Yuval Tassa
90ac80707d
The timestep, the solver tolerances, and impratio span several orders of magnitude, where a linear +/- step is useless. Add ImGui_LogStepper, whose buttons walk a "well-tempered" logarithmic ladder of round numbers that closes each decade on a power of ten (see WellTemperedStep). It lays out like ImGui's own InputScalar stepper -- field, then the - / + buttons, then the label. Apply it to the timestep, Tolerance, the LS/Noslip/CCD/Sleep tolerances, and Imp Ratio. Strictly-positive quantities for which zero is meaningful (the tolerances) take a zero_below floor: the ladder's bottom rung is 0, so stepping down snaps to zero and stepping up off zero returns to the floor. The timestep and impratio, which never want zero, leave it unset. PiperOrigin-RevId: 965888812 Change-Id: I823e60913ecb2be2cade96baa5bf7de9e2334d5a
Simulate App
simulate is a fully-featured interactive application for MuJoCo. It opens an
OpenGL window using the platform-independent GLFW library, and renders the
simulation state in it. There is built-in help, simulation statistics, profiler,
sensor data plots. The model file can be specified as a command-line argument,
or loaded at runtime using drag-and-drop functionality. Below is a
screen-capture of simulate in action:
