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Mujoco_WASM/python/mujoco/experimental/netimgui/Code/Sample/Common/main.cpp
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Matija Kecman ca5337161d Export netimgui files in MuJoCo Copybara configuration for use with the upcoming Web Viewer
PiperOrigin-RevId: 954769526
Change-Id: I4cdee083082f7d55c2babd5e664ec0283a2aaf63
2026-07-27 12:33:41 -07:00

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C++

// Dear ImGui: standalone example application for DirectX 11
// Learn about Dear ImGui:
// - FAQ https://dearimgui.com/faq
// - Getting Started https://dearimgui.com/getting-started
// - Documentation https://dearimgui.com/docs (same as your local docs/
// folder).
// - Introduction, links and more at the top of imgui.cpp
//=================================================================================================
// @SAMPLE_EDIT
#include <chrono>
#include <thread>
#include "Sample.h"
//=================================================================================================
#include <d3d11.h>
#include <tchar.h>
#include "imgui.h"
#include "imgui_impl_dx11.h"
#include "imgui_impl_win32.h"
// Data
ID3D11Device* g_pd3dDevice = nullptr; // @SAMPLE_EDIT (removed static)
static ID3D11DeviceContext* g_pd3dDeviceContext = nullptr;
static IDXGISwapChain* g_pSwapChain = nullptr;
static bool g_SwapChainOccluded = false;
static UINT g_ResizeWidth = 0, g_ResizeHeight = 0;
static ID3D11RenderTargetView* g_mainRenderTargetView = nullptr;
// Forward declarations of helper functions
bool CreateDeviceD3D(HWND hWnd);
void CleanupDeviceD3D();
void CreateRenderTarget();
void CleanupRenderTarget();
LRESULT WINAPI WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam);
// Main code
int main(int, char**) {
// Make process DPI aware and obtain main monitor scale
ImGui_ImplWin32_EnableDpiAwareness();
float main_scale = ImGui_ImplWin32_GetDpiScaleForMonitor(
::MonitorFromPoint(POINT{0, 0}, MONITOR_DEFAULTTOPRIMARY));
// Create application window
WNDCLASSEXW wc = {sizeof(wc),
CS_CLASSDC,
WndProc,
0L,
0L,
GetModuleHandle(nullptr),
nullptr,
nullptr,
nullptr,
nullptr,
L"ImGui Example",
nullptr};
::RegisterClassExW(&wc);
HWND hwnd = ::CreateWindowW(wc.lpszClassName, L"Dear ImGui DirectX11 Example",
WS_OVERLAPPEDWINDOW, 100, 100,
(int)(1280 * main_scale), (int)(800 * main_scale),
nullptr, nullptr, wc.hInstance, nullptr);
// Initialize Direct3D
if (!CreateDeviceD3D(hwnd)) {
CleanupDeviceD3D();
::UnregisterClassW(wc.lpszClassName, wc.hInstance);
return 1;
}
// Show the window
::ShowWindow(hwnd, SW_SHOWDEFAULT);
::UpdateWindow(hwnd);
// Setup Dear ImGui context
IMGUI_CHECKVERSION();
ImGui::CreateContext();
ImGuiIO& io = ImGui::GetIO();
(void)io;
io.ConfigFlags |=
ImGuiConfigFlags_NavEnableKeyboard; // Enable Keyboard Controls
io.ConfigFlags |=
ImGuiConfigFlags_NavEnableGamepad; // Enable Gamepad Controls
io.ConfigFlags |= ImGuiConfigFlags_DockingEnable; // Enable Docking
// io.ConfigFlags |= ImGuiConfigFlags_ViewportsEnable; // Enable
// Multi-Viewport / Platform Windows // @SAMPLE_EDIT disabled temporarily
// io.ConfigViewportsNoAutoMerge = true;
// io.ConfigViewportsNoTaskBarIcon = true;
// io.ConfigViewportsNoDefaultParent = true;
// io.ConfigDockingAlwaysTabBar = true;
// io.ConfigDockingTransparentPayload = true;
// Setup Dear ImGui style
ImGui::StyleColorsDark();
// ImGui::StyleColorsLight();
// Setup scaling
ImGuiStyle& style = ImGui::GetStyle();
style.ScaleAllSizes(
main_scale); // Bake a fixed style scale. (until we have a solution for
// dynamic style scaling, changing this requires resetting
// Style + calling this again)
style.FontScaleDpi =
main_scale; // Set initial font scale. (using io.ConfigDpiScaleFonts=true
// makes this unnecessary. We leave both here for
// documentation purpose)
io.ConfigDpiScaleFonts =
true; // [Experimental] Automatically overwrite style.FontScaleDpi in
// Begin() when Monitor DPI changes. This will scale fonts but
// _NOT_ scale sizes/padding for now.
io.ConfigDpiScaleViewports =
true; // [Experimental] Scale Dear ImGui and Platform Windows when
// Monitor DPI changes.
// When viewports are enabled we tweak WindowRounding/WindowBg so platform
// windows can look identical to regular ones.
if (io.ConfigFlags & ImGuiConfigFlags_ViewportsEnable) {
style.WindowRounding = 0.0f;
style.Colors[ImGuiCol_WindowBg].w = 1.0f;
}
// Setup Platform/Renderer backends
ImGui_ImplWin32_Init(hwnd);
ImGui_ImplDX11_Init(g_pd3dDevice, g_pd3dDeviceContext);
// Load Fonts
// - If no fonts are loaded, dear imgui will use the default font. You can
// also load multiple fonts and use ImGui::PushFont()/PopFont() to select
// them.
// - AddFontFromFileTTF() will return the ImFont* so you can store it if you
// need to select the font among multiple.
// - If the file cannot be loaded, the function will return a nullptr. Please
// handle those errors in your application (e.g. use an assertion, or display
// an error and quit).
// - Use '#define IMGUI_ENABLE_FREETYPE' in your imconfig file to use Freetype
// for higher quality font rendering.
// - Read 'docs/FONTS.md' for more instructions and details.
// - Remember that in C/C++ if you want to include a backslash \ in a string
// literal you need to write a double backslash \\ !
// style.FontSizeBase = 20.0f;
// io.Fonts->AddFontDefault();
// io.Fonts->AddFontFromFileTTF("c:\\Windows\\Fonts\\segoeui.ttf");
// io.Fonts->AddFontFromFileTTF("../../misc/fonts/DroidSans.ttf");
// io.Fonts->AddFontFromFileTTF("../../misc/fonts/Roboto-Medium.ttf");
// io.Fonts->AddFontFromFileTTF("../../misc/fonts/Cousine-Regular.ttf");
// ImFont* font =
// io.Fonts->AddFontFromFileTTF("c:\\Windows\\Fonts\\ArialUni.ttf");
// IM_ASSERT(font != nullptr);
// Our state
bool show_demo_window = true;
bool show_another_window = false;
ImVec4 clear_color = ImVec4(0.45f, 0.55f, 0.60f, 1.00f);
// Main loop
bool done = false;
Sample::Base& sample = GetSample(); // @SAMPLE_EDIT
done = !sample.Startup(); // @SAMPLE_EDIT
while (!done) {
// Poll and handle messages (inputs, window resize, etc.)
// See the WndProc() function below for our to dispatch events to the Win32
// backend.
MSG msg;
while (::PeekMessage(&msg, nullptr, 0U, 0U, PM_REMOVE)) {
::TranslateMessage(&msg);
::DispatchMessage(&msg);
if (msg.message == WM_QUIT) done = true;
}
if (done) break;
// Handle window being minimized or screen locked
if (g_SwapChainOccluded &&
g_pSwapChain->Present(0, DXGI_PRESENT_TEST) == DXGI_STATUS_OCCLUDED) {
::Sleep(10);
continue;
}
g_SwapChainOccluded = false;
// Handle window resize (we don't resize directly in the WM_SIZE handler)
if (g_ResizeWidth != 0 && g_ResizeHeight != 0) {
CleanupRenderTarget();
g_pSwapChain->ResizeBuffers(0, g_ResizeWidth, g_ResizeHeight,
DXGI_FORMAT_UNKNOWN, 0);
g_ResizeWidth = g_ResizeHeight = 0;
CreateRenderTarget();
}
// Start the Dear ImGui frame
ImGui_ImplDX11_NewFrame();
ImGui_ImplWin32_NewFrame();
#if 0 // @SAMPLE_EDIT
ImGui::NewFrame();
// 1. Show the big demo window (Most of the sample code is in ImGui::ShowDemoWindow()! You can browse its code to learn more about Dear ImGui!).
if (show_demo_window)
ImGui::ShowDemoWindow(&show_demo_window);
// 2. Show a simple window that we create ourselves. We use a Begin/End pair to create a named window.
{
static float f = 0.0f;
static int counter = 0;
ImGui::Begin("Hello, world!"); // Create a window called "Hello, world!" and append into it.
ImGui::Text("This is some useful text."); // Display some text (you can use a format strings too)
ImGui::Checkbox("Demo Window", &show_demo_window); // Edit bools storing our window open/close state
ImGui::Checkbox("Another Window", &show_another_window);
ImGui::SliderFloat("float", &f, 0.0f, 1.0f); // Edit 1 float using a slider from 0.0f to 1.0f
ImGui::ColorEdit3("clear color", (float*)&clear_color); // Edit 3 floats representing a color
if (ImGui::Button("Button")) // Buttons return true when clicked (most widgets return true when edited/activated)
counter++;
ImGui::SameLine();
ImGui::Text("counter = %d", counter);
ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / io.Framerate, io.Framerate);
ImGui::End();
}
// 3. Show another simple window.
if (show_another_window)
{
ImGui::Begin("Another Window", &show_another_window); // Pass a pointer to our bool variable (the window will have a closing button that will clear the bool when clicked)
ImGui::Text("Hello from another window!");
if (ImGui::Button("Close Me"))
show_another_window = false;
ImGui::End();
}
// Rendering
ImGui::Render();
const float clear_color_with_alpha[4] = { clear_color.x * clear_color.w, clear_color.y * clear_color.w, clear_color.z * clear_color.w, clear_color.w };
g_pd3dDeviceContext->OMSetRenderTargets(1, &g_mainRenderTargetView, nullptr);
g_pd3dDeviceContext->ClearRenderTargetView(g_mainRenderTargetView, clear_color_with_alpha);
ImGui_ImplDX11_RenderDrawData(ImGui::GetDrawData());
// Update and Render additional Platform Windows
if (io.ConfigFlags & ImGuiConfigFlags_ViewportsEnable)
{
ImGui::UpdatePlatformWindows();
ImGui::RenderPlatformWindowsDefault();
}
#endif // @SAMPLE_EDIT
//=========================================================================================
// @SAMPLE_EDIT EDIT TO ORIGINAL IMGUI main.cpp
IM_UNUSED(show_demo_window);
IM_UNUSED(show_another_window);
// Avoids high CPU/GPU usage by releasing this thread until enough time has
// passed
static auto sLastTime = std::chrono::steady_clock::now();
std::chrono::duration<float> elapsedSec =
std::chrono::steady_clock::now() - sLastTime;
if (elapsedSec.count() < 1.f / 120.f) {
std::this_thread::sleep_for(std::chrono::microseconds(250));
continue;
}
// Draw the Local Imgui UI and remote imgui UI
sLastTime = std::chrono::steady_clock::now();
const float clear_color_with_alpha[4] = {
clear_color.x * clear_color.w, clear_color.y * clear_color.w,
clear_color.z * clear_color.w, clear_color.w};
g_pd3dDeviceContext->OMSetRenderTargets(1, &g_mainRenderTargetView, NULL);
g_pd3dDeviceContext->ClearRenderTargetView(g_mainRenderTargetView,
clear_color_with_alpha);
sample.Draw();
if (ImGui::GetDrawData()) {
ImGui_ImplDX11_RenderDrawData(ImGui::GetDrawData());
}
// Update and render additional Platform Windows
static int sLastFrame = -1;
int newFrame = ImGui::GetFrameCount();
if (sLastFrame != newFrame &&
io.ConfigFlags & ImGuiConfigFlags_ViewportsEnable) {
sLastFrame = newFrame;
ImGui::UpdatePlatformWindows();
ImGui::RenderPlatformWindowsDefault();
}
//=========================================================================================
// Present
// HRESULT hr = g_pSwapChain->Present(1, 0); // Present with vsync
HRESULT hr = g_pSwapChain->Present(0, 0); // Present without vsync
g_SwapChainOccluded = (hr == DXGI_STATUS_OCCLUDED);
}
// Cleanup
ImGui_ImplDX11_Shutdown();
ImGui_ImplWin32_Shutdown();
sample.Shutdown(); // @SAMPLE_EDIT
ImGui::DestroyContext();
CleanupDeviceD3D();
::DestroyWindow(hwnd);
::UnregisterClassW(wc.lpszClassName, wc.hInstance);
return 0;
}
// Helper functions
bool CreateDeviceD3D(HWND hWnd) {
// Setup swap chain
DXGI_SWAP_CHAIN_DESC sd;
ZeroMemory(&sd, sizeof(sd));
sd.BufferCount = 2;
sd.BufferDesc.Width = 0;
sd.BufferDesc.Height = 0;
sd.BufferDesc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
sd.BufferDesc.RefreshRate.Numerator = 60;
sd.BufferDesc.RefreshRate.Denominator = 1;
sd.Flags = DXGI_SWAP_CHAIN_FLAG_ALLOW_MODE_SWITCH;
sd.BufferUsage = DXGI_USAGE_RENDER_TARGET_OUTPUT;
sd.OutputWindow = hWnd;
sd.SampleDesc.Count = 1;
sd.SampleDesc.Quality = 0;
sd.Windowed = TRUE;
sd.SwapEffect = DXGI_SWAP_EFFECT_DISCARD;
UINT createDeviceFlags = 0;
// createDeviceFlags |= D3D11_CREATE_DEVICE_DEBUG;
D3D_FEATURE_LEVEL featureLevel;
const D3D_FEATURE_LEVEL featureLevelArray[2] = {
D3D_FEATURE_LEVEL_11_0,
D3D_FEATURE_LEVEL_10_0,
};
HRESULT res = D3D11CreateDeviceAndSwapChain(
nullptr, D3D_DRIVER_TYPE_HARDWARE, nullptr, createDeviceFlags,
featureLevelArray, 2, D3D11_SDK_VERSION, &sd, &g_pSwapChain,
&g_pd3dDevice, &featureLevel, &g_pd3dDeviceContext);
if (res == DXGI_ERROR_UNSUPPORTED) // Try high-performance WARP software
// driver if hardware is not available.
res = D3D11CreateDeviceAndSwapChain(
nullptr, D3D_DRIVER_TYPE_WARP, nullptr, createDeviceFlags,
featureLevelArray, 2, D3D11_SDK_VERSION, &sd, &g_pSwapChain,
&g_pd3dDevice, &featureLevel, &g_pd3dDeviceContext);
if (res != S_OK) return false;
CreateRenderTarget();
return true;
}
void CleanupDeviceD3D() {
CleanupRenderTarget();
if (g_pSwapChain) {
g_pSwapChain->Release();
g_pSwapChain = nullptr;
}
if (g_pd3dDeviceContext) {
g_pd3dDeviceContext->Release();
g_pd3dDeviceContext = nullptr;
}
if (g_pd3dDevice) {
g_pd3dDevice->Release();
g_pd3dDevice = nullptr;
}
}
void CreateRenderTarget() {
ID3D11Texture2D* pBackBuffer;
g_pSwapChain->GetBuffer(0, IID_PPV_ARGS(&pBackBuffer));
g_pd3dDevice->CreateRenderTargetView(pBackBuffer, nullptr,
&g_mainRenderTargetView);
pBackBuffer->Release();
}
void CleanupRenderTarget() {
if (g_mainRenderTargetView) {
g_mainRenderTargetView->Release();
g_mainRenderTargetView = nullptr;
}
}
// Forward declare message handler from imgui_impl_win32.cpp
extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND hWnd,
UINT msg,
WPARAM wParam,
LPARAM lParam);
// Win32 message handler
// You can read the io.WantCaptureMouse, io.WantCaptureKeyboard flags to tell if
// dear imgui wants to use your inputs.
// - When io.WantCaptureMouse is true, do not dispatch mouse input data to your
// main application, or clear/overwrite your copy of the mouse data.
// - When io.WantCaptureKeyboard is true, do not dispatch keyboard input data to
// your main application, or clear/overwrite your copy of the keyboard data.
// Generally you may always pass all inputs to dear imgui, and hide them from
// your application based on those two flags.
LRESULT WINAPI WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam) {
if (ImGui_ImplWin32_WndProcHandler(hWnd, msg, wParam, lParam)) return true;
switch (msg) {
case WM_SIZE:
if (wParam == SIZE_MINIMIZED) return 0;
g_ResizeWidth = (UINT)LOWORD(lParam); // Queue resize
g_ResizeHeight = (UINT)HIWORD(lParam);
return 0;
case WM_SYSCOMMAND:
if ((wParam & 0xfff0) == SC_KEYMENU) // Disable ALT application menu
return 0;
break;
case WM_DESTROY:
::PostQuitMessage(0);
return 0;
}
return ::DefWindowProcW(hWnd, msg, wParam, lParam);
}
int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
LPSTR lpCmdLine, int nShowCmd) {
IM_UNUSED(hInstance);
IM_UNUSED(hPrevInstance);
IM_UNUSED(lpCmdLine);
IM_UNUSED(nShowCmd);
return main(0, nullptr);
}
//=================================================================================================