Levi Burner
65d5ade426
Fix name of glew library Move simulate to new directory and refactor to use C++ conventions Wrap simulate in mujoco namespace fix namespaces, convert struct to class, use std::lock_guard use GetMutex to better handle destruction ordering rename mjSimulate to Simulate nit: space before public and typo move startup print use nullptr instead of NULL use GetInstance() to get simulate object convert init to default constructor
1865 lines
61 KiB
C++
1865 lines
61 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 <chrono>
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#include <cstdio>
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#include <cstring>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <mujoco/mjxmacro.h>
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#include "array_safety.h"
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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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//-------------------------------- global -----------------------------------------------
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const int maxgeom = 5000; // preallocated geom array in mjvScene
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const int max_slow_down = 128; // maximum slow-down quotient
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const double zoom_increment = 0.02; // ratio of single 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_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 profilerinit(mj::Simulate* simulate) {
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int i, n;
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// set figures to default
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mjv_defaultFigure(&simulate->figconstraint);
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mjv_defaultFigure(&simulate->figcost);
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mjv_defaultFigure(&simulate->figtimer);
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mjv_defaultFigure(&simulate->figsize);
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// titles
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mju::strcpy_arr(simulate->figconstraint.title, "Counts");
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mju::strcpy_arr(simulate->figcost.title, "Convergence (log 10)");
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mju::strcpy_arr(simulate->figsize.title, "Dimensions");
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mju::strcpy_arr(simulate->figtimer.title, "CPU time (msec)");
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// x-labels
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mju::strcpy_arr(simulate->figconstraint.xlabel, "Solver iteration");
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mju::strcpy_arr(simulate->figcost.xlabel, "Solver iteration");
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mju::strcpy_arr(simulate->figsize.xlabel, "Video frame");
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mju::strcpy_arr(simulate->figtimer.xlabel, "Video frame");
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// y-tick nubmer formats
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mju::strcpy_arr(simulate->figconstraint.yformat, "%.0f");
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mju::strcpy_arr(simulate->figcost.yformat, "%.1f");
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mju::strcpy_arr(simulate->figsize.yformat, "%.0f");
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mju::strcpy_arr(simulate->figtimer.yformat, "%.2f");
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// colors
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simulate->figconstraint.figurergba[0] = 0.1f;
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simulate->figcost.figurergba[2] = 0.2f;
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simulate->figsize.figurergba[0] = 0.1f;
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simulate->figtimer.figurergba[2] = 0.2f;
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simulate->figconstraint.figurergba[3] = 0.5f;
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simulate->figcost.figurergba[3] = 0.5f;
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simulate->figsize.figurergba[3] = 0.5f;
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simulate->figtimer.figurergba[3] = 0.5f;
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// legends
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mju::strcpy_arr(simulate->figconstraint.linename[0], "total");
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mju::strcpy_arr(simulate->figconstraint.linename[1], "active");
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mju::strcpy_arr(simulate->figconstraint.linename[2], "changed");
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mju::strcpy_arr(simulate->figconstraint.linename[3], "evals");
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mju::strcpy_arr(simulate->figconstraint.linename[4], "updates");
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mju::strcpy_arr(simulate->figcost.linename[0], "improvement");
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mju::strcpy_arr(simulate->figcost.linename[1], "gradient");
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mju::strcpy_arr(simulate->figcost.linename[2], "lineslope");
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mju::strcpy_arr(simulate->figsize.linename[0], "dof");
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mju::strcpy_arr(simulate->figsize.linename[1], "body");
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mju::strcpy_arr(simulate->figsize.linename[2], "constraint");
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mju::strcpy_arr(simulate->figsize.linename[3], "sqrt(nnz)");
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mju::strcpy_arr(simulate->figsize.linename[4], "contact");
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mju::strcpy_arr(simulate->figsize.linename[5], "iteration");
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mju::strcpy_arr(simulate->figtimer.linename[0], "total");
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mju::strcpy_arr(simulate->figtimer.linename[1], "collision");
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mju::strcpy_arr(simulate->figtimer.linename[2], "prepare");
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mju::strcpy_arr(simulate->figtimer.linename[3], "solve");
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mju::strcpy_arr(simulate->figtimer.linename[4], "other");
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// grid sizes
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simulate->figconstraint.gridsize[0] = 5;
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simulate->figconstraint.gridsize[1] = 5;
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simulate->figcost.gridsize[0] = 5;
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simulate->figcost.gridsize[1] = 5;
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simulate->figsize.gridsize[0] = 3;
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simulate->figsize.gridsize[1] = 5;
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simulate->figtimer.gridsize[0] = 3;
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simulate->figtimer.gridsize[1] = 5;
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// minimum ranges
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simulate->figconstraint.range[0][0] = 0;
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simulate->figconstraint.range[0][1] = 20;
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simulate->figconstraint.range[1][0] = 0;
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simulate->figconstraint.range[1][1] = 80;
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simulate->figcost.range[0][0] = 0;
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simulate->figcost.range[0][1] = 20;
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simulate->figcost.range[1][0] = -15;
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simulate->figcost.range[1][1] = 5;
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simulate->figsize.range[0][0] = -200;
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simulate->figsize.range[0][1] = 0;
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simulate->figsize.range[1][0] = 0;
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simulate->figsize.range[1][1] = 100;
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simulate->figtimer.range[0][0] = -200;
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simulate->figtimer.range[0][1] = 0;
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simulate->figtimer.range[1][0] = 0;
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simulate->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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simulate->figtimer.linedata[n][2*i] = (float)-i;
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simulate->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(mj::Simulate* simulate) {
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int i, n;
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// update constraint figure
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simulate->figconstraint.linepnt[0] = mjMIN(mjMIN(simulate->d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for (i=1; i<5; i++) {
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simulate->figconstraint.linepnt[i] = simulate->figconstraint.linepnt[0];
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}
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if (simulate->m->opt.solver==mjSOL_PGS) {
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simulate->figconstraint.linepnt[3] = 0;
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simulate->figconstraint.linepnt[4] = 0;
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}
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if (simulate->m->opt.solver==mjSOL_CG) {
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simulate->figconstraint.linepnt[4] = 0;
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}
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for (i=0; i<simulate->figconstraint.linepnt[0]; i++) {
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// x
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simulate->figconstraint.linedata[0][2*i] = (float)i;
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simulate->figconstraint.linedata[1][2*i] = (float)i;
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simulate->figconstraint.linedata[2][2*i] = (float)i;
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simulate->figconstraint.linedata[3][2*i] = (float)i;
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simulate->figconstraint.linedata[4][2*i] = (float)i;
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// y
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simulate->figconstraint.linedata[0][2*i+1] = (float)simulate->d->nefc;
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simulate->figconstraint.linedata[1][2*i+1] = (float)simulate->d->solver[i].nactive;
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simulate->figconstraint.linedata[2][2*i+1] = (float)simulate->d->solver[i].nchange;
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simulate->figconstraint.linedata[3][2*i+1] = (float)simulate->d->solver[i].neval;
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simulate->figconstraint.linedata[4][2*i+1] = (float)simulate->d->solver[i].nupdate;
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}
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// update cost figure
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simulate->figcost.linepnt[0] = mjMIN(mjMIN(simulate->d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for (i=1; i<3; i++) {
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simulate->figcost.linepnt[i] = simulate->figcost.linepnt[0];
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}
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if (simulate->m->opt.solver==mjSOL_PGS) {
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simulate->figcost.linepnt[1] = 0;
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simulate->figcost.linepnt[2] = 0;
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}
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for (i=0; i<simulate->figcost.linepnt[0]; i++) {
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// x
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simulate->figcost.linedata[0][2*i] = (float)i;
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simulate->figcost.linedata[1][2*i] = (float)i;
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simulate->figcost.linedata[2][2*i] = (float)i;
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// y
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simulate->figcost.linedata[0][2*i+1] = (float)mju_log10(mju_max(mjMINVAL, simulate->d->solver[i].improvement));
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simulate->figcost.linedata[1][2*i+1] = (float)mju_log10(mju_max(mjMINVAL, simulate->d->solver[i].gradient));
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simulate->figcost.linedata[2][2*i+1] = (float)mju_log10(mju_max(mjMINVAL, simulate->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 = simulate->d->timer[mjTIMER_STEP].duration;
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int number = simulate->d->timer[mjTIMER_STEP].number;
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if (!number) {
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total = simulate->d->timer[mjTIMER_FORWARD].duration;
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number = simulate->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)(simulate->d->timer[mjTIMER_POS_COLLISION].duration/number),
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(float)(simulate->d->timer[mjTIMER_POS_MAKE].duration/number) +
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(float)(simulate->d->timer[mjTIMER_POS_PROJECT].duration/number),
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(float)(simulate->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, simulate->figtimer.linepnt[0]+1);
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for (n=0; n<5; n++) {
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// shift data
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for (i=pnt-1; i>0; i--) {
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simulate->figtimer.linedata[n][2*i+1] = simulate->figtimer.linedata[n][2*i-1];
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}
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// assign new
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simulate->figtimer.linepnt[n] = pnt;
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simulate->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)simulate->m->nv,
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(float)simulate->m->nbody,
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(float)simulate->d->nefc,
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(float)mju_sqrt((mjtNum)simulate->d->solver_nnz),
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(float)simulate->d->ncon,
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(float)simulate->d->solver_iter
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};
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// update figsize
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pnt = mjMIN(201, simulate->figsize.linepnt[0]+1);
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for (n=0; n<6; n++) {
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// shift data
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for (i=pnt-1; i>0; i--) {
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simulate->figsize.linedata[n][2*i+1] = simulate->figsize.linedata[n][2*i-1];
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}
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// assign new
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simulate->figsize.linepnt[n] = pnt;
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simulate->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(mj::Simulate* simulate, 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, &simulate->figtimer, &simulate->con);
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &simulate->figsize, &simulate->con);
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &simulate->figcost, &simulate->con);
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viewport.bottom += rect.height/4;
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mjr_figure(viewport, &simulate->figconstraint, &simulate->con);
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}
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// init sensor figure
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void sensorinit(mj::Simulate* simulate) {
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// set figure to default
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mjv_defaultFigure(&simulate->figsensor);
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simulate->figsensor.figurergba[3] = 0.5f;
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// set flags
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simulate->figsensor.flg_extend = 1;
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simulate->figsensor.flg_barplot = 1;
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simulate->figsensor.flg_symmetric = 1;
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// title
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mju::strcpy_arr(simulate->figsensor.title, "Sensor data");
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// y-tick nubmer format
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mju::strcpy_arr(simulate->figsensor.yformat, "%.0f");
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// grid size
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simulate->figsensor.gridsize[0] = 2;
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simulate->figsensor.gridsize[1] = 3;
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// minimum range
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simulate->figsensor.range[0][0] = 0;
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simulate->figsensor.range[0][1] = 0;
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simulate->figsensor.range[1][0] = -1;
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simulate->figsensor.range[1][1] = 1;
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}
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// update sensor figure
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void sensorupdate(mj::Simulate* simulate) {
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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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simulate->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<simulate->m->nsensor; n++) {
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// go to next line if type is different
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if (n>0 && simulate->m->sensor_type[n]!=simulate->m->sensor_type[n-1]) {
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lineid = mjMIN(lineid+1, maxline-1);
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}
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// get info about this sensor
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mjtNum cutoff = (simulate->m->sensor_cutoff[n]>0 ? simulate->m->sensor_cutoff[n] : 1);
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int adr = simulate->m->sensor_adr[n];
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int dim = simulate->m->sensor_dim[n];
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// data pointer in line
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int p = simulate->figsensor.linepnt[lineid];
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// fill in data for this sensor
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for (int i=0; i<dim; i++) {
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// check size
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if ((p+2*i)>=mjMAXLINEPNT/2) {
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break;
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}
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// x
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simulate->figsensor.linedata[lineid][2*p+4*i] = (float)(adr+i);
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simulate->figsensor.linedata[lineid][2*p+4*i+2] = (float)(adr+i);
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// y
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simulate->figsensor.linedata[lineid][2*p+4*i+1] = 0;
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simulate->figsensor.linedata[lineid][2*p+4*i+3] = (float)(simulate->d->sensordata[adr+i]/cutoff);
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}
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// update linepnt
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simulate->figsensor.linepnt[lineid] = mjMIN(mjMAXLINEPNT-1,
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simulate->figsensor.linepnt[lineid]+2*dim);
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}
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}
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// show sensor figure
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void sensorshow(mj::Simulate* simulate, mjrRect rect) {
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// constant width with and without profiler
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int width = simulate->profiler ? rect.width/3 : rect.width/4;
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// render figure on the right
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mjrRect viewport = {
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rect.left + rect.width - width,
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rect.bottom,
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width,
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rect.height/3
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};
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mjr_figure(viewport, &simulate->figsensor, &simulate->con);
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}
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// prepare info text
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void infotext(mj::Simulate* simulate,
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char (&title)[mj::Simulate::kMaxFilenameLength],
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char (&content)[mj::Simulate::kMaxFilenameLength],
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double interval) {
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char tmp[20];
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|
// compute solver error
|
|
mjtNum solerr = 0;
|
|
if (simulate->d->solver_iter) {
|
|
int ind = mjMIN(simulate->d->solver_iter-1, mjNSOLVER-1);
|
|
solerr = mju_min(simulate->d->solver[ind].improvement, simulate->d->solver[ind].gradient);
|
|
if (solerr==0) {
|
|
solerr = mju_max(simulate->d->solver[ind].improvement, simulate->d->solver[ind].gradient);
|
|
}
|
|
}
|
|
solerr = mju_log10(mju_max(mjMINVAL, solerr));
|
|
|
|
// prepare info text
|
|
const std::string realtime_nominator = simulate->slow_down == 1 ? "" : "1/";
|
|
mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver \nFPS\nstack\nconbuf\nefcbuf");
|
|
mju::sprintf_arr(content,
|
|
"%-9.3f %s%d x\n%d (%d simulate->con)\n%.3f\n%.1f (%d it)\n%.0f\n%.3f\n%.3f\n%.3f",
|
|
simulate->d->time, realtime_nominator.c_str(), simulate->slow_down,
|
|
simulate->d->nefc, simulate->d->ncon,
|
|
simulate->run ?
|
|
simulate->d->timer[mjTIMER_STEP].duration / mjMAX(1, simulate->d->timer[mjTIMER_STEP].number) :
|
|
simulate->d->timer[mjTIMER_FORWARD].duration / mjMAX(1, simulate->d->timer[mjTIMER_FORWARD].number),
|
|
solerr, simulate->d->solver_iter,
|
|
1/interval,
|
|
simulate->d->maxuse_stack/(double)simulate->d->nstack,
|
|
simulate->d->maxuse_con/(double)simulate->m->nconmax,
|
|
simulate->d->maxuse_efc/(double)simulate->m->njmax);
|
|
|
|
// add Energy if enabled
|
|
{
|
|
mjModel* m = simulate->m; // for mjENABLED
|
|
if (mjENABLED(mjENBL_ENERGY)) {
|
|
mju::sprintf_arr(tmp, "\n%.3f", simulate->d->energy[0]+simulate->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, simulate->d->solver_fwdinv[0])),
|
|
mju_log10(mju_max(mjMINVAL, simulate->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", *(mjtNum*)ptr);
|
|
}
|
|
|
|
// update watch
|
|
void watch(mj::Simulate* simulate) {
|
|
// clear
|
|
simulate->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
|
|
mju::strcpy_arr(simulate->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
|
|
|
|
// prepare symbols needed by xmacro
|
|
MJDATA_POINTERS_PREAMBLE(simulate->m);
|
|
|
|
// find specified field in mjData arrays, update value
|
|
#define X(TYPE, NAME, NR, NC) \
|
|
if (!mju::strcmp_arr(#NAME, simulate->field) && \
|
|
!mju::strcmp_arr(#TYPE, "mjtNum")) { \
|
|
if (simulate->index>=0 && simulate->index<simulate->m->NR*NC) { \
|
|
printfield(simulate->ui0.sect[SECT_WATCH].item[2].multi.name[0], simulate->d->NAME + simulate->index); \
|
|
} else { \
|
|
mju::strcpy_arr(simulate->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(mj::Simulate* simulate, int oldstate) {
|
|
int i;
|
|
|
|
mjuiDef defPhysics[] = {
|
|
{mjITEM_SECTION, "Physics", oldstate, nullptr, "AP"},
|
|
{mjITEM_SELECT, "Integrator", 2, &(m->opt.integrator), "Euler\nRK4\nimplicit"},
|
|
{mjITEM_SELECT, "Collision", 2, &(simulate->m->opt.collision), "All\nPair\nDynamic"},
|
|
{mjITEM_SELECT, "Cone", 2, &(simulate->m->opt.cone), "Pyramidal\nElliptic"},
|
|
{mjITEM_SELECT, "Jacobian", 2, &(simulate->m->opt.jacobian), "Dense\nSparse\nAuto"},
|
|
{mjITEM_SELECT, "Solver", 2, &(simulate->m->opt.solver), "PGS\nCG\nNewton"},
|
|
{mjITEM_SEPARATOR, "Algorithmic Parameters", 1},
|
|
{mjITEM_EDITNUM, "Timestep", 2, &(simulate->m->opt.timestep), "1 0 1"},
|
|
{mjITEM_EDITINT, "Iterations", 2, &(simulate->m->opt.iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "Tolerance", 2, &(simulate->m->opt.tolerance), "1 0 1"},
|
|
{mjITEM_EDITINT, "Noslip Iter", 2, &(simulate->m->opt.noslip_iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "Noslip Tol", 2, &(simulate->m->opt.noslip_tolerance), "1 0 1"},
|
|
{mjITEM_EDITINT, "MRR Iter", 2, &(simulate->m->opt.mpr_iterations), "1 0 1000"},
|
|
{mjITEM_EDITNUM, "MPR Tol", 2, &(simulate->m->opt.mpr_tolerance), "1 0 1"},
|
|
{mjITEM_EDITNUM, "API Rate", 2, &(simulate->m->opt.apirate), "1 0 1000"},
|
|
{mjITEM_SEPARATOR, "Physical Parameters", 1},
|
|
{mjITEM_EDITNUM, "Gravity", 2, simulate->m->opt.gravity, "3"},
|
|
{mjITEM_EDITNUM, "Wind", 2, simulate->m->opt.wind, "3"},
|
|
{mjITEM_EDITNUM, "Magnetic", 2, simulate->m->opt.magnetic, "3"},
|
|
{mjITEM_EDITNUM, "Density", 2, &(simulate->m->opt.density), "1"},
|
|
{mjITEM_EDITNUM, "Viscosity", 2, &(simulate->m->opt.viscosity), "1"},
|
|
{mjITEM_EDITNUM, "Imp Ratio", 2, &(simulate->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, &(simulate->m->opt.o_margin), "1"},
|
|
{mjITEM_EDITNUM, "Sol Imp", 2, &(simulate->m->opt.o_solimp), "5"},
|
|
{mjITEM_EDITNUM, "Sol Ref", 2, &(simulate->m->opt.o_solref), "2"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add physics
|
|
mjui_add(&simulate->ui0, defPhysics);
|
|
|
|
// add flags programmatically
|
|
mjuiDef defFlag[] = {
|
|
{mjITEM_CHECKINT, "", 2, nullptr, ""},
|
|
{mjITEM_END}
|
|
};
|
|
for (i=0; i<mjNDISABLE; i++) {
|
|
mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
|
|
defFlag[0].pdata = simulate->disable + i;
|
|
mjui_add(&simulate->ui0, defFlag);
|
|
}
|
|
mjui_add(&simulate->ui0, defEnableFlags);
|
|
for (i=0; i<mjNENABLE; i++) {
|
|
mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
|
|
defFlag[0].pdata = simulate->enable + i;
|
|
mjui_add(&simulate->ui0, defFlag);
|
|
}
|
|
|
|
// add contact override
|
|
mjui_add(&simulate->ui0, defOverride);
|
|
}
|
|
|
|
|
|
|
|
// make rendering section of UI
|
|
void makerendering(mj::Simulate* simulate, int oldstate) {
|
|
int i, j;
|
|
|
|
mjuiDef defRendering[] = {
|
|
{
|
|
mjITEM_SECTION,
|
|
"Rendering",
|
|
oldstate,
|
|
nullptr,
|
|
"AR"
|
|
},
|
|
{
|
|
mjITEM_SELECT,
|
|
"Camera",
|
|
2,
|
|
&(simulate->camera),
|
|
"Free\nTracking"
|
|
},
|
|
{
|
|
mjITEM_SELECT,
|
|
"Label",
|
|
2,
|
|
&(simulate->vopt.label),
|
|
"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
|
|
"Actuator\nConstraint\nSkin\nSelection\nSel Pnt\nForce"
|
|
},
|
|
{
|
|
mjITEM_SELECT,
|
|
"Frame",
|
|
2,
|
|
&(simulate->vopt.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 (i=0; i<mjMIN(simulate->m->ncam, mjMAXUIMULTI-2); i++) {
|
|
// prepare name
|
|
char camname[mjMAXUITEXT] = "\n";
|
|
if (simulate->m->names[simulate->m->name_camadr[i]]) {
|
|
mju::strcat_arr(camname, simulate->m->names+simulate->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(&simulate->ui0, defRendering);
|
|
|
|
// add flags programmatically
|
|
mjuiDef defFlag[] = {
|
|
{mjITEM_CHECKBYTE, "", 2, nullptr, ""},
|
|
{mjITEM_END}
|
|
};
|
|
for (i=0; i<mjNVISFLAG; i++) {
|
|
// set name, remove "&"
|
|
mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
|
|
for (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
|
|
mju::sprintf_arr(defFlag[0].other, " %s", mjVISSTRING[i][2]);
|
|
defFlag[0].pdata = simulate->vopt.flags + i;
|
|
mjui_add(&simulate->ui0, defFlag);
|
|
}
|
|
mjui_add(&simulate->ui0, defOpenGL);
|
|
for (i=0; i<mjNRNDFLAG; i++) {
|
|
mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
|
|
mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
|
|
defFlag[0].pdata = simulate->scn.flags + i;
|
|
mjui_add(&simulate->ui0, defFlag);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// make group section of UI
|
|
void makegroup(mj::Simulate* simulate, int oldstate) {
|
|
mjuiDef defGroup[] = {
|
|
{mjITEM_SECTION, "Group enable", oldstate, nullptr, "AG"},
|
|
{mjITEM_SEPARATOR, "Geom groups", 1},
|
|
{mjITEM_CHECKBYTE, "Geom 0", 2, simulate->vopt.geomgroup, " 0"},
|
|
{mjITEM_CHECKBYTE, "Geom 1", 2, simulate->vopt.geomgroup+1, " 1"},
|
|
{mjITEM_CHECKBYTE, "Geom 2", 2, simulate->vopt.geomgroup+2, " 2"},
|
|
{mjITEM_CHECKBYTE, "Geom 3", 2, simulate->vopt.geomgroup+3, " 3"},
|
|
{mjITEM_CHECKBYTE, "Geom 4", 2, simulate->vopt.geomgroup+4, " 4"},
|
|
{mjITEM_CHECKBYTE, "Geom 5", 2, simulate->vopt.geomgroup+5, " 5"},
|
|
{mjITEM_SEPARATOR, "Site groups", 1},
|
|
{mjITEM_CHECKBYTE, "Site 0", 2, simulate->vopt.sitegroup, "S0"},
|
|
{mjITEM_CHECKBYTE, "Site 1", 2, simulate->vopt.sitegroup+1, "S1"},
|
|
{mjITEM_CHECKBYTE, "Site 2", 2, simulate->vopt.sitegroup+2, "S2"},
|
|
{mjITEM_CHECKBYTE, "Site 3", 2, simulate->vopt.sitegroup+3, "S3"},
|
|
{mjITEM_CHECKBYTE, "Site 4", 2, simulate->vopt.sitegroup+4, "S4"},
|
|
{mjITEM_CHECKBYTE, "Site 5", 2, simulate->vopt.sitegroup+5, "S5"},
|
|
{mjITEM_SEPARATOR, "Joint groups", 1},
|
|
{mjITEM_CHECKBYTE, "Joint 0", 2, simulate->vopt.jointgroup, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 1", 2, simulate->vopt.jointgroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 2", 2, simulate->vopt.jointgroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 3", 2, simulate->vopt.jointgroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 4", 2, simulate->vopt.jointgroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Joint 5", 2, simulate->vopt.jointgroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Tendon groups", 1},
|
|
{mjITEM_CHECKBYTE, "Tendon 0", 2, simulate->vopt.tendongroup, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 1", 2, simulate->vopt.tendongroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 2", 2, simulate->vopt.tendongroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 3", 2, simulate->vopt.tendongroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 4", 2, simulate->vopt.tendongroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Tendon 5", 2, simulate->vopt.tendongroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Actuator groups", 1},
|
|
{mjITEM_CHECKBYTE, "Actuator 0", 2, simulate->vopt.actuatorgroup, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 1", 2, simulate->vopt.actuatorgroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 2", 2, simulate->vopt.actuatorgroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 3", 2, simulate->vopt.actuatorgroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 4", 2, simulate->vopt.actuatorgroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Actuator 5", 2, simulate->vopt.actuatorgroup+5, ""},
|
|
{mjITEM_SEPARATOR, "Skin groups", 1},
|
|
{mjITEM_CHECKBYTE, "Skin 0", 2, simulate->vopt.skingroup, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 1", 2, simulate->vopt.skingroup+1, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 2", 2, simulate->vopt.skingroup+2, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 3", 2, simulate->vopt.skingroup+3, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 4", 2, simulate->vopt.skingroup+4, ""},
|
|
{mjITEM_CHECKBYTE, "Skin 5", 2, simulate->vopt.skingroup+5, ""},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&simulate->ui0, defGroup);
|
|
}
|
|
|
|
// make joint section of UI
|
|
void makejoint(mj::Simulate* simulate, int oldstate) {
|
|
int i;
|
|
|
|
mjuiDef defJoint[] = {
|
|
{mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ"},
|
|
{mjITEM_END}
|
|
};
|
|
mjuiDef defSlider[] = {
|
|
{mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
|
|
{mjITEM_END}
|
|
};
|
|
|
|
// add section
|
|
mjui_add(&simulate->ui1, defJoint);
|
|
defSlider[0].state = 4;
|
|
|
|
// add scalar joints, exit if UI limit reached
|
|
int itemcnt = 0;
|
|
for (i=0; i<simulate->m->njnt && itemcnt<mjMAXUIITEM; i++)
|
|
if ((simulate->m->jnt_type[i]==mjJNT_HINGE || simulate->m->jnt_type[i]==mjJNT_SLIDE)) {
|
|
// skip if joint group is disabled
|
|
if (!simulate->vopt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, simulate->m->jnt_group[i]))]) {
|
|
continue;
|
|
}
|
|
|
|
// set data and name
|
|
defSlider[0].pdata = simulate->d->qpos + simulate->m->jnt_qposadr[i];
|
|
if (simulate->m->names[simulate->m->name_jntadr[i]]) {
|
|
mju::strcpy_arr(defSlider[0].name, simulate->m->names+simulate->m->name_jntadr[i]);
|
|
} else {
|
|
mju::sprintf_arr(defSlider[0].name, "joint %d", i);
|
|
}
|
|
|
|
// set range
|
|
if (simulate->m->jnt_limited[i])
|
|
mju::sprintf_arr(defSlider[0].other, "%.4g %.4g",
|
|
simulate->m->jnt_range[2*i], simulate->m->jnt_range[2*i+1]);
|
|
else if (simulate->m->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(&simulate->ui1, defSlider);
|
|
itemcnt++;
|
|
}
|
|
}
|
|
|
|
// make control section of UI
|
|
void makecontrol(mj::Simulate* simulate, int oldstate) {
|
|
int i;
|
|
|
|
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(&simulate->ui1, defControl);
|
|
defSlider[0].state = 2;
|
|
|
|
// add controls, exit if UI limit reached (Clear button already added)
|
|
int itemcnt = 1;
|
|
for (i=0; i<simulate->m->nu && itemcnt<mjMAXUIITEM; i++) {
|
|
// skip if actuator group is disabled
|
|
if (!simulate->vopt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, simulate->m->actuator_group[i]))]) {
|
|
continue;
|
|
}
|
|
|
|
// set data and name
|
|
defSlider[0].pdata = simulate->d->ctrl + i;
|
|
if (simulate->m->names[simulate->m->name_actuatoradr[i]]) {
|
|
mju::strcpy_arr(defSlider[0].name, simulate->m->names+simulate->m->name_actuatoradr[i]);
|
|
} else {
|
|
mju::sprintf_arr(defSlider[0].name, "control %d", i);
|
|
}
|
|
|
|
// set range
|
|
if (simulate->m->actuator_ctrllimited[i])
|
|
mju::sprintf_arr(defSlider[0].other, "%.4g %.4g",
|
|
simulate->m->actuator_ctrlrange[2*i], simulate->m->actuator_ctrlrange[2*i+1]);
|
|
else {
|
|
mju::strcpy_arr(defSlider[0].other, "-1 1");
|
|
}
|
|
|
|
// add and count
|
|
mjui_add(&simulate->ui1, defSlider);
|
|
itemcnt++;
|
|
}
|
|
}
|
|
|
|
// make model-dependent UI sections
|
|
void makesections(mj::Simulate* simulate) {
|
|
int i;
|
|
|
|
// get section open-close state, UI 0
|
|
int oldstate0[NSECT0];
|
|
for (i=0; i<NSECT0; i++) {
|
|
oldstate0[i] = 0;
|
|
if (simulate->ui0.nsect>i) {
|
|
oldstate0[i] = simulate->ui0.sect[i].state;
|
|
}
|
|
}
|
|
|
|
// get section open-close state, UI 1
|
|
int oldstate1[NSECT1];
|
|
for (i=0; i<NSECT1; i++) {
|
|
oldstate1[i] = 0;
|
|
if (simulate->ui1.nsect>i) {
|
|
oldstate1[i] = simulate->ui1.sect[i].state;
|
|
}
|
|
}
|
|
|
|
// clear model-dependent sections of UI
|
|
simulate->ui0.nsect = SECT_PHYSICS;
|
|
simulate->ui1.nsect = 0;
|
|
|
|
// make
|
|
makephysics(simulate, oldstate0[SECT_PHYSICS]);
|
|
makerendering(simulate, oldstate0[SECT_RENDERING]);
|
|
makegroup(simulate, oldstate0[SECT_GROUP]);
|
|
makejoint(simulate, oldstate1[SECT_JOINT]);
|
|
makecontrol(simulate, oldstate1[SECT_CONTROL]);
|
|
}
|
|
|
|
//---------------------------------- utility functions ---------------------------------------------
|
|
|
|
// align and scale view
|
|
void alignscale(mj::Simulate* simulate) {
|
|
// autoscale
|
|
simulate->cam.lookat[0] = simulate->m->stat.center[0];
|
|
simulate->cam.lookat[1] = simulate->m->stat.center[1];
|
|
simulate->cam.lookat[2] = simulate->m->stat.center[2];
|
|
simulate->cam.distance = 1.5 * simulate->m->stat.extent;
|
|
|
|
// set to free camera
|
|
simulate->cam.type = mjCAMERA_FREE;
|
|
}
|
|
|
|
// copy qpos to clipboard as key
|
|
void copykey(mj::Simulate* simulate) {
|
|
char clipboard[5000] = "<key qpos='";
|
|
char buf[200];
|
|
|
|
// prepare string
|
|
for (int i=0; i<simulate->m->nq; i++) {
|
|
mju::sprintf_arr(buf, i==simulate->m->nq-1 ? "%g" : "%g ", simulate->d->qpos[i]);
|
|
mju::strcat_arr(clipboard, buf);
|
|
}
|
|
mju::strcat_arr(clipboard, "'/>");
|
|
|
|
// copy to clipboard
|
|
glfwSetClipboardString(simulate->window, clipboard);
|
|
}
|
|
|
|
// millisecond timer, for MuJoCo built-in profiler
|
|
mjtNum timer(void) {
|
|
return (mjtNum)(1000*glfwGetTime());
|
|
}
|
|
|
|
// 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* simulate) {
|
|
mjvGLCamera* camera = simulate->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
|
|
glfwSetClipboardString(simulate->window, clipboard);
|
|
}
|
|
|
|
// update UI 0 when MuJoCo structures change (except for joint sliders)
|
|
void updatesettings(mj::Simulate* simulate) {
|
|
int i;
|
|
|
|
// physics flags
|
|
for (i=0; i<mjNDISABLE; i++) {
|
|
simulate->disable[i] = ((simulate->m->opt.disableflags & (1<<i)) !=0);
|
|
}
|
|
for (i=0; i<mjNENABLE; i++) {
|
|
simulate->enable[i] = ((simulate->m->opt.enableflags & (1<<i)) !=0);
|
|
}
|
|
|
|
// camera
|
|
if (simulate->cam.type==mjCAMERA_FIXED) {
|
|
simulate->camera = 2 + simulate->cam.fixedcamid;
|
|
} else if (simulate->cam.type==mjCAMERA_TRACKING) {
|
|
simulate->camera = 1;
|
|
} else {
|
|
simulate->camera = 0;
|
|
}
|
|
|
|
// update UI
|
|
mjui_update(-1, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
|
|
|
|
//---------------------------------- UI hooks (for uitools.c) --------------------------------------
|
|
|
|
// determine enable/disable item state given category
|
|
int uiPredicate(int category, void* userdata) {
|
|
mj::Simulate* simulate = (mj::Simulate*)(userdata);
|
|
|
|
switch (category) {
|
|
case 2: // require model
|
|
return (simulate->m!=nullptr);
|
|
|
|
case 3: // require model and nkey
|
|
return (simulate->m && simulate->m->nkey);
|
|
|
|
case 4: // require model and paused
|
|
return (simulate->m && !simulate->run);
|
|
|
|
default:
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
// set window layout
|
|
void uiLayout(mjuiState* state) {
|
|
mj::Simulate* simulate = (mj::Simulate*)(state->userdata);
|
|
|
|
mjrRect* rect = state->rect;
|
|
|
|
// set number of rectangles
|
|
state->nrect = 4;
|
|
|
|
// rect 0: entire framebuffer
|
|
rect[0].left = 0;
|
|
rect[0].bottom = 0;
|
|
glfwGetFramebufferSize(simulate->window, &rect[0].width, &rect[0].height);
|
|
|
|
// rect 1: UI 0
|
|
rect[1].left = 0;
|
|
rect[1].width = simulate->ui0_enable ? simulate->ui0.width : 0;
|
|
rect[1].bottom = 0;
|
|
rect[1].height = rect[0].height;
|
|
|
|
// rect 2: UI 1
|
|
rect[2].width = simulate->ui1_enable ? simulate->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;
|
|
}
|
|
|
|
// When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
|
|
// resource directory. This causes files to be saved into the bundle, which is not the desired
|
|
// behavior. Instead, we open a save dialog box to ask the user where to put the file.
|
|
// Since the dialog box logic needs to be written in Objective-C, we separate it into a different
|
|
// source file.
|
|
#ifdef __APPLE__
|
|
std::string getSavePath(const char* filename);
|
|
#else
|
|
static std::string getSavePath(const char* filename) {
|
|
return filename;
|
|
}
|
|
#endif
|
|
|
|
// handle UI event
|
|
void uiEvent(mjuiState* state) {
|
|
mj::Simulate* simulate = (mj::Simulate*)(state->userdata);
|
|
int i;
|
|
char err[200];
|
|
|
|
// call UI 0 if event is directed to it
|
|
if ((state->dragrect==simulate->ui0.rectid) ||
|
|
(state->dragrect==0 && state->mouserect==simulate->ui0.rectid) ||
|
|
state->type==mjEVENT_KEY) {
|
|
// process UI event
|
|
mjuiItem* it = mjui_event(&simulate->ui0, state, &simulate->con);
|
|
|
|
// file section
|
|
if (it && it->sectionid==SECT_FILE) {
|
|
switch (it->itemid) {
|
|
case 0: // Save xml
|
|
{
|
|
const std::string path = getSavePath("mjmodel.xml");
|
|
if (!path.empty() && !mj_saveLastXML(path.c_str(), m, err, 200)) {
|
|
std::printf("Save XML error: %s", err);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 1: // Save mjb
|
|
{
|
|
const std::string path = getSavePath("mjmodel.mjb");
|
|
if (!path.empty()) {
|
|
mj_saveModel(m, path.c_str(), NULL, 0);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 2: // Print model
|
|
mj_printModel(simulate->m, "MJMODEL.TXT");
|
|
break;
|
|
|
|
case 3: // Print data
|
|
mj_printData(simulate->m, simulate->d, "MJDATA.TXT");
|
|
break;
|
|
|
|
case 4: // Quit
|
|
simulate->exitrequest = 1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// option section
|
|
else if (it && it->sectionid==SECT_OPTION) {
|
|
switch (it->itemid) {
|
|
case 0: // Spacing
|
|
simulate->ui0.spacing = mjui_themeSpacing(simulate->spacing);
|
|
simulate->ui1.spacing = mjui_themeSpacing(simulate->spacing);
|
|
break;
|
|
|
|
case 1: // Color
|
|
simulate->ui0.color = mjui_themeColor(simulate->color);
|
|
simulate->ui1.color = mjui_themeColor(simulate->color);
|
|
break;
|
|
|
|
case 2: // Font
|
|
mjr_changeFont(50*(simulate->font+1), &simulate->con);
|
|
break;
|
|
|
|
case 9: // Full screen
|
|
if (glfwGetWindowMonitor(simulate->window)) {
|
|
// restore window from saved data
|
|
glfwSetWindowMonitor(simulate->window, nullptr, simulate->windowpos[0], simulate->windowpos[1],
|
|
simulate->windowsize[0], simulate->windowsize[1], 0);
|
|
}
|
|
|
|
// currently windowed: switch to full screen
|
|
else {
|
|
// save window data
|
|
glfwGetWindowPos(simulate->window, simulate->windowpos, simulate->windowpos+1);
|
|
glfwGetWindowSize(simulate->window, simulate->windowsize, simulate->windowsize+1);
|
|
|
|
// switch
|
|
glfwSetWindowMonitor(simulate->window, glfwGetPrimaryMonitor(), 0, 0,
|
|
simulate->vmode.width, simulate->vmode.height, simulate->vmode.refreshRate);
|
|
}
|
|
|
|
// reinstante vsync, just in case
|
|
glfwSwapInterval(simulate->vsync);
|
|
break;
|
|
|
|
case 10: // Vertical sync
|
|
glfwSwapInterval(simulate->vsync);
|
|
break;
|
|
}
|
|
|
|
// modify UI
|
|
uiModify(simulate->window, &simulate->ui0, state, &simulate->con);
|
|
uiModify(simulate->window, &simulate->ui1, state, &simulate->con);
|
|
}
|
|
|
|
// simulation section
|
|
else if (it && it->sectionid==SECT_SIMULATION) {
|
|
switch (it->itemid) {
|
|
case 1: // Reset
|
|
if (simulate->m) {
|
|
mj_resetData(simulate->m, simulate->d);
|
|
mj_forward(simulate->m, simulate->d);
|
|
profilerupdate(simulate);
|
|
sensorupdate(simulate);
|
|
updatesettings(simulate);
|
|
}
|
|
break;
|
|
|
|
case 2: // Reload
|
|
simulate->loadrequest = 1;
|
|
break;
|
|
|
|
case 3: // Align
|
|
alignscale(simulate);
|
|
updatesettings(simulate);
|
|
break;
|
|
|
|
case 4: // Copy pose
|
|
copykey(simulate);
|
|
break;
|
|
|
|
case 5: // Adjust key
|
|
case 6: // Load key
|
|
i = simulate->key;
|
|
simulate->d->time = simulate->m->key_time[i];
|
|
mju_copy(simulate->d->qpos, simulate->m->key_qpos+i*simulate->m->nq, simulate->m->nq);
|
|
mju_copy(simulate->d->qvel, simulate->m->key_qvel+i*simulate->m->nv, simulate->m->nv);
|
|
mju_copy(simulate->d->act, simulate->m->key_act+i*simulate->m->na, simulate->m->na);
|
|
mju_copy(simulate->d->mocap_pos, simulate->m->key_mpos+i*3*simulate->m->nmocap, 3*simulate->m->nmocap);
|
|
mju_copy(simulate->d->mocap_quat, simulate->m->key_mquat+i*4*simulate->m->nmocap, 4*simulate->m->nmocap);
|
|
mju_copy(simulate->d->ctrl, simulate->m->key_ctrl+i*simulate->m->nu, simulate->m->nu);
|
|
mj_forward(simulate->m, simulate->d);
|
|
profilerupdate(simulate);
|
|
sensorupdate(simulate);
|
|
updatesettings(simulate);
|
|
break;
|
|
|
|
case 7: // Save key
|
|
i = simulate->key;
|
|
simulate->m->key_time[i] = simulate->d->time;
|
|
mju_copy(simulate->m->key_qpos+i*simulate->m->nq, simulate->d->qpos, simulate->m->nq);
|
|
mju_copy(simulate->m->key_qvel+i*simulate->m->nv, simulate->d->qvel, simulate->m->nv);
|
|
mju_copy(simulate->m->key_act+i*simulate->m->na, simulate->d->act, simulate->m->na);
|
|
mju_copy(simulate->m->key_mpos+i*3*simulate->m->nmocap, simulate->d->mocap_pos, 3*simulate->m->nmocap);
|
|
mju_copy(simulate->m->key_mquat+i*4*simulate->m->nmocap, simulate->d->mocap_quat, 4*simulate->m->nmocap);
|
|
mju_copy(simulate->m->key_ctrl+i*simulate->m->nu, simulate->d->ctrl, simulate->m->nu);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// physics section
|
|
else if (it && it->sectionid==SECT_PHYSICS) {
|
|
// update disable flags in mjOption
|
|
simulate->m->opt.disableflags = 0;
|
|
for (i=0; i<mjNDISABLE; i++)
|
|
if (simulate->disable[i]) {
|
|
simulate->m->opt.disableflags |= (1<<i);
|
|
}
|
|
|
|
// update enable flags in mjOption
|
|
simulate->m->opt.enableflags = 0;
|
|
for (i=0; i<mjNENABLE; i++)
|
|
if (simulate->enable[i]) {
|
|
simulate->m->opt.enableflags |= (1<<i);
|
|
}
|
|
}
|
|
|
|
// rendering section
|
|
else if (it && it->sectionid==SECT_RENDERING) {
|
|
// set camera in mjvCamera
|
|
if (simulate->camera==0) {
|
|
simulate->cam.type = mjCAMERA_FREE;
|
|
} else if (simulate->camera==1) {
|
|
if (simulate->pert.select>0) {
|
|
simulate->cam.type = mjCAMERA_TRACKING;
|
|
simulate->cam.trackbodyid = simulate->pert.select;
|
|
simulate->cam.fixedcamid = -1;
|
|
} else {
|
|
simulate->cam.type = mjCAMERA_FREE;
|
|
simulate->camera = 0;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
} else {
|
|
simulate->cam.type = mjCAMERA_FIXED;
|
|
simulate->cam.fixedcamid = simulate->camera - 2;
|
|
}
|
|
// copy camera spec to clipboard (as MJCF element)
|
|
if (it->itemid == 3) {
|
|
copycamera(simulate);
|
|
}
|
|
}
|
|
|
|
// 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') {
|
|
simulate->ui1.nsect = SECT_JOINT;
|
|
makejoint(simulate, simulate->ui1.sect[SECT_JOINT].state);
|
|
simulate->ui1.nsect = NSECT1;
|
|
uiModify(simulate->window, &simulate->ui1, state, &simulate->con);
|
|
}
|
|
|
|
// remake control section if actuator group changed
|
|
if (it->name[0]=='A' && it->name[1]=='c') {
|
|
simulate->ui1.nsect = SECT_CONTROL;
|
|
makecontrol(simulate, simulate->ui1.sect[SECT_CONTROL].state);
|
|
simulate->ui1.nsect = NSECT1;
|
|
uiModify(simulate->window, &simulate->ui1, state, &simulate->con);
|
|
}
|
|
}
|
|
|
|
// 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==simulate->ui1.rectid) ||
|
|
(state->dragrect==0 && state->mouserect==simulate->ui1.rectid) ||
|
|
state->type==mjEVENT_KEY) {
|
|
// process UI event
|
|
mjuiItem* it = mjui_event(&simulate->ui1, state, &simulate->con);
|
|
|
|
// control section
|
|
if (it && it->sectionid==SECT_CONTROL) {
|
|
// clear controls
|
|
if (it->itemid==0) {
|
|
mju_zero(simulate->d->ctrl, simulate->m->nu);
|
|
mjui_update(SECT_CONTROL, -1, &simulate->ui1, &simulate->uistate, &simulate->con);
|
|
}
|
|
}
|
|
|
|
// 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 (simulate->m) {
|
|
simulate->run = 1 - simulate->run;
|
|
simulate->pert.active = 0;
|
|
mjui_update(-1, -1, &simulate->ui0, state, &simulate->con);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_RIGHT: // step forward
|
|
if (simulate->m && !simulate->run) {
|
|
cleartimers(simulate->d);
|
|
mj_step(simulate->m, simulate->d);
|
|
profilerupdate(simulate);
|
|
sensorupdate(simulate);
|
|
updatesettings(simulate);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_PAGE_UP: // select parent body
|
|
if (simulate->m && simulate->pert.select>0) {
|
|
simulate->pert.select = simulate->m->body_parentid[simulate->pert.select];
|
|
simulate->pert.skinselect = -1;
|
|
|
|
// stop perturbation if world reached
|
|
if (simulate->pert.select<=0) {
|
|
simulate->pert.active = 0;
|
|
}
|
|
}
|
|
|
|
break;
|
|
|
|
case ']': // cycle up fixed cameras
|
|
if (simulate->m && simulate->m->ncam) {
|
|
simulate->cam.type = mjCAMERA_FIXED;
|
|
// simulate->camera = {0 or 1} are reserved for the free and tracking cameras
|
|
if (simulate->camera < 2 || simulate->camera == 2 + simulate->m->ncam-1) {
|
|
simulate->camera = 2;
|
|
} else {
|
|
simulate->camera += 1;
|
|
}
|
|
simulate->cam.fixedcamid = simulate->camera - 2;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
break;
|
|
|
|
case '[': // cycle down fixed cameras
|
|
if (simulate->m && simulate->m->ncam) {
|
|
simulate->cam.type = mjCAMERA_FIXED;
|
|
// settings.camera = {0 or 1} are reserved for the free and tracking cameras
|
|
if (simulate->camera <= 2) {
|
|
simulate->camera = 2 + simulate->m->ncam-1;
|
|
} else {
|
|
simulate->camera -= 1;
|
|
}
|
|
simulate->cam.fixedcamid = simulate->camera - 2;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_F6: // cycle frame visualisation
|
|
if (simulate->m) {
|
|
simulate->vopt.frame = (simulate->vopt.frame + 1) % mjNFRAME;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_F7: // cycle label visualisation
|
|
if (simulate->m) {
|
|
simulate->vopt.label = (simulate->vopt.label + 1) % mjNLABEL;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
break;
|
|
|
|
case mjKEY_ESCAPE: // free camera
|
|
simulate->cam.type = mjCAMERA_FREE;
|
|
simulate->camera = 0;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
break;
|
|
|
|
case '-': // slow down
|
|
if (simulate->slow_down < max_slow_down && !state->shift) {
|
|
simulate->slow_down *= 2;
|
|
simulate->speed_changed = true;
|
|
}
|
|
break;
|
|
|
|
case '=': // speed up
|
|
if (simulate->slow_down > 1 && !state->shift) {
|
|
simulate->slow_down /= 2;
|
|
simulate->speed_changed = true;
|
|
}
|
|
break;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D scroll
|
|
if (state->type==mjEVENT_SCROLL && state->mouserect==3 && simulate->m) {
|
|
// emulate vertical mouse motion = 2% of window height
|
|
mjv_moveCamera(simulate->m, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &simulate->scn, &simulate->cam);
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D press
|
|
if (state->type==mjEVENT_PRESS && state->mouserect==3 && simulate->m) {
|
|
// set perturbation
|
|
int newperturb = 0;
|
|
if (state->control && simulate->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 && !simulate->pert.active) {
|
|
mjv_initPerturb(simulate->m, simulate->d, &simulate->scn, &simulate->pert);
|
|
}
|
|
}
|
|
simulate->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(simulate->m, simulate->d, &simulate->vopt,
|
|
(mjtNum)r.width/(mjtNum)r.height,
|
|
(mjtNum)(state->x-r.left)/(mjtNum)r.width,
|
|
(mjtNum)(state->y-r.bottom)/(mjtNum)r.height,
|
|
&simulate->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(simulate->cam.lookat, selpnt);
|
|
}
|
|
|
|
// switch to tracking camera if dynamic body clicked
|
|
if (selmode==3 && selbody>0) {
|
|
// mujoco camera
|
|
simulate->cam.type = mjCAMERA_TRACKING;
|
|
simulate->cam.trackbodyid = selbody;
|
|
simulate->cam.fixedcamid = -1;
|
|
|
|
// UI camera
|
|
simulate->camera = 1;
|
|
mjui_update(SECT_RENDERING, -1, &simulate->ui0, &simulate->uistate, &simulate->con);
|
|
}
|
|
}
|
|
|
|
// set body selection
|
|
else {
|
|
if (selbody>=0) {
|
|
// record selection
|
|
simulate->pert.select = selbody;
|
|
simulate->pert.skinselect = selskin;
|
|
|
|
// compute localpos
|
|
mjtNum tmp[3];
|
|
mju_sub3(tmp, selpnt, simulate->d->xpos+3*simulate->pert.select);
|
|
mju_mulMatTVec(simulate->pert.localpos, simulate->d->xmat+9*simulate->pert.select, tmp, 3, 3);
|
|
} else {
|
|
simulate->pert.select = 0;
|
|
simulate->pert.skinselect = -1;
|
|
}
|
|
}
|
|
|
|
// stop perturbation on select
|
|
simulate->pert.active = 0;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D release
|
|
if (state->type==mjEVENT_RELEASE && state->dragrect==3 && simulate->m) {
|
|
// stop perturbation
|
|
simulate->pert.active = 0;
|
|
|
|
return;
|
|
}
|
|
|
|
// 3D move
|
|
if (state->type==mjEVENT_MOVE && state->dragrect==3 && simulate->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 (simulate->pert.active)
|
|
mjv_movePerturb(simulate->m, simulate->d, action, state->dx/r.height, -state->dy/r.height,
|
|
&simulate->scn, &simulate->pert);
|
|
else
|
|
mjv_moveCamera(simulate->m, action, state->dx/r.height, -state->dy/r.height,
|
|
&simulate->scn, &simulate->cam);
|
|
|
|
return;
|
|
}
|
|
}
|
|
|
|
void uiRender(mjuiState* state) {
|
|
mj::Simulate* simulate = (mj::Simulate*)(state->userdata);
|
|
simulate->render();
|
|
}
|
|
|
|
// drop file callback
|
|
void drop(mj::Simulate* simulate, int count, const char** paths) {
|
|
// make sure list is non-empty
|
|
if (count>0) {
|
|
mju::strcpy_arr(simulate->filename, paths[0]);
|
|
simulate->loadrequest = 1;
|
|
}
|
|
}
|
|
|
|
void uiDrop(mjuiState* state, int count, const char** paths) {
|
|
mj::Simulate* simulate = (mj::Simulate*)(state->userdata);
|
|
drop(simulate, count, paths);
|
|
}
|
|
|
|
} // end unnamed namespace
|
|
|
|
namespace mujoco {
|
|
namespace mju = ::mujoco::sample_util;
|
|
|
|
//---------------------------------- init -------------------------------------------------
|
|
|
|
// create object and initialize the simulate ui
|
|
Simulate::Simulate(void) {
|
|
// 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
|
|
this->vmode = *glfwGetVideoMode(glfwGetPrimaryMonitor());
|
|
|
|
// create window
|
|
this->window = glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
|
|
"Simulate", nullptr, nullptr);
|
|
if (!this->window) {
|
|
glfwTerminate();
|
|
mju_error("could not create window");
|
|
}
|
|
|
|
// save window position and size
|
|
glfwGetWindowPos(this->window, this->windowpos, this->windowpos+1);
|
|
glfwGetWindowSize(this->window, this->windowsize, this->windowsize+1);
|
|
|
|
// make context current, set v-sync
|
|
glfwMakeContextCurrent(this->window);
|
|
glfwSwapInterval(this->vsync);
|
|
|
|
// init abstract visualization
|
|
mjv_defaultCamera(&this->cam);
|
|
mjv_defaultOption(&this->vopt);
|
|
profilerinit(this);
|
|
sensorinit(this);
|
|
|
|
// make empty scene
|
|
mjv_defaultScene(&this->scn);
|
|
mjv_makeScene(nullptr, &this->scn, maxgeom);
|
|
|
|
// select default font
|
|
int fontscale = uiFontScale(this->window);
|
|
this->font = fontscale/50 - 1;
|
|
|
|
// make empty context
|
|
mjr_defaultContext(&this->con);
|
|
mjr_makeContext(nullptr, &this->con, 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));
|
|
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 GLFW callbacks
|
|
this->uistate.userdata = (void*)(this);
|
|
uiSetCallback(this->window, &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
|
|
|
|
// populate uis with standard sections
|
|
this->ui0.userdata = (void*)(this);
|
|
this->ui1.userdata = (void*)(this);
|
|
mjui_add(&this->ui0, defFile);
|
|
mjui_add(&this->ui0, this->defOption);
|
|
mjui_add(&this->ui0, this->defSimulation);
|
|
mjui_add(&this->ui0, this->defWatch);
|
|
uiModify(this->window, &this->ui0, &this->uistate, &this->con);
|
|
uiModify(this->window, &this->ui1, &this->uistate, &this->con);
|
|
}
|
|
|
|
//------------------------ load mjb or xml model -------------------------------
|
|
void Simulate::loadmodel(void) {
|
|
// clear request
|
|
this->loadrequest = 0;
|
|
|
|
// make sure filename is not empty
|
|
if (!this->filename[0]) {
|
|
return;
|
|
}
|
|
|
|
// load and compile
|
|
this->loadError[0] = '\0';
|
|
mjModel* mnew = 0;
|
|
if (mju::strlen_arr(this->filename)>4 &&
|
|
!std::strncmp(this->filename+mju::strlen_arr(this->filename)-4, ".mjb",
|
|
mju::sizeof_arr(this->filename)-mju::strlen_arr(this->filename)+4)) {
|
|
mnew = mj_loadModel(this->filename, nullptr);
|
|
if (!mnew) {
|
|
mju::strcpy_arr(this->loadError, "could not load binary model");
|
|
}
|
|
} else {
|
|
mnew = mj_loadXML(this->filename, nullptr, this->loadError, Simulate::kMaxFilenameLength);
|
|
// remove trailing newline character from loadError
|
|
if (this->loadError[0]) {
|
|
int error_length = mju::strlen_arr(this->loadError);
|
|
if (this->loadError[error_length-1] == '\n') {
|
|
this->loadError[error_length-1] = '\0';
|
|
}
|
|
}
|
|
}
|
|
if (!mnew) {
|
|
std::printf("%s\n", this->loadError);
|
|
return;
|
|
}
|
|
|
|
// compiler warning: print and pause
|
|
if (this->loadError[0]) {
|
|
// mj_forward() below will print the warning message
|
|
std::printf("Model compiled, but simulation warning (paused):\n %s\n", this->loadError);
|
|
this->run = 0;
|
|
}
|
|
|
|
// delete old model, assign new
|
|
mj_deleteData(this->d);
|
|
mj_deleteModel(this->m);
|
|
this->m = nullptr;
|
|
this->m = mj_copyModel(this->m, mnew);
|
|
this->d = mj_makeData(this->m);
|
|
mj_forward(this->m, this->d);
|
|
|
|
// re-create scene and context
|
|
mjv_makeScene(this->m, &this->scn, maxgeom);
|
|
mjr_makeContext(this->m, &this->con, 50*(this->font+1));
|
|
|
|
// 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 (mju::strcmp_arr(this->filename, this->previous_filename)) {
|
|
alignscale(this);
|
|
mju::strcpy_arr(this->previous_filename, this->filename);
|
|
}
|
|
|
|
// update scene
|
|
mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
|
|
|
|
// set window title to model name
|
|
if (this->window && this->m->names) {
|
|
char title[200] = "this : ";
|
|
mju::strcat_arr(title, this->m->names);
|
|
glfwSetWindowTitle(this->window, 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->m->nkey - 1);
|
|
this->ui0.sect[SECT_SIMULATION].item[5].slider.divisions = mjMAX(1, this->m->nkey - 1);
|
|
|
|
// rebuild UI sections
|
|
makesections(this);
|
|
|
|
// full ui update
|
|
uiModify(this->window, &this->ui0, &this->uistate, &this->con);
|
|
uiModify(this->window, &this->ui1, &this->uistate, &this->con);
|
|
updatesettings(this);
|
|
}
|
|
|
|
|
|
//---------------------------------- rendering --------------------------------------
|
|
|
|
|
|
// prepare to render
|
|
void Simulate::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 (!this->m) {
|
|
return;
|
|
}
|
|
|
|
// update scene
|
|
mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
|
|
|
|
// update watch
|
|
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
|
|
watch(this);
|
|
mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->con);
|
|
}
|
|
|
|
// update joint
|
|
if (this->ui1_enable && this->ui1.sect[SECT_JOINT].state) {
|
|
mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->con);
|
|
}
|
|
|
|
// update info text
|
|
if (this->info) {
|
|
infotext(this, this->info_title, this->info_content, interval);
|
|
}
|
|
|
|
// update control
|
|
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state ) {
|
|
mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->con);
|
|
}
|
|
|
|
// update profiler
|
|
if (this->profiler && this->run) {
|
|
profilerupdate(this);
|
|
}
|
|
|
|
// update sensor
|
|
if (this->sensor && this->run) {
|
|
sensorupdate(this);
|
|
}
|
|
|
|
// clear timers once profiler info has been copied
|
|
cleartimers(this->d);
|
|
}
|
|
|
|
// render the ui to the window
|
|
void Simulate::render(void) {
|
|
// 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->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->con);
|
|
} 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->con);
|
|
}
|
|
|
|
// show last loading error
|
|
if (this->loadError[0]) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0, &this->con);
|
|
}
|
|
|
|
// render uis
|
|
if (this->ui0_enable) {
|
|
mjui_render(&this->ui0, &this->uistate, &this->con);
|
|
}
|
|
if (this->ui1_enable) {
|
|
mjui_render(&this->ui1, &this->uistate, &this->con);
|
|
}
|
|
|
|
// finalize
|
|
glfwSwapBuffers(this->window);
|
|
|
|
return;
|
|
}
|
|
|
|
// render scene
|
|
mjr_render(rect, &this->scn, &this->con);
|
|
|
|
// show last loading error
|
|
if (this->loadError[0]) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0, &this->con);
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}
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|
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// show pause/loading label
|
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if (!this->run || this->loadrequest) {
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mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect,
|
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this->loadrequest ? "loading" : "pause", nullptr, &this->con);
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|
}
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|
|
|
// show realtime label
|
|
if (this->run && this->slow_down != 1) {
|
|
std::string realtime_label = "1/" + std::to_string(this->slow_down) + " x";
|
|
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, realtime_label.c_str(), nullptr, &this->con);
|
|
}
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|
|
|
// show ui 0
|
|
if (this->ui0_enable) {
|
|
mjui_render(&this->ui0, &this->uistate, &this->con);
|
|
}
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|
|
|
// show ui 1
|
|
if (this->ui1_enable) {
|
|
mjui_render(&this->ui1, &this->uistate, &this->con);
|
|
}
|
|
|
|
// show help
|
|
if (this->help) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content, &this->con);
|
|
}
|
|
|
|
// show info
|
|
if (this->info) {
|
|
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content, &this->con);
|
|
}
|
|
|
|
// show profiler
|
|
if (this->profiler) {
|
|
profilershow(this, rect);
|
|
}
|
|
|
|
// show sensor
|
|
if (this->sensor) {
|
|
sensorshow(this, smallrect);
|
|
}
|
|
|
|
// finalize
|
|
glfwSwapBuffers(this->window);
|
|
}
|
|
|
|
|
|
// clear callbacks registered in external structures
|
|
void Simulate::clearcallback(void) {
|
|
uiClearCallback(this->window);
|
|
}
|
|
|
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} // namespace mujoco
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