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more ui improvements
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Implemented mjPRESERVE state for adding sections and separators, so you don't have to keep track of old states.

simulate.cc is now modified to use this new functionality.  I also made the separators in the Physics section collapsible. If you don't like it, change them back to state 1.

Also added functionality for handling section checkboxes.
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@emotodorov
emotodorov committed Jun 23, 2024
1 parent a1297d9 commit b0405bf
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Showing 4 changed files with 95 additions and 66 deletions.
4 changes: 3 additions & 1 deletion include/mujoco/mjui.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#define mjMAXUIRECT 25 // maximum number of rectangles

#define mjSEPCLOSED 1000 // closed state of adjustable separator
#define mjPRESERVE 2000 // preserve section or separator state


// key codes matching GLFW (user must remap for other frameworks)
Expand Down Expand Up @@ -268,7 +269,7 @@ struct mjuiSection_ { // UI section
int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int checkbox; // section checkbox: 0: none, 1: unchecked, 2: checked
int checkbox; // 0: none, 1: hidden, 2: unchecked, 2: checked
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items

Expand Down Expand Up @@ -303,6 +304,7 @@ struct mjUI_ { // entire UI
int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts
int mouseclicks; // number of mouse clicks over UI
int mousesectcheck; // 0: none, otherwise 1+section

// keyboard focus and edit
int editsect; // 0: none, otherwise 1+section
Expand Down
77 changes: 31 additions & 46 deletions simulate/simulate.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ enum {

// file section of UI
const mjuiDef defFile[] = {
{mjITEM_SECTION, "File", 1, nullptr, "AF"},
{mjITEM_SECTION, "File", mjPRESERVE, nullptr, "AF"},
{mjITEM_BUTTON, "Save xml", 2, nullptr, ""},
{mjITEM_BUTTON, "Save mjb", 2, nullptr, ""},
{mjITEM_BUTTON, "Print model", 2, nullptr, "CM"},
Expand Down Expand Up @@ -674,15 +674,15 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
//---------------------------------- UI construction -----------------------------------------------

// make physics section of UI
void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
void MakePhysicsSection(mj::Simulate* sim) {
mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", oldstate, nullptr, "AP"},
{mjITEM_SECTION, "Physics", mjPRESERVE, nullptr, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(opt->integrator), "Euler\nRK4\nimplicit\nimplicitfast"},
{mjITEM_SELECT, "Cone", 2, &(opt->cone), "Pyramidal\nElliptic"},
{mjITEM_SELECT, "Jacobian", 2, &(opt->jacobian), "Dense\nSparse\nAuto"},
{mjITEM_SELECT, "Solver", 2, &(opt->solver), "PGS\nCG\nNewton"},
{mjITEM_SEPARATOR, "Algorithmic Parameters", mjSEPCLOSED + 1},
{mjITEM_SEPARATOR, "Algorithmic Parameters", mjPRESERVE},
{mjITEM_EDITNUM, "Timestep", 2, &(opt->timestep), "1 0 1"},
{mjITEM_EDITINT, "Iterations", 2, &(opt->iterations), "1 0 1000"},
{mjITEM_EDITNUM, "Tolerance", 2, &(opt->tolerance), "1 0 1"},
Expand All @@ -695,30 +695,30 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
{mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"},
{mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"},
{mjITEM_EDITINT, "SDF Init", 2, &(opt->sdf_initpoints), "1 1 100"},
{mjITEM_SEPARATOR, "Physical Parameters", mjSEPCLOSED + 1},
{mjITEM_SEPARATOR, "Physical Parameters", mjPRESERVE},
{mjITEM_EDITNUM, "Gravity", 2, opt->gravity, "3"},
{mjITEM_EDITNUM, "Wind", 2, opt->wind, "3"},
{mjITEM_EDITNUM, "Magnetic", 2, opt->magnetic, "3"},
{mjITEM_EDITNUM, "Density", 2, &(opt->density), "1"},
{mjITEM_EDITNUM, "Viscosity", 2, &(opt->viscosity), "1"},
{mjITEM_EDITNUM, "Imp Ratio", 2, &(opt->impratio), "1"},
{mjITEM_SEPARATOR, "Disable Flags", mjSEPCLOSED + 1},
{mjITEM_SEPARATOR, "Disable Flags", mjPRESERVE},
{mjITEM_END}
};
mjuiDef defEnableFlags[] = {
{mjITEM_SEPARATOR, "Enable Flags", mjSEPCLOSED + 1},
{mjITEM_SEPARATOR, "Enable Flags", mjPRESERVE},
{mjITEM_END}
};
mjuiDef defOverride[] = {
{mjITEM_SEPARATOR, "Contact Override", mjSEPCLOSED + 1},
{mjITEM_SEPARATOR, "Contact Override", mjPRESERVE},
{mjITEM_EDITNUM, "Margin", 2, &(opt->o_margin), "1"},
{mjITEM_EDITNUM, "Sol Imp", 2, &(opt->o_solimp), "5"},
{mjITEM_EDITNUM, "Sol Ref", 2, &(opt->o_solref), "2"},
{mjITEM_EDITNUM, "Friction", 2, &(opt->o_friction), "5"},
{mjITEM_END}
};
mjuiDef defDisableActuator[] = {
{mjITEM_SEPARATOR, "Actuator Group Enable", mjSEPCLOSED + 1},
{mjITEM_SEPARATOR, "Actuator Group Enable", mjPRESERVE},
{mjITEM_CHECKBYTE, "Act Group 0", 2, sim->enableactuator+0, ""},
{mjITEM_CHECKBYTE, "Act Group 1", 2, sim->enableactuator+1, ""},
{mjITEM_CHECKBYTE, "Act Group 2", 2, sim->enableactuator+2, ""},
Expand Down Expand Up @@ -757,12 +757,12 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {


// make rendering section of UI
void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
mjuiDef defRendering[] = {
{
mjITEM_SECTION,
"Rendering",
oldstate,
mjPRESERVE,
nullptr,
"AR"
},
Expand Down Expand Up @@ -876,12 +876,12 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
}

// make visualization section of UI
void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
mjStatistic* stat = sim->is_passive_ ? &sim->scnstate_.model.stat : &sim->m_->stat;
mjVisual* vis = sim->is_passive_ ? &sim->scnstate_.model.vis : &sim->m_->vis;

mjuiDef defVisualization[] = {
{mjITEM_SECTION, "Visualization", oldstate, nullptr, "AV"},
{mjITEM_SECTION, "Visualization", mjPRESERVE, nullptr, "AV"},
{mjITEM_SEPARATOR, "Headlight", 1},
{mjITEM_RADIO, "Active", 5, &(vis->headlight.active), "Off\nOn"},
{mjITEM_EDITFLOAT, "Ambient", 2, &(vis->headlight.ambient), "3"},
Expand Down Expand Up @@ -937,9 +937,9 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate)
}

// make group section of UI
void MakeGroupSection(mj::Simulate* sim, int oldstate) {
void MakeGroupSection(mj::Simulate* sim) {
mjuiDef defGroup[] = {
{mjITEM_SECTION, "Group enable", oldstate, 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 Expand Up @@ -997,9 +997,9 @@ void MakeGroupSection(mj::Simulate* sim, int oldstate) {
}

// make joint section of UI
void MakeJointSection(mj::Simulate* sim, int oldstate) {
void MakeJointSection(mj::Simulate* sim) {
mjuiDef defJoint[] = {
{mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ"},
{mjITEM_SECTION, "Joint", mjPRESERVE, nullptr, "AJ"},
{mjITEM_END}
};
mjuiDef defSlider[] = {
Expand Down Expand Up @@ -1050,9 +1050,9 @@ void MakeJointSection(mj::Simulate* sim, int oldstate) {
}

// make control section of UI
void MakeControlSection(mj::Simulate* sim, int oldstate) {
void MakeControlSection(mj::Simulate* sim) {
mjuiDef defControl[] = {
{mjITEM_SECTION, "Control", oldstate, nullptr, "AC"},
{mjITEM_SECTION, "Control", mjPRESERVE, nullptr, "AC"},
{mjITEM_BUTTON, "Clear all", 2},
{mjITEM_END}
};
Expand Down Expand Up @@ -1107,35 +1107,17 @@ void MakeControlSection(mj::Simulate* sim, int oldstate) {

// make model-dependent UI sections
void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// get section open-close state, UI 0
int oldstate0[NSECT0];
for (int i=0; i<NSECT0; i++) {
oldstate0[i] = 0;
if (sim->ui0.nsect>i) {
oldstate0[i] = sim->ui0.sect[i].state;
}
}

// get section open-close state, UI 1
int oldstate1[NSECT1];
for (int i=0; i<NSECT1; i++) {
oldstate1[i] = 0;
if (sim->ui1.nsect>i) {
oldstate1[i] = sim->ui1.sect[i].state;
}
}

// clear model-dependent sections of UI
sim->ui0.nsect = SECT_PHYSICS;
sim->ui1.nsect = 0;

// make
MakePhysicsSection(sim, oldstate0[SECT_PHYSICS]);
MakeRenderingSection(sim, m, oldstate0[SECT_RENDERING]);
MakeVisualizationSection(sim, m, oldstate0[SECT_VISUALIZATION]);
MakeGroupSection(sim, oldstate0[SECT_GROUP]);
MakeJointSection(sim, oldstate1[SECT_JOINT]);
MakeControlSection(sim, oldstate1[SECT_CONTROL]);
MakePhysicsSection(sim);
MakeRenderingSection(sim, m);
MakeVisualizationSection(sim, m);
MakeGroupSection(sim);
MakeJointSection(sim);
MakeControlSection(sim);
}

//---------------------------------- utility functions ---------------------------------------------
Expand Down Expand Up @@ -1517,7 +1499,7 @@ void UiEvent(mjuiState* state) {
// remake joint section if joint group changed
if (it->name[0]=='J' && it->name[1]=='o') {
sim->ui1.nsect = SECT_JOINT;
MakeJointSection(sim, sim->ui1.sect[SECT_JOINT].state);
MakeJointSection(sim);
sim->ui1.nsect = NSECT1;
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
Expand Down Expand Up @@ -2470,7 +2452,7 @@ void Simulate::Render() {
if (pending_.ui_remake_ctrl) {
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
this->ui1.nsect = SECT_CONTROL;
MakeControlSection(this, this->ui1.sect[SECT_CONTROL].state);
MakeControlSection(this);
this->ui1.nsect = NSECT1;
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
Expand Down Expand Up @@ -2658,12 +2640,15 @@ void Simulate::RenderLoop() {
this->platform_ui->SetEventCallback(UiEvent);
this->platform_ui->SetLayoutCallback(UiLayout);

// populate uis with standard sections
// populate uis with standard sections, open some sections initially
this->ui0.userdata = this;
this->ui1.userdata = this;
mjui_add(&this->ui0, defFile);
mjui_add(&this->ui0, this->def_option);
mjui_add(&this->ui0, this->def_simulation);
this->ui0.sect[0].state = 1;
this->ui0.sect[1].state = 1;
this->ui0.sect[2].state = 1;
mjui_add(&this->ui0, this->def_watch);
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
Expand Down
6 changes: 3 additions & 3 deletions simulate/simulate.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -265,7 +265,7 @@ class Simulate {
// Constant arrays needed for the option section of UI and the UI interface
// TODO setting the size here is not ideal
const mjuiDef def_option[13] = {
{mjITEM_SECTION, "Option", 1, nullptr, "AO"},
{mjITEM_SECTION, "Option", mjPRESERVE, nullptr, "AO"},
{mjITEM_CHECKINT, "Help", 2, &this->help, " #290"},
{mjITEM_CHECKINT, "Info", 2, &this->info, " #291"},
{mjITEM_CHECKINT, "Profiler", 2, &this->profiler, " #292"},
Expand All @@ -287,7 +287,7 @@ class Simulate {

// simulation section of UI
const mjuiDef def_simulation[14] = {
{mjITEM_SECTION, "Simulation", 1, nullptr, "AS"},
{mjITEM_SECTION, "Simulation", mjPRESERVE, nullptr, "AS"},
{mjITEM_RADIO, "", 5, &this->run, "Pause\nRun"},
{mjITEM_BUTTON, "Reset", 2, nullptr, " #259"},
{mjITEM_BUTTON, "Reload", 5, nullptr, "CL"},
Expand All @@ -306,7 +306,7 @@ class Simulate {

// watch section of UI
const mjuiDef def_watch[5] = {
{mjITEM_SECTION, "Watch", 0, nullptr, "AW"},
{mjITEM_SECTION, "Watch", mjPRESERVE, nullptr, "AW"},
{mjITEM_EDITTXT, "Field", 2, this->field, "qpos"},
{mjITEM_EDITINT, "Index", 2, &this->index, "1"},
{mjITEM_STATIC, "Value", 2, nullptr, " "},
Expand Down
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