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simulate improvements
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- Add RGBA color editing for visualization
- Make some separator sections closed by default

PiperOrigin-RevId: 646502122
Change-Id: Id863d983b7fb53e6bbe86a92833876e40b74a5d8
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@yuvaltassa
yuvaltassa authored and Copybara-Service committed Jun 25, 2024
1 parent d8b8524 commit 5a513a0
Showing 1 changed file with 51 additions and 43 deletions.
94 changes: 51 additions & 43 deletions simulate/simulate.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -752,57 +752,39 @@ void MakePhysicsSection(mj::Simulate* sim) {

// add actuator group enable/disable
mjui_add(&sim->ui0, defDisableActuator);

// make some subsections closed by default
for (int i=0; i < sim->ui0.sect[SECT_PHYSICS].nitem; i++) {
mjuiItem* it = sim->ui0.sect[SECT_PHYSICS].item + i;

// close less useful subsections
if (it->type == mjITEM_SEPARATOR) {
if (mju::strcmp_arr(it->name, "Actuator Group Enable") &&
mju::strcmp_arr(it->name, "Contact Override") &&
mju::strcmp_arr(it->name, "Physical Parameters")) {
it->state = mjSEPCLOSED+1;
}
}
}
}



// make rendering section of UI
void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
mjuiDef defRendering[] = {
{
mjITEM_SECTION,
"Rendering",
mjPRESERVE,
nullptr,
"AR"
},
{
mjITEM_SELECT,
"Camera",
2,
&(sim->camera),
"Free\nTracking"
},
{
mjITEM_SELECT,
"Label",
2,
&(sim->opt.label),
{mjITEM_SECTION, "Rendering", mjPRESERVE, nullptr, "AR"},
{mjITEM_SELECT, "Camera", 2, &(sim->camera), "Free\nTracking"},
{mjITEM_SELECT, "Label", 2, &(sim->opt.label),
"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
"Actuator\nConstraint\nFlex\nSkin\nSelection\nSel Pnt\nContact\nForce\nIsland"
},
{
mjITEM_SELECT,
"Frame",
2,
&(sim->opt.frame),
{mjITEM_SELECT, "Frame", 2, &(sim->opt.frame),
"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
},
{
mjITEM_BUTTON,
"Copy camera",
2,
nullptr,
""
},
{
mjITEM_SEPARATOR,
"Model Elements",
1
},
{
mjITEM_END
}
{mjITEM_BUTTON, "Copy camera", 2, nullptr, ""},
{mjITEM_SEPARATOR, "Model Elements", 1},
{mjITEM_END}
};
mjuiDef defOpenGL[] = {
{mjITEM_SEPARATOR, "OpenGL Effects", 1},
Expand Down Expand Up @@ -911,8 +893,8 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
{mjITEM_EDITFLOAT, "Haze", 2, &(vis->map.haze), "1"},
{mjITEM_EDITFLOAT, "Shadow clip", 2, &(vis->map.shadowclip), "1"},
{mjITEM_EDITFLOAT, "Shadow scale", 2, &(vis->map.shadowscale), "1"},
{mjITEM_SEPARATOR, "Scale", 1},
{mjITEM_EDITNUM, "All [meansize]", 2, &(stat->meansize), "1"},
{mjITEM_SEPARATOR, "Scale", mjPRESERVE},
{mjITEM_EDITNUM, "All (meansize)", 2, &(stat->meansize), "1"},
{mjITEM_EDITFLOAT, "Force width", 2, &(vis->scale.forcewidth), "1"},
{mjITEM_EDITFLOAT, "Contact width", 2, &(vis->scale.contactwidth), "1"},
{mjITEM_EDITFLOAT, "Contact height", 2, &(vis->scale.contactheight), "1"},
Expand All @@ -929,17 +911,43 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
{mjITEM_EDITFLOAT, "Frame width", 2, &(vis->scale.framewidth), "1"},
{mjITEM_EDITFLOAT, "Constraint", 2, &(vis->scale.constraint), "1"},
{mjITEM_EDITFLOAT, "Slider-crank", 2, &(vis->scale.slidercrank), "1"},
{mjITEM_SEPARATOR, "RGBA", mjPRESERVE},
{mjITEM_EDITFLOAT, "fog", 2, &(vis->rgba.fog), "4"},
{mjITEM_EDITFLOAT, "haze", 2, &(vis->rgba.haze), "4"},
{mjITEM_EDITFLOAT, "force", 2, &(vis->rgba.force), "4"},
{mjITEM_EDITFLOAT, "inertia", 2, &(vis->rgba.inertia), "4"},
{mjITEM_EDITFLOAT, "joint", 2, &(vis->rgba.joint), "4"},
{mjITEM_EDITFLOAT, "actuator", 2, &(vis->rgba.actuator), "4"},
{mjITEM_EDITFLOAT, "actnegative", 2, &(vis->rgba.actuatornegative), "4"},
{mjITEM_EDITFLOAT, "actpositive", 2, &(vis->rgba.actuatorpositive), "4"},
{mjITEM_EDITFLOAT, "com", 2, &(vis->rgba.com), "4"},
{mjITEM_EDITFLOAT, "camera", 2, &(vis->rgba.camera), "4"},
{mjITEM_EDITFLOAT, "light", 2, &(vis->rgba.light), "4"},
{mjITEM_EDITFLOAT, "selectpoint", 2, &(vis->rgba.selectpoint), "4"},
{mjITEM_EDITFLOAT, "connect", 2, &(vis->rgba.connect), "4"},
{mjITEM_EDITFLOAT, "contactpoint", 2, &(vis->rgba.contactpoint), "4"},
{mjITEM_EDITFLOAT, "contactforce", 2, &(vis->rgba.contactforce), "4"},
{mjITEM_EDITFLOAT, "contactfriction", 2, &(vis->rgba.contactfriction), "4"},
{mjITEM_EDITFLOAT, "contacttorque", 2, &(vis->rgba.contacttorque), "4"},
{mjITEM_EDITFLOAT, "contactgap", 2, &(vis->rgba.contactgap), "4"},
{mjITEM_EDITFLOAT, "rangefinder", 2, &(vis->rgba.rangefinder), "4"},
{mjITEM_EDITFLOAT, "constraint", 2, &(vis->rgba.constraint), "4"},
{mjITEM_EDITFLOAT, "slidercrank", 2, &(vis->rgba.slidercrank), "4"},
{mjITEM_EDITFLOAT, "crankbroken", 2, &(vis->rgba.crankbroken), "4"},
{mjITEM_EDITFLOAT, "frustum", 2, &(vis->rgba.frustum), "4"},
{mjITEM_EDITFLOAT, "bv", 2, &(vis->rgba.bv), "4"},
{mjITEM_EDITFLOAT, "bvactive", 2, &(vis->rgba.bvactive), "4"},
{mjITEM_END}
};

// add rendering standard
// add visualization section
mjui_add(&sim->ui0, defVisualization);
}

// make group section of UI
void MakeGroupSection(mj::Simulate* sim) {
mjuiDef defGroup[] = {
{mjITEM_SECTION, "Group enable", mjPRESERVE, nullptr, "AG"},
{mjITEM_SECTION, "Group enable", mjPRESERVE, nullptr, "AG"},
{mjITEM_SEPARATOR, "Geom groups", 1},
{mjITEM_CHECKBYTE, "Geom 0", 2, sim->opt.geomgroup, " 0"},
{mjITEM_CHECKBYTE, "Geom 1", 2, sim->opt.geomgroup+1, " 1"},
Expand Down

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