "S0"},
|
|
{mjITEM_CHECKBYTE, "Site 1", 2, vopt.sitegroup+1, "S1"},
|
|
{mjITEM_CHECKBYTE, "Site 2", 2, vopt.sitegroup+2, "S2"},
|
|
{mjITEM_CHECKBYTE, "Site 3", 2, vopt.sitegroup+3, "S3"},
|
|
{mjITEM_CHECKBYTE, "Site 4", 2, vopt.sitegroup+4, "S4"},
|
|
{mjITEM_CHECKBYTE, "Site 5", 2, vopt.sitegroup+5, "S5"},
|
|
{mjITEM_SEPARATOR, "Joint groups", 1},
|
|
{mjITEM_CHECKBYTE, "Joint 0", 2, vopt.jointgroup, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 1", 2, vopt.jointgroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 2", 2, vopt.jointgroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 3", 2, vopt.jointgroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 4", 2, vopt.jointgroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 5", 2, vopt.jointgroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Tendon groups", 1},
|
|
{mjITEM_CHECKBYTE, "Tendon 0", 2, vopt.tendongroup, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 1", 2, vopt.tendongroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 2", 2, vopt.tendongroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 3", 2, vopt.tendongroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 4", 2, vopt.tendongroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 5", 2, vopt.tendongroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Actuator groups", 1},
|
|
{mjITEM_CHECKBYTE, "Actuator 0", 2, vopt.actuatorgroup, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 1", 2, vopt.actuatorgroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 2", 2, vopt.actuatorgroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 3", 2, vopt.actuatorgroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 4", 2, vopt.actuatorgroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 5", 2, vopt.actuatorgroup+5, ""},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&ui0, defGroup);
|
|
}
|
|
|
|
|
|
|
|
// make joint section of UI
|
|
void makejoint(int oldstate)
|
|
{
|
|
int i;
|
|
|
|
mjuiDef defJoint[] =
|
|
{
|
|
{mjITEM_SECTION, "Joint", oldstate, NULL, "AJ"},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defSlider[] =
|
|
{
|
|
{mjITEM_SLIDERNUM, "", 2, NULL, "0 1"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&ui1, defJoint);
|
|
defSlider[0].state = 4;
|
|
|
|
// add scalar joints, exit if UI limit reached
|
|
int itemcnt = 0;
|
|
for( i=0; i<m->njnt && itemcnt<mjMAXUIITEM; i++ )
|
|
if( (m->jnt_type[i]==mjJNT_HINGE || m->jnt_type[i]==mjJNT_SLIDE) )
|
|
{
|
|
// skip if joint group is disabled
|
|
if( !vopt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->jnt_group[i]))] )
|
|
continue;
|
|
|
|
// set data and name
|
|
defSlider[0].pdata = d->qpos + m->jnt_qposadr[i];
|
|
if( m->names[m->name_jntadr[i]] )
|
|
mju_strncpy(defSlider[0].name, m->names+m->name_jntadr[i],
|
|
mjMAXUINAME);
|
|
else
|
|
sprintf(defSlider[0].name, "joint %d", i);
|
|
|
|
// set range
|
|
if( m->jnt_limited[i] )
|
|
sprintf(defSlider[0].other, "%.4g %.4g",
|
|
m->jnt_range[2*i], m->jnt_range[2*i+1]);
|
|
else if( m->jnt_type[i]==mjJNT_SLIDE )
|
|
strcpy(defSlider[0].other, "-1 1");
|
|
else
|
|
strcpy(defSlider[0].other, "-3.1416 3.1416");
|
|
|
|
// add and count
|
|
mjui_add(&ui1, defSlider);
|
|
itemcnt++;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// make control section of UI
|
|
void makecontrol(int oldstate)
|
|
{
|
|
int i;
|
|
|
|
mjuiDef defControl[] =
|
|
{
|
|
{mjITEM_SECTION, "Control", oldstate, NULL, "AC"},
|
|
{mjITEM_BUTTON, "Clear all", 2},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defSlider[] =
|
|
{
|
|
{mjITEM_SLIDERNUM, "", 2, NULL, "0 1"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&ui1, defControl);
|
|
defSlider[0].state = 2;
|
|
|
|
// add controls, exit if UI limit reached (Clear button already added)
|
|
int itemcnt = 1;
|
|
for( i=0; i<m->nu && itemcnt<mjMAXUIITEM; i++ )
|
|
{
|
|
// skip if actuator group is disabled
|
|
if( !vopt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->actuator_group[i]))] )
|
|
continue;
|
|
|
|
// set data and name
|
|
defSlider[0].pdata = d->ctrl + i;
|
|
if( m->names[m->name_actuatoradr[i]] )
|
|
mju_strncpy(defSlider[0].name, m->names+m->name_actuatoradr[i],
|
|
mjMAXUINAME);
|
|
else
|
|
sprintf(defSlider[0].name, "control %d", i);
|
|
|
|
// set range
|
|
if( m->actuator_ctrllimited[i] )
|
|
sprintf(defSlider[0].other, "%.4g %.4g",
|
|
m->actuator_ctrlrange[2*i], m->actuator_ctrlrange[2*i+1]);
|
|
else
|
|
strcpy(defSlider[0].other, "-1 1");
|
|
|
|
// add and count
|
|
mjui_add(&ui1, defSlider);
|
|
itemcnt++;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// make model-dependent UI sections
|
|
void makesections(void)
|
|
{
|
|
int i;
|
|
|
|
// get section open-close state, UI 0
|
|
int oldstate0[NSECT0];
|
|
for( i=0; i<NSECT0; i++ )
|
|
{
|
|
oldstate0[i] = 0;
|
|
if( ui0.nsect>i )
|
|
oldstate0[i] = ui0.sect[i].state;
|
|
}
|
|
|
|
// get section open-close state, UI 1
|
|
int oldstate1[NSECT1];
|
|
for( i=0; i<NSECT1; i++ )
|
|
{
|
|
oldstate1[i] = 0;
|
|
if( ui1.nsect>i )
|
|
oldstate1[i] = ui1.sect[i].state;
|
|
}
|
|
|
|
// clear model-dependent sections of UI
|
|
ui0.nsect = SECT_PHYSICS;
|
|
ui1.nsect = 0;
|
|
|
|
// make
|
|
makephysics(oldstate0[SECT_PHYSICS]);
|
|
makerendering(oldstate0[SECT_RENDERING]);
|
|
makegroup(oldstate0[SECT_GROUP]);
|
|
makejoint(oldstate1[SECT_JOINT]);
|
|
makecontrol(oldstate1[SECT_CONTROL]);
|
|
}
|
|
|
|
|
|
|
|
//-------------------------------- utility functions ------------------------------------
|
|
|
|
// align and scale view
|
|
void alignscale(void)
|
|
{
|
|
// autoscale
|
|
cam.lookat[0] = m->stat.center[0];
|
|
cam.lookat[1] = m->stat.center[1];
|
|
cam.lookat[2] = m->stat.center[2];
|
|
cam.distance = 1.5 * m->stat.extent;
|
|
|
|
// set to free camera
|
|
cam.type = mjCAMERA_FREE;
|
|
}
|
|
|
|
|
|
|
|
// copy qpos to clipboard as key
|
|
void copykey(void)
|
|
{
|
|
char clipboard[5000] = "<key qpos='";
|
|
char buf[200];
|
|
|
|
// prepare string
|
|
for( int i=0; i<m->nq; i++ )
|
|
{
|
|
sprintf(buf, i==m->nq-1 ? "%g" : "%g ", d->qpos[i]);
|
|
strcat(clipboard, buf);
|
|
}
|
|
strcat(clipboard, "'/>");
|
|
|
|
// copy to clipboard
|
|
glfwSetClipboardString(window, clipboard);
|
|
}
|
|
|
|
|
|
|
|
// millisecond timer, for MuJoCo built-in profiler
|
|
mjtNum timer(void)
|
|
{
|
|
return (mjtNum)(1000*glfwGetTime());
|
|
}
|
|
|
|
|
|
|
|
// clear all times
|
|
void cleartimers(void)
|
|
{
|
|
for( int i=0; i<mjNTIMER; i++ )
|
|
{
|
|
d->timer[i].duration = 0;
|
|
d->timer[i].number = 0;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// update UI 0 when MuJoCo structures change (except for joint sliders)
|
|
void updatesettings(void)
|
|
{
|
|
int i;
|
|
|
|
// physics flags
|
|
for( i=0; i<mjNDISABLE; i++ )
|
|
settings.disable[i] = ((m->opt.disableflags & (1<<i)) !=0 );
|
|
for( i=0; i<mjNENABLE; i++ )
|
|
settings.enable[i] = ((m->opt.enableflags & (1<<i)) !=0 );
|
|
|
|
// camera
|
|
if( cam.type==mjCAMERA_FIXED )
|
|
settings.camera = 2 + cam.fixedcamid;
|
|
else if( cam.type==mjCAMERA_TRACKING )
|
|
settings.camera = 1;
|
|
else
|
|
settings.camera = 0;
|
|
|
|
// update UI
|
|
mjui_update(-1, -1, &ui0, &uistate, &con);
|
|
}
|
|
|
|
|
|
|
|
// drop file callback
|
|
void drop(GLFWwindow* window, int count, const char** paths)
|
|
{
|
|
// make sure list is non-empty
|
|
if( count>0 )
|
|
{
|
|
mju_strncpy(filename, paths[0], 1000);
|
|
settings.loadrequest = 1;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// load mjb or xml model
|
|
void loadmodel(void)
|
|
{
|
|
// clear request
|
|
settings.loadrequest = 0;
|
|
|
|
// make sure filename is not empty
|
|
if( !filename[0] )
|
|
return;
|
|
|
|
// load and compile
|
|
char error[500] = "";
|
|
mjModel* mnew = 0;
|
|
if( strlen(filename)>4 && !strcmp(filename+strlen(filename)-4, ".mjb") )
|
|
{
|
|
mnew = mj_loadModel(filename, NULL);
|
|
if( !mnew )
|
|
strcpy(error, "could not load binary model");
|
|
}
|
|
else
|
|
mnew = mj_loadXML(filename, NULL, error, 500);
|
|
if( !mnew )
|
|
{
|
|
printf("%s\n", error);
|
|
return;
|
|
}
|
|
|
|
// compiler warning: print and pause
|
|
if( error[0] )
|
|
{
|
|
// mj_forward() below will print the warning message
|
|
printf("Model compiled, but simulation warning (paused):\n %s\n\n",
|
|
error);
|
|
settings.run = 0;
|
|
}
|
|
|
|
// delete old model, assign new
|
|
mj_deleteData(d);
|
|
mj_deleteModel(m);
|
|
m = mnew;
|
|
d = mj_makeData(m);
|
|
mj_forward(m, d);
|
|
|
|
// re-create scene and context
|
|
mjv_makeScene(m, &scn, maxgeom);
|
|
mjr_makeContext(m, &con, 50*(settings.font+1));
|
|
|
|
// clear perturbation state
|
|
pert.active = 0;
|
|
pert.select = 0;
|
|
pert.skinselect = -1;
|
|
|
|
// align and scale view, update scene
|
|
alignscale();
|
|
mjv_updateScene(m, d, &vopt, &pert, &cam, mjCAT_ALL, &scn);
|
|
|
|
// set window title to model name
|
|
if( window && m->names )
|
|
{
|
|
char title[200] = "Simulate : ";
|
|
strcat(title, m->names);
|
|
glfwSetWindowTitle(window, title);
|
|
}
|
|
|
|
// set keyframe range and divisions
|
|
ui0.sect[SECT_SIMULATION].item[5].slider.range[0] = 0;
|
|
ui0.sect[SECT_SIMULATION].item[5].slider.range[1] = mjMAX(0, m->nkey - 1);
|
|
ui0.sect[SECT_SIMULATION].item[5].slider.divisions = mjMAX(1, m->nkey - 1);
|
|
|
|
// rebuild UI sections
|
|
makesections();
|
|
|
|
// full ui update
|
|
uiModify(window, &ui0, &uistate, &con);
|
|
uiModify(window, &ui1, &uistate, &con);
|
|
updatesettings();
|
|
}
|
|
|
|
|
|
|
|
//--------------------------------- UI hooks (for uitools.c) ----------------------------
|
|
|
|
// determine enable/disable item state given category
|
|
int uiPredicate(int category, void* userdata)
|
|
{
|
|
switch( category )
|
|
{
|
|
case 2: // require model
|
|
return (m!=NULL);
|
|
|
|
case 3: // require model and nkey
|
|
return (m && m->nkey);
|
|
|
|
case 4: // require model and paused
|
|
return (m && !settings.run);
|
|
|
|
default:
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// set window layout
|
|
void uiLayout(mjuiState* state)
|
|
{
|
|
mjrRect* rect = state->rect;
|
|
|
|
// set number of rectangles
|
|
state->nrect = 4;
|
|
|
|
// rect 0: entire framebuffer
|
|
rect[0].left = 0;
|
|
rect[0].bottom = 0;
|
|
glfwGetFramebufferSize(window, &rect[0].width, &rect[0].height);
|
|
|
|
// rect 1: UI 0
|
|
rect[1].left = 0;
|
|
rect[1].width = settings.ui0 ? ui0.width : 0;
|
|
rect[1].bottom = 0;
|
|
rect[1].height = rect[0].height;
|
|
|
|
// rect 2: UI 1
|
|
rect[2].width = settings.ui1 ? 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;
|
|
}
|
|
|
|
|
|
|
|
// handle UI event
|
|
void uiEvent(mjuiState* state)
|
|
{
|
|
int i;
|
|
char err[200];
|
|
|
|
// call UI 0 if event is directed to it
|
|
if( (state->dragrect==ui0.rectid) ||
|
|
(state->dragrect==0 && state->mouserect==ui0.rectid) ||
|
|
state->type==mjEVENT_KEY )
|
|
{
|
|
// process UI event
|
|
mjuiItem* it = mjui_event(&ui0, state, &con);
|
|
|
|
// file section
|
|
if( it && it->sectionid==SECT_FILE )
|
|
{
|
|
switch( it->itemid )
|
|
{
|
|
case 0: // Save xml
|
|
if( !mj_saveLastXML("mjmodel.xml", m, err, 200) )
|
|
printf("Save XML error: %s", err);
|
|
break;
|
|
|
|
case 1: // Save mjb
|
|
mj_saveModel(m, "mjmodel.mjb", NULL, 0);
|
|
break;
|
|
|
|
case 2: // Print model
|
|
mj_printModel(m, "MJMODEL.TXT");
|
|
break;
|
|
|
|
case 3: // Print data
|
|
mj_printData(m, d, "MJDATA.TXT");
|
|
break;
|
|
|
|
case 4: // Quit
|
|
settings.exitrequest = 1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// option section
|
|
else if( it && it->sectionid==SECT_OPTION )
|
|
{
|
|
switch( it->itemid )
|
|
{
|
|
case 0: // Spacing
|
|
ui0.spacing = mjui_themeSpacing(settings.spacing);
|
|
ui1.spacing = mjui_themeSpacing(settings.spacing);
|
|
break;
|
|
|
|
case 1: // Color
|
|
ui0.color = mjui_themeColor(settings.color);
|
|
ui1.color = mjui_themeColor(settings.color);
|
|
break;
|
|
|
|
case 2: // Font
|
|
mjr_changeFont(50*(settings.font+1), &con);
|
|
break;
|
|
|
|
case 9: // Full screen
|
|
if( glfwGetWindowMonitor(window) )
|
|
{
|
|
// restore window from saved data
|
|
glfwSetWindowMonitor(window, NULL, windowpos[0], windowpos[1],
|
|
windowsize[0], windowsize[1], 0);
|
|
}
|
|
|
|
// currently windowed: switch to full screen
|
|
else
|
|
{
|
|
// save window data
|
|
glfwGetWindowPos(window, windowpos, windowpos+1);
|
|
glfwGetWindowSize(window, windowsize, windowsize+1);
|
|
|
|
// switch
|
|
glfwSetWindowMonitor(window, glfwGetPrimaryMonitor(), 0, 0,
|
|
vmode.width, vmode.height, vmode.refreshRate);
|
|
}
|
|
|
|
// reinstante vsync, just in case
|
|
glfwSwapInterval(settings.vsync);
|
|
break;
|
|
|
|
case 10: // Vertical sync
|
|
glfwSwapInterval(settings.vsync);
|
|
break;
|
|
}
|
|
|
|
// modify UI
|
|
uiModify(window, &ui0, state, &con);
|
|
uiModify(window, &ui1, state, &con);
|
|
}
|
|
|
|
// simulation section
|
|
else if( it && it->sectionid==SECT_SIMULATION )
|
|
{
|
|
switch( it->itemid )
|
|
{
|
|
case 1: // Reset
|
|
if( m )
|
|
{
|
|
mj_resetData(m, d);
|
|
mj_forward(m, d);
|
|
profilerupdate();
|
|
sensorupdate();
|
|
updatesettings();
|
|
}
|
|
break;
|
|
|
|
case 2: // Reload
|
|
settings.loadrequest = 1;
|
|
break;
|
|
|
|
case 3: // Align
|
|
alignscale();
|
|
updatesettings();
|
|
break;
|
|
|
|
case 4: // Copy pose
|
|
copykey();
|
|
break;
|
|
|
|
case 5: // Adjust key
|
|
case 6: // Reset to key
|
|
i = settings.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);
|
|
mj_forward(m, d);
|
|
profilerupdate();
|
|
sensorupdate();
|
|
updatesettings();
|
|
break;
|
|
|
|
case 7: // Set key
|
|
i = settings.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);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// physics section
|
|
else if( it && it->sectionid==SECT_PHYSICS )
|
|
{
|
|
// update disable flags in mjOption
|
|
m->opt.disableflags = 0;
|
|
for( i=0; i<mjNDISABLE; i++ )
|
|
if( settings.disable[i] )
|
|
m->opt.disableflags |= (1<<i);
|
|
|
|
// update enable flags in mjOption
|
|
m->opt.enableflags = 0;
|
|
for( i=0; i<mjNENABLE; i++ )
|
|
if( settings.enable[i] )
|
|
m->opt.enableflags |= (1<<i);
|
|
}
|
|
|
|
// rendering section
|
|
else if( it && it->sectionid==SECT_RENDERING )
|
|
{
|
|
// set camera in mjvCamera
|
|
if( settings.camera==0 )
|
|
cam.type = mjCAMERA_FREE;
|
|
else if( settings.camera==1 )
|
|
{
|
|
if( pert.select>0 )
|
|
{
|
|
cam.type = mjCAMERA_TRACKING;
|
|
cam.trackbodyid = pert.select;
|
|
cam.fixedcamid = -1;
|
|
}
|
|
else
|
|
{
|
|
cam.type = mjCAMERA_FREE;
|
|
settings.camera = 0;
|
|
mjui_update(SECT_RENDERING, -1, &ui0, &uistate, &con);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
cam.type = mjCAMERA_FIXED;
|
|
cam.fixedcamid = settings.camera - 2;
|
|
}
|
|
}
|
|
|
|
// 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' )
|
|
{
|
|
ui1.nsect = SECT_JOINT;
|
|
makejoint(ui1.sect[SECT_JOINT].state);
|
|
ui1.nsect = NSECT1;
|
|
uiModify(window, &ui1, state, &con);
|
|
}
|
|
|
|
// remake control section if actuator group changed
|
|
if( it->name[0]=='A' && it->name[1]=='c' )
|
|
{
|
|
ui1.nsect = SECT_CONTROL;
|
|
makecontrol(ui1.sect[SECT_CONTROL].state);
|
|
ui1.nsect = NSECT1;
|
|
uiModify(window, &ui1, state, &con);
|
|
}
|
|
}
|
|
|
|
// stop if UI processed event
|
|
if( it!=NULL || (state->type==mjEVENT_KEY && state->key==0) )
|
|
return;
|
|
}
|
|
|
|
// call UI 1 if event is directed to it
|
|
if( (state->dragrect==ui1.rectid) ||
|
|
(state->dragrect==0 && state->mouserect==ui1.rectid) ||
|
|
state->type==mjEVENT_KEY )
|
|
{
|
|
// process UI event
|
|
mjuiItem* it = mjui_event(&ui1, state, &con);
|
|
|
|
// control section
|
|
if( it && it->sectionid==SECT_CONTROL )
|
|
{
|
|
// clear controls
|
|
if( it->itemid==0 )
|
|
{
|
|
mju_zero(d->ctrl, m->nu);
|
|
mjui_update(SECT_CONTROL, -1, &ui1, &uistate, &con);
|
|
}
|
|
}
|
|
|
|
// stop if UI processed event
|
|
if( it!=NULL || (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( m )
|
|
{
|
|
settings.run = 1 - settings.run;
|
|
pert.active = 0;
|
|
mjui_update(-1, -1, &ui0, state, &con);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_RIGHT: // step forward
|
|
if( m && !settings.run )
|
|
{
|
|
cleartimers();
|
|
mj_step(m, d);
|
|
profilerupdate();
|
|
sensorupdate();
|
|
updatesettings();
|
|
}
|
|
break;
|
|
|
|
case mjKEY_LEFT: // step back
|
|
if( m && !settings.run )
|
|
{
|
|
m->opt.timestep = -m->opt.timestep;
|
|
cleartimers();
|
|
mj_step(m, d);
|
|
m->opt.timestep = -m->opt.timestep;
|
|
profilerupdate();
|
|
sensorupdate();
|
|
updatesettings();
|
|
}
|
|
break;
|
|
|
|
case mjKEY_DOWN: // step forward 100
|
|
if( m && !settings.run )
|
|
{
|
|
cleartimers();
|
|
for( i=0; i<100; i++ )
|
|
mj_step(m, d);
|
|
profilerupdate();
|
|
sensorupdate();
|
|
updatesettings();
|
|
}
|
|
break;
|
|
|
|
case mjKEY_UP: // step back 100
|
|
if( m && !settings.run )
|
|
{
|
|
m->opt.timestep = -m->opt.timestep;
|
|
cleartimers();
|
|
for( i=0; i<100; i++ )
|
|
mj_step(m, d);
|
|
m->opt.timestep = -m->opt.timestep;
|
|
profilerupdate();
|
|
sensorupdate();
|
|
updatesettings();
|
|
}
|
|
break;
|
|
|
|
case mjKEY_PAGE_UP: // select parent body
|
|
if( m && pert.select>0 )
|
|
{
|
|
pert.select = m->body_parentid[pert.select];
|
|
pert.skinselect = -1;
|
|
|
|
// stop perturbation if world reached
|
|
if( pert.select<=0 )
|
|
pert.active = 0;
|
|
}
|
|
|
|
break;
|
|
|
|
case mjKEY_ESCAPE: // free camera
|
|
cam.type = mjCAMERA_FREE;
|
|
settings.camera = 0;
|
|
mjui_update(SECT_RENDERING, -1, &ui0, &uistate, &con);
|
|
break;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D scroll
|
|
if( state->type==mjEVENT_SCROLL && state->mouserect==3 && m )
|
|
{
|
|
// emulate vertical mouse motion = 5% of window height
|
|
mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*state->sy, &scn, &cam);
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D press
|
|
if( state->type==mjEVENT_PRESS && state->mouserect==3 && m )
|
|
{
|
|
// set perturbation
|
|
int newperturb = 0;
|
|
if( state->control && pert.select>0 )
|
|
{
|
|
// right: translate; left: rotate
|
|
if( state->right )
|
|
newperturb = mjPERT_TRANSLATE;
|
|
else if( state->left )
|
|
newperturb = mjPERT_ROTATE;
|
|
|
|
// perturbation onset: reset reference
|
|
if( newperturb && !pert.active )
|
|
mjv_initPerturb(m, d, &scn, &pert);
|
|
}
|
|
pert.active = newperturb;
|
|
|
|
// handle double-click
|
|
if( state->doubleclick )
|
|
{
|
|
// determine selection mode
|
|
int selmode;
|
|
if( state->button==mjBUTTON_LEFT )
|
|
selmode = 1;
|
|
else if( state->control )
|
|
selmode = 3;
|
|
else
|
|
selmode = 2;
|
|
|
|
// find geom and 3D click point, get corresponding body
|
|
mjrRect r = state->rect[3];
|
|
mjtNum selpnt[3];
|
|
int selgeom, selskin;
|
|
int selbody = mjv_select(m, d, &vopt,
|
|
(mjtNum)r.width/(mjtNum)r.height,
|
|
(mjtNum)(state->x-r.left)/(mjtNum)r.width,
|
|
(mjtNum)(state->y-r.bottom)/(mjtNum)r.height,
|
|
&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(cam.lookat, selpnt);
|
|
|
|
// switch to tracking camera if dynamic body clicked
|
|
if( selmode==3 && selbody>0 )
|
|
{
|
|
// mujoco camera
|
|
cam.type = mjCAMERA_TRACKING;
|
|
cam.trackbodyid = selbody;
|
|
cam.fixedcamid = -1;
|
|
|
|
// UI camera
|
|
settings.camera = 1;
|
|
mjui_update(SECT_RENDERING, -1, &ui0, &uistate, &con);
|
|
}
|
|
}
|
|
|
|
// set body selection
|
|
else
|
|
{
|
|
if( selbody>=0 )
|
|
{
|
|
// record selection
|
|
pert.select = selbody;
|
|
pert.skinselect = selskin;
|
|
|
|
// compute localpos
|
|
mjtNum tmp[3];
|
|
mju_sub3(tmp, selpnt, d->xpos+3*pert.select);
|
|
mju_mulMatTVec(pert.localpos, d->xmat+9*pert.select, tmp, 3, 3);
|
|
}
|
|
else
|
|
{
|
|
pert.select = 0;
|
|
pert.skinselect = -1;
|
|
}
|
|
}
|
|
|
|
// stop perturbation on select
|
|
pert.active = 0;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D release
|
|
if( state->type==mjEVENT_RELEASE && state->dragrect==3 && m )
|
|
{
|
|
// stop perturbation
|
|
pert.active = 0;
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D move
|
|
if( state->type==mjEVENT_MOVE && state->dragrect==3 && m )
|
|
{
|
|
// 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( pert.active )
|
|
mjv_movePerturb(m, d, action, state->dx/r.height, -state->dy/r.height,
|
|
&scn, &pert);
|
|
else
|
|
mjv_moveCamera(m, action, state->dx/r.height, -state->dy/r.height,
|
|
&scn, &cam);
|
|
|
|
return;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
//--------------------------- rendering and simulation ----------------------------------
|
|
|
|
// sim thread synchronization
|
|
std::mutex mtx;
|
|
|
|
|
|
// prepare to render
|
|
void prepare(void)
|
|
{
|
|
// data for FPS calculation
|
|
static double lastupdatetm = 0;
|
|
|
|
// update interval, save update time
|
|
double tmnow = glfwGetTime();
|
|
double interval = tmnow - lastupdatetm;
|
|
interval = mjMIN(1, mjMAX(0.0001, interval));
|
|
lastupdatetm = tmnow;
|
|
|
|
// no model: nothing to do
|
|
if( !m )
|
|
return;
|
|
|
|
// update scene
|
|
mjv_updateScene(m, d, &vopt, &pert, &cam, mjCAT_ALL, &scn);
|
|
|
|
// update watch
|
|
if( settings.ui0 && ui0.sect[SECT_WATCH].state )
|
|
{
|
|
watch();
|
|
mjui_update(SECT_WATCH, -1, &ui0, &uistate, &con);
|
|
}
|
|
|
|
// ipdate joint
|
|
if( settings.ui1 && ui1.sect[SECT_JOINT].state )
|
|
mjui_update(SECT_JOINT, -1, &ui1, &uistate, &con);
|
|
|
|
// update info text
|
|
if( settings.info )
|
|
infotext(info_title, info_content, interval);
|
|
|
|
// update profiler
|
|
if( settings.profiler && settings.run )
|
|
profilerupdate();
|
|
|
|
// update sensor
|
|
if( settings.sensor && settings.run )
|
|
sensorupdate();
|
|
|
|
// clear timers once profiler info has been copied
|
|
cleartimers();
|
|
}
|
|
|
|
|
|
|
|
// render im main thread (while simulating in background thread)
|
|
void render(GLFWwindow* window)
|
|
{
|
|
// get 3D rectangle and reduced for profiler
|
|
mjrRect rect = uistate.rect[3];
|
|
mjrRect smallrect = rect;
|
|
if( settings.profiler )
|
|
smallrect.width = rect.width - rect.width/4;
|
|
|
|
// no model
|
|
if( !m )
|
|
{
|
|
// blank screen
|
|
mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);
|
|
|
|
// label
|
|
if( settings.loadrequest )
|
|
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect,
|
|
"loading", NULL, &con);
|
|
else
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect,
|
|
"Drag-and-drop model file here", 0, &con);
|
|
|
|
// render uis
|
|
if( settings.ui0 )
|
|
mjui_render(&ui0, &uistate, &con);
|
|
if( settings.ui1 )
|
|
mjui_render(&ui1, &uistate, &con);
|
|
|
|
// finalize
|
|
glfwSwapBuffers(window);
|
|
|
|
return;
|
|
}
|
|
|
|
// render scene
|
|
mjr_render(rect, &scn, &con);
|
|
|
|
// show pause/loading label
|
|
if( !settings.run || settings.loadrequest )
|
|
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect,
|
|
settings.loadrequest ? "loading" : "pause", NULL, &con);
|
|
|
|
// show ui 0
|
|
if( settings.ui0 )
|
|
mjui_render(&ui0, &uistate, &con);
|
|
|
|
// show ui 1
|
|
if( settings.ui1 )
|
|
mjui_render(&ui1, &uistate, &con);
|
|
|
|
// show help
|
|
if( settings.help )
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content, &con);
|
|
|
|
// show info
|
|
if( settings.info )
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect,
|
|
info_title, info_content, &con);
|
|
|
|
// show profiler
|
|
if( settings.profiler )
|
|
profilershow(rect);
|
|
|
|
// show sensor
|
|
if( settings.sensor )
|
|
sensorshow(smallrect);
|
|
|
|
// finalize
|
|
glfwSwapBuffers(window);
|
|
}
|
|
|
|
|
|
|
|
// simulate in background thread (while rendering in main thread)
|
|
void simulate(void)
|
|
{
|
|
// cpu-sim syncronization point
|
|
double cpusync = 0;
|
|
mjtNum simsync = 0;
|
|
|
|
// run until asked to exit
|
|
while( !settings.exitrequest )
|
|
{
|
|
// sleep for 1 ms or yield, to let main thread run
|
|
// yield results in busy wait - which has better timing but kills battery life
|
|
if( settings.run && settings.busywait )
|
|
std::this_thread::yield();
|
|
else
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
|
|
|
// start exclusive access
|
|
mtx.lock();
|
|
|
|
// run only if model is present
|
|
if( m )
|
|
{
|
|
// record start time
|
|
double startwalltm = glfwGetTime();
|
|
|
|
// running
|
|
if( settings.run )
|
|
{
|
|
// record cpu time at start of iteration
|
|
double tmstart = glfwGetTime();
|
|
|
|
// out-of-sync (for any reason)
|
|
if( d->time<simsync || tmstart<cpusync || cpusync==0 ||
|
|
mju_abs((d->time-simsync)-(tmstart-cpusync))>syncmisalign )
|
|
{
|
|
// re-sync
|
|
cpusync = tmstart;
|
|
simsync = d->time;
|
|
|
|
// clear old perturbations, apply new
|
|
mju_zero(d->xfrc_applied, 6*m->nbody);
|
|
mjv_applyPerturbPose(m, d, &pert, 0); // move mocap bodies only
|
|
mjv_applyPerturbForce(m, d, &pert);
|
|
|
|
// run single step, let next iteration deal with timing
|
|
mj_step(m, d);
|
|
}
|
|
|
|
// in-sync
|
|
else
|
|
{
|
|
// step while simtime lags behind cputime, and within safefactor
|
|
while( (d->time-simsync)<(glfwGetTime()-cpusync) &&
|
|
(glfwGetTime()-tmstart)<refreshfactor/vmode.refreshRate )
|
|
{
|
|
// clear old perturbations, apply new
|
|
mju_zero(d->xfrc_applied, 6*m->nbody);
|
|
mjv_applyPerturbPose(m, d, &pert, 0); // move mocap bodies only
|
|
mjv_applyPerturbForce(m, d, &pert);
|
|
|
|
// run mj_step
|
|
mjtNum prevtm = d->time;
|
|
mj_step(m, d);
|
|
|
|
// break on reset
|
|
if( d->time<prevtm )
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// paused
|
|
else
|
|
{
|
|
// apply pose perturbation
|
|
mjv_applyPerturbPose(m, d, &pert, 1); // move mocap and dynamic bodies
|
|
|
|
// run mj_forward, to update rendering and joint sliders
|
|
mj_forward(m, d);
|
|
}
|
|
}
|
|
|
|
// end exclusive access
|
|
mtx.unlock();
|
|
}
|
|
}
|
|
|
|
|
|
|
|
//-------------------------------- init and main ----------------------------------------
|
|
|
|
// initalize everything
|
|
void init(void)
|
|
{
|
|
// print version, check compatibility
|
|
printf("MuJoCo Pro version %.2lf\n", 0.01*mj_version());
|
|
if( mjVERSION_HEADER!=mj_version() )
|
|
mju_error("Headers and library have different versions");
|
|
|
|
// init GLFW, set timer callback (milliseconds)
|
|
if (!glfwInit())
|
|
mju_error("could not initialize GLFW");
|
|
mjcb_time = timer;
|
|
|
|
// multisampling
|
|
glfwWindowHint(GLFW_SAMPLES, 4);
|
|
glfwWindowHint(GLFW_VISIBLE, 1);
|
|
|
|
// get videomode and save
|
|
vmode = *glfwGetVideoMode(glfwGetPrimaryMonitor());
|
|
|
|
// create window
|
|
window = glfwCreateWindow((2*vmode.width)/3, (2*vmode.height)/3,
|
|
"Simulate", NULL, NULL);
|
|
if( !window )
|
|
{
|
|
glfwTerminate();
|
|
mju_error("could not create window");
|
|
}
|
|
|
|
// save window position and size
|
|
glfwGetWindowPos(window, windowpos, windowpos+1);
|
|
glfwGetWindowSize(window, windowsize, windowsize+1);
|
|
|
|
// make context current, set v-sync
|
|
glfwMakeContextCurrent(window);
|
|
glfwSwapInterval(settings.vsync);
|
|
|
|
// init abstract visualization
|
|
mjv_defaultCamera(&cam);
|
|
mjv_defaultOption(&vopt);
|
|
profilerinit();
|
|
sensorinit();
|
|
|
|
// make empty scene
|
|
mjv_defaultScene(&scn);
|
|
mjv_makeScene(NULL, &scn, maxgeom);
|
|
|
|
// select default font
|
|
int fontscale = uiFontScale(window);
|
|
settings.font = fontscale/50 - 1;
|
|
|
|
// make empty context
|
|
mjr_defaultContext(&con);
|
|
mjr_makeContext(NULL, &con, fontscale);
|
|
|
|
// set GLFW callbacks
|
|
uiSetCallback(window, &uistate, uiEvent, uiLayout);
|
|
glfwSetWindowRefreshCallback(window, render);
|
|
glfwSetDropCallback(window, drop);
|
|
|
|
// init state and uis
|
|
memset(&uistate, 0, sizeof(mjuiState));
|
|
memset(&ui0, 0, sizeof(mjUI));
|
|
memset(&ui1, 0, sizeof(mjUI));
|
|
ui0.spacing = mjui_themeSpacing(settings.spacing);
|
|
ui0.color = mjui_themeColor(settings.color);
|
|
ui0.predicate = uiPredicate;
|
|
ui0.rectid = 1;
|
|
ui0.auxid = 0;
|
|
ui1.spacing = mjui_themeSpacing(settings.spacing);
|
|
ui1.color = mjui_themeColor(settings.color);
|
|
ui1.predicate = uiPredicate;
|
|
ui1.rectid = 2;
|
|
ui1.auxid = 1;
|
|
|
|
// populate uis with standard sections
|
|
mjui_add(&ui0, defFile);
|
|
mjui_add(&ui0, defOption);
|
|
mjui_add(&ui0, defSimulation);
|
|
mjui_add(&ui0, defWatch);
|
|
uiModify(window, &ui0, &uistate, &con);
|
|
uiModify(window, &ui1, &uistate, &con);
|
|
}
|
|
|
|
|
|
|
|
// run event loop
|
|
int main(int argc, const char** argv)
|
|
{
|
|
// initialize everything
|
|
init();
|
|
|
|
// request loadmodel if file given (otherwise drag-and-drop)
|
|
if( argc>1 )
|
|
{
|
|
mju_strncpy(filename, argv[1], 1000);
|
|
settings.loadrequest = 2;
|
|
}
|
|
|
|
// start simulation thread
|
|
std::thread simthread(simulate);
|
|
|
|
// event loop
|
|
while( !glfwWindowShouldClose(window) && !settings.exitrequest )
|
|
{
|
|
// start exclusive access (block simulation thread)
|
|
mtx.lock();
|
|
|
|
// load model (not on first pass, to show "loading" label)
|
|
if( settings.loadrequest==1 )
|
|
loadmodel();
|
|
else if( settings.loadrequest>1 )
|
|
settings.loadrequest = 1;
|
|
|
|
// handle events (calls all callbacks)
|
|
glfwPollEvents();
|
|
|
|
// prepare to render
|
|
prepare();
|
|
|
|
// end exclusive access (allow simulation thread to run)
|
|
mtx.unlock();
|
|
|
|
// render while simulation is running
|
|
render(window);
|
|
}
|
|
|
|
// stop simulation thread
|
|
settings.exitrequest = 1;
|
|
simthread.join();
|
|
|
|
// delete everything we allocated
|
|
uiClearCallback(window);
|
|
mj_deleteData(d);
|
|
mj_deleteModel(m);
|
|
mjv_freeScene(&scn);
|
|
mjr_freeContext(&con);
|
|
|
|
// terminate GLFW (crashes with Linux NVidia drivers)
|
|
#if defined(__APPLE__) || defined(_WIN32)
|
|
glfwTerminate();
|
|
#endif
|
|
|
|
return 0;
|
|
}
|