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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "simulate.h"
#include <algorithm>
#include <atomic>
#include <chrono>
#include <climits>
#include <cstdio>
#include <cstring>
#include <memory>
#include <optional>
#include <ratio>
#include <string>
#include <type_traits>
#include <utility>
#include "lodepng.h"
#include <mujoco/mjdata.h>
#include <mujoco/mjui.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "platform_ui_adapter.h"
#include "array_safety.h"
// 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
namespace {
namespace mj = ::mujoco;
namespace mju = ::mujoco::sample_util;
using Seconds = std::chrono::duration<double>;
using Milliseconds = std::chrono::duration<double, std::milli>;
template <typename T>
inline bool IsDifferent(const T& a, const T& b) {
if constexpr (std::is_array_v<T>) {
static_assert(std::rank_v<T> == 1);
for (int i = 0; i < std::extent_v<T>; ++i) {
if (a[i] != b[i]) { return true; }
}
return false;
} else {
return a != b;
}
}
template <typename T>
inline void CopyScalar(T& dst, const T& src) {
dst = src;
}
template <typename T, int N>
inline void CopyArray(T (&dst)[N], const T (&src)[N]) {
for (int i = 0; i < N; ++i) { dst[i] = src[i]; }
}
template <typename T>
inline void Copy(T& dst, const T& src) {
if constexpr (std::is_array_v<T>) {
CopyArray(dst, src);
} else {
CopyScalar(dst, src);
}
}
//------------------------------------------- global -----------------------------------------------
const double zoom_increment = 0.02; // ratio of one click-wheel zoom increment to vertical extent
// section ids
enum {
// left ui
SECT_FILE = 0,
SECT_OPTION,
SECT_SIMULATION,
SECT_WATCH,
SECT_PHYSICS,
SECT_RENDERING,
SECT_VISUALIZATION,
SECT_GROUP,
SECT_LOGGING,
NSECT0,
// right ui
SECT_JOINT = 0,
SECT_CONTROL,
SECT_EQUALITY,
NSECT1
};
// file section of UI
const mjuiDef defFile[] = {
// clang-format off
{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"},
{mjITEM_BUTTON, "Print data", 2, nullptr, "CD"},
{mjITEM_BUTTON, "Quit", 1, nullptr, "CQ"},
{mjITEM_BUTTON, "Screenshot", 2, nullptr, "CP"},
{mjITEM_END}
// clang-format on
};
// help strings
const char help_content[] =
"Space\n"
"+ -\n"
"Left / Right arrow\n"
"Tab / Shift-Tab\n"
"[ ]\n"
"Esc\n"
"Double-click\n"
"Page Up\n"
"Right double-click\n"
"Ctrl Right double-click\n"
"Scroll, middle drag\n"
"Left drag\n"
"[Shift] right drag\n"
"Ctrl [Shift] drag\n"
"Ctrl [Shift] right drag\n"
"F1\n"
"F2\n"
"F3\n"
"F4\n"
"F5\n"
"UI right-button hold\n"
"UI title double-click";
const char help_title[] =
"Play / Pause\n"
"Speed Up / Down\n"
"Step Back / Forward\n"
"Toggle Left / Right UI\n"
"Cycle cameras\n"
"Free camera\n"
"Select\n"
"Select parent\n"
"Center camera\n"
"Tracking camera\n"
"Zoom\n"
"View Orbit\n"
"View Pan\n"
"Object Rotate\n"
"Object Translate\n"
"Help\n"
"Info\n"
"Profiler\n"
"Sensors\n"
"Full screen\n"
"Show UI shortcuts\n"
"Expand/collapse all";
//-------------------------------- profiler, sensor, info, watch -----------------------------------
// number of lines in the Constraint ("Counts") and Cost ("Convergence") figures
static constexpr int kConstraintNum = 5;
static constexpr int kCostNum = 3;
// init profiler figures
void InitializeProfiler(mj::Simulate* sim) {
// set figures to default
mjv_defaultFigure(&sim->figconstraint);
mjv_defaultFigure(&sim->figcost);
mjv_defaultFigure(&sim->figtimer);
mjv_defaultFigure(&sim->figsize);
// titles
mju::strcpy_arr(sim->figconstraint.title, "Counts");
mju::strcpy_arr(sim->figcost.title, "Convergence (log 10)");
mju::strcpy_arr(sim->figsize.title, "Dimensions");
mju::strcpy_arr(sim->figtimer.title, "CPU time (msec)");
// x-labels
mju::strcpy_arr(sim->figconstraint.xlabel, "Solver iteration");
mju::strcpy_arr(sim->figcost.xlabel, "Solver iteration");
mju::strcpy_arr(sim->figsize.xlabel, "Video frame");
mju::strcpy_arr(sim->figtimer.xlabel, "Video frame");
// y-tick number formats
mju::strcpy_arr(sim->figconstraint.yformat, "%.0f");
mju::strcpy_arr(sim->figcost.yformat, "%.1f");
mju::strcpy_arr(sim->figsize.yformat, "%.0f");
mju::strcpy_arr(sim->figtimer.yformat, "%.2f");
// colors
sim->figconstraint.figurergba[0] = 0.1f;
sim->figcost.figurergba[2] = 0.2f;
sim->figsize.figurergba[0] = 0.1f;
sim->figtimer.figurergba[2] = 0.2f;
sim->figconstraint.figurergba[3] = 0.5f;
sim->figcost.figurergba[3] = 0.5f;
sim->figsize.figurergba[3] = 0.5f;
sim->figtimer.figurergba[3] = 0.5f;
// repeat line colors for constraint and cost figures
mjvFigure* fig = &sim->figcost;
for (int i = kCostNum; i < mjMAXLINE; i++) {
fig->linergb[i][0] = fig->linergb[i - kCostNum][0];
fig->linergb[i][1] = fig->linergb[i - kCostNum][1];
fig->linergb[i][2] = fig->linergb[i - kCostNum][2];
}
fig = &sim->figconstraint;
for (int i = kConstraintNum; i < mjMAXLINE; i++) {
fig->linergb[i][0] = fig->linergb[i - kConstraintNum][0];
fig->linergb[i][1] = fig->linergb[i - kConstraintNum][1];
fig->linergb[i][2] = fig->linergb[i - kConstraintNum][2];
}
// legends
mju::strcpy_arr(sim->figconstraint.linename[0], "total");
mju::strcpy_arr(sim->figconstraint.linename[1], "active");
mju::strcpy_arr(sim->figconstraint.linename[2], "changed");
mju::strcpy_arr(sim->figconstraint.linename[3], "evals");
mju::strcpy_arr(sim->figconstraint.linename[4], "updates");
mju::strcpy_arr(sim->figcost.linename[0], "improvement");
mju::strcpy_arr(sim->figcost.linename[1], "gradient");
mju::strcpy_arr(sim->figcost.linename[2], "lineslope");
mju::strcpy_arr(sim->figsize.linename[0], "dof");
mju::strcpy_arr(sim->figsize.linename[1], "body");
mju::strcpy_arr(sim->figsize.linename[2], "constraint");
mju::strcpy_arr(sim->figsize.linename[3], "sqrt(nnz)");
mju::strcpy_arr(sim->figsize.linename[4], "contact");
mju::strcpy_arr(sim->figsize.linename[5], "iteration");
mju::strcpy_arr(sim->figtimer.linename[0], "total");
mju::strcpy_arr(sim->figtimer.linename[1], "collision");
mju::strcpy_arr(sim->figtimer.linename[2], "prepare");
mju::strcpy_arr(sim->figtimer.linename[3], "solve");
mju::strcpy_arr(sim->figtimer.linename[4], "other");
// grid sizes
sim->figconstraint.gridsize[0] = 5;
sim->figconstraint.gridsize[1] = 5;
sim->figcost.gridsize[0] = 5;
sim->figcost.gridsize[1] = 5;
sim->figsize.gridsize[0] = 3;
sim->figsize.gridsize[1] = 5;
sim->figtimer.gridsize[0] = 3;
sim->figtimer.gridsize[1] = 5;
// minimum ranges
sim->figconstraint.range[0][0] = 0;
sim->figconstraint.range[0][1] = 20;
sim->figconstraint.range[1][0] = 0;
sim->figconstraint.range[1][1] = 80;
sim->figcost.range[0][0] = 0;
sim->figcost.range[0][1] = 20;
sim->figcost.range[1][0] = -15;
sim->figcost.range[1][1] = 5;
sim->figsize.range[0][0] = -200;
sim->figsize.range[0][1] = 0;
sim->figsize.range[1][0] = 0;
sim->figsize.range[1][1] = 100;
sim->figtimer.range[0][0] = -200;
sim->figtimer.range[0][1] = 0;
sim->figtimer.range[1][0] = 0;
sim->figtimer.range[1][1] = 0.4f;
// init x axis on history figures (do not show yet)
for (int n = 0; n < 6; n++) {
for (int i = 0; i < mjMAXLINEPNT; i++) {
sim->figtimer.linedata[n][2 * i] = -i;
sim->figsize.linedata[n][2 * i] = -i;
}
}
}
// update profiler figures
void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// reset lines in Constraint and Cost figures
memset(sim->figconstraint.linepnt, 0, mjMAXLINE * sizeof(int));
memset(sim->figcost.linepnt, 0, mjMAXLINE * sizeof(int));
// number of islands that have diagnostics
int nisland = d->nefc ? mjMAX(1, mjMIN(d->nisland, mjNISLAND)) : 0;
// iterate over islands
for (int k = 0; k < nisland; k++) {
// ==== update Constraint ("Counts") figure
// number of points to plot, starting line
int npoints = mjMIN(mjMIN(d->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
int start = kConstraintNum * k;
sim->figconstraint.linepnt[start + 0] = npoints;
for (int i = 1; i < kConstraintNum; i++) { sim->figconstraint.linepnt[start + i] = npoints; }
if (m->opt.solver == mjSOL_PGS) {
sim->figconstraint.linepnt[start + 3] = 0;
sim->figconstraint.linepnt[start + 4] = 0;
}
if (m->opt.solver == mjSOL_CG) { sim->figconstraint.linepnt[start + 4] = 0; }
for (int i = 0; i < npoints; i++) {
// x
sim->figconstraint.linedata[start + 0][2 * i] = i;
sim->figconstraint.linedata[start + 1][2 * i] = i;
sim->figconstraint.linedata[start + 2][2 * i] = i;
sim->figconstraint.linedata[start + 3][2 * i] = i;
sim->figconstraint.linedata[start + 4][2 * i] = i;
// y
int nefc = nisland == 1 ? d->nefc : d->island_nefc[k];
sim->figconstraint.linedata[start + 0][2 * i + 1] = nefc;
const mjSolverStat* stat = d->solver + k * mjNSOLVER + i;
sim->figconstraint.linedata[start + 1][2 * i + 1] = stat->nactive;
sim->figconstraint.linedata[start + 2][2 * i + 1] = stat->nchange;
sim->figconstraint.linedata[start + 3][2 * i + 1] = stat->neval;
sim->figconstraint.linedata[start + 4][2 * i + 1] = stat->nupdate;
}
// update cost figure
start = kCostNum * k;
sim->figcost.linepnt[start + 0] = npoints;
for (int i = 1; i < kCostNum; i++) { sim->figcost.linepnt[start + i] = npoints; }
if (m->opt.solver == mjSOL_PGS) {
sim->figcost.linepnt[start + 1] = 0;
sim->figcost.linepnt[start + 2] = 0;
}
for (int i = 0; i < npoints; i++) {
// x
sim->figcost.linedata[start + 0][2 * i] = i;
sim->figcost.linedata[start + 1][2 * i] = i;
sim->figcost.linedata[start + 2][2 * i] = i;
// y
const mjSolverStat* stat = d->solver + k * mjNSOLVER + i;
sim->figcost.linedata[start + 0][2 * i + 1] = mju_log10(mju_max(mjMINVAL, stat->improvement));
sim->figcost.linedata[start + 1][2 * i + 1] = mju_log10(mju_max(mjMINVAL, stat->gradient));
sim->figcost.linedata[start + 2][2 * i + 1] = mju_log10(mju_max(mjMINVAL, stat->lineslope));
}
}
// get timers: total, collision, prepare, solve, other
mjtNum total = d->timer[mjTIMER_STEP].duration - sim->timer_prev_[mjTIMER_STEP].duration;
int number = d->timer[mjTIMER_STEP].number - sim->timer_prev_[mjTIMER_STEP].number;
int prev_forward_number = sim->timer_prev_[mjTIMER_FORWARD].number;
mjtNum prev_forward_duration = sim->timer_prev_[mjTIMER_FORWARD].duration;
if (!number) {
total = d->timer[mjTIMER_FORWARD].duration - prev_forward_duration;
number = d->timer[mjTIMER_FORWARD].number - prev_forward_number;
}
if (number > 0) { // skip update if no measurements
float tdata[5] = {static_cast<float>(total / number),
static_cast<float>((d->timer[mjTIMER_POS_COLLISION].duration -
sim->timer_prev_[mjTIMER_POS_COLLISION].duration) /
number),
static_cast<float>((d->timer[mjTIMER_POS_MAKE].duration -
sim->timer_prev_[mjTIMER_POS_MAKE].duration +
d->timer[mjTIMER_POS_PROJECT].duration -
sim->timer_prev_[mjTIMER_POS_PROJECT].duration) /
number),
static_cast<float>((d->timer[mjTIMER_CONSTRAINT].duration -
sim->timer_prev_[mjTIMER_CONSTRAINT].duration) /
number),
0};
tdata[4] = tdata[0] - tdata[1] - tdata[2] - tdata[3];
// update figtimer
int pnt = mjMIN(201, sim->figtimer.linepnt[0] + 1);
for (int n = 0; n < 5; n++) {
// shift data
for (int i = pnt - 1; i > 0; i--) {
sim->figtimer.linedata[n][2 * i + 1] = sim->figtimer.linedata[n][2 * i - 1];
}
// assign new
sim->figtimer.linepnt[n] = pnt;
sim->figtimer.linedata[n][1] = tdata[n];
}
}
// get total number of iterations and nonzeros
mjtNum sqrt_nnz = 0;
int solver_niter = 0;
for (int island = 0; island < nisland; island++) {
sqrt_nnz += d->solver_nnz[island];
solver_niter += d->solver_niter[island];
}
sqrt_nnz = mju_sqrt(sqrt_nnz);
// get sizes: nv, nbody, nefc, sqrt(nnz), ncon, iter
int nv = mjENABLED(mjENBL_SLEEP) ? d->nv_awake : m->nv;
int nbody = mjENABLED(mjENBL_SLEEP) ? d->nbody_awake : m->nbody;
float sdata[6] = {static_cast<float>(nv),
static_cast<float>(nbody),
static_cast<float>(d->nefc),
static_cast<float>(sqrt_nnz),
static_cast<float>(d->ncon),
static_cast<float>(solver_niter) / nisland};
// update figsize
int pnt = mjMIN(201, sim->figsize.linepnt[0] + 1);
for (int n = 0; n < 6; n++) {
// shift data
for (int i = pnt - 1; i > 0; i--) {
sim->figsize.linedata[n][2 * i + 1] = sim->figsize.linedata[n][2 * i - 1];
}
// assign new
sim->figsize.linepnt[n] = pnt;
sim->figsize.linedata[n][1] = sdata[n];
}
}
// show profiler figures
void ShowProfiler(mj::Simulate* sim, mjrRect rect) {
mjrRect viewport = {rect.left + rect.width - rect.width / 4,
rect.bottom,
rect.width / 4,
rect.height / 4};
mjr_figure(viewport, &sim->figtimer, &sim->platform_ui->mjr_context());
viewport.bottom += rect.height / 4;
mjr_figure(viewport, &sim->figsize, &sim->platform_ui->mjr_context());
viewport.bottom += rect.height / 4;
mjr_figure(viewport, &sim->figcost, &sim->platform_ui->mjr_context());
viewport.bottom += rect.height / 4;
mjr_figure(viewport, &sim->figconstraint, &sim->platform_ui->mjr_context());
}
// init sensor figure
void InitializeSensor(mj::Simulate* sim) {
mjvFigure& figsensor = sim->figsensor;
// set figure to default
mjv_defaultFigure(&figsensor);
figsensor.figurergba[3] = 0.5f;
// set flags
figsensor.flg_extend = 1;
figsensor.flg_barplot = 1;
figsensor.flg_symmetric = 1;
// title
mju::strcpy_arr(figsensor.title, "Sensor data");
// y-tick number format
mju::strcpy_arr(figsensor.yformat, "%.1f");
// grid size
figsensor.gridsize[0] = 2;
figsensor.gridsize[1] = 3;
// minimum range
figsensor.range[0][0] = 0;
figsensor.range[0][1] = 0;
figsensor.range[1][0] = -1;
figsensor.range[1][1] = 1;
}
// update sensor figure
void UpdateSensor(mj::Simulate* sim, const mjModel* m, const mjData* d) {
mjvFigure& figsensor = sim->figsensor;
static const int maxline = 10;
// clear linepnt
for (int i = 0; i < maxline; i++) { figsensor.linepnt[i] = 0; }
// start with line 0
int lineid = 0;
// loop over sensors
for (int n = 0; n < m->nsensor; n++) {
// go to next line if type is different
if (n > 0 && m->sensor_type[n] != m->sensor_type[n - 1]) {
lineid = mjMIN(lineid + 1, maxline - 1);
}
// get info about this sensor
mjtNum cutoff = (m->sensor_cutoff[n] > 0 ? m->sensor_cutoff[n] : 1);
int adr = m->sensor_adr[n];
int dim = m->sensor_dim[n];
// data pointer in line
int p = figsensor.linepnt[lineid];
// fill in data for this sensor
for (int i = 0; i < dim; i++) {
// check size
if ((p + 2 * i) >= mjMAXLINEPNT / 2) { break; }
// x
figsensor.linedata[lineid][2 * p + 4 * i] = adr + i;
figsensor.linedata[lineid][2 * p + 4 * i + 2] = adr + i;
// y
figsensor.linedata[lineid][2 * p + 4 * i + 1] = 0;
figsensor.linedata[lineid][2 * p + 4 * i + 3] = d->sensordata[adr + i] / cutoff;
}
// update linepnt
figsensor.linepnt[lineid] = mjMIN(mjMAXLINEPNT - 1, figsensor.linepnt[lineid] + 2 * dim);
}
}
// show sensor figure
void ShowSensor(mj::Simulate* sim, mjrRect rect) {
// constant width with and without profiler
int width = sim->profiler ? rect.width / 3 : rect.width / 4;
// render figure on the right
mjrRect viewport = {rect.left + rect.width - width, rect.bottom, width, rect.height / 3};
// if image sensor selected, show sensor image instead
if (sim->image_sensor_count > 0 && sim->selected_image_sensor >= 0 && sim->sensor_image) {
// render sensor image - viewport dimensions MUST match image buffer dimensions
int img_w = sim->sensor_image_width;
int img_h = sim->sensor_image_height;
if (img_w > 0 && img_h > 0) {
// center the image in the available viewport area
mjrRect img_viewport = {
viewport.left + (viewport.width - img_w) / 2,
viewport.bottom + (viewport.height - img_h) / 2,
img_w, // MUST match actual buffer width
img_h // MUST match actual buffer height
};
mjr_drawPixels(sim->sensor_image.get(),
nullptr,
img_viewport,
&sim->platform_ui->mjr_context());
}
} else {
mjr_figure(viewport, &sim->figsensor, &sim->platform_ui->mjr_context());
}
}
// forward declaration
void InitializeSensorImage(mj::Simulate* sim, const mjModel* m);
// Detect image sensors in model
// A sensor is an image if: mjSENS_USER and intprm[0]*intprm[1]*3 == dim
void DetectImageSensors(mj::Simulate* sim, const mjModel* m) {
sim->image_sensor_count = 0;
sim->image_sensor_indices.clear();
sim->image_sensor_names.clear();
sim->selected_image_sensor = -1;
sim->sensor_image.reset();
if (!m) return;
for (int i = 0; i < m->nsensor; i++) {
if (m->sensor_type[i] == mjSENS_USER) {
// sensor_intprm stores [width, height, unused] (mjNSENS=3 per sensor)
int width = m->sensor_intprm[i * mjNSENS];
int height = m->sensor_intprm[i * mjNSENS + 1];
int dim = m->sensor_dim[i];
// Check if this is an image sensor: width*height*3 == dim
if (width > 0 && height > 0 && width * height * 3 == dim) {
const char* name = mj_id2name(m, mjOBJ_SENSOR, i);
sim->image_sensor_indices.push_back(i);
sim->image_sensor_names.push_back(name ? name : "");
sim->image_sensor_count++;
}
}
}
// Auto-select first image sensor if any found
if (sim->image_sensor_count > 0) {
sim->selected_image_sensor = 0;
InitializeSensorImage(sim, m);
}
}
// initialize sensor image for selected sensor
// Reads image resolution from sensor_intprm (set by Python code)
void InitializeSensorImage(mj::Simulate* sim, const mjModel* m) {
if (sim->selected_image_sensor < 0 || sim->selected_image_sensor >= sim->image_sensor_count) {
sim->sensor_image.reset();
return;
}
int sensor_idx = sim->image_sensor_indices[sim->selected_image_sensor];
// Read width/height from sensor_intprm
int width = m->sensor_intprm[sensor_idx * mjNSENS];
int height = m->sensor_intprm[sensor_idx * mjNSENS + 1];
sim->sensor_image_width = width;
sim->sensor_image_height = height;
// Allocate image buffer (RGB)
int img_size = width * height * 3;
sim->sensor_image = std::make_unique<unsigned char[]>(img_size);
}
// update sensor image with current sensor data
// Uses version number (last element) to avoid reading during MuJoCo reset
void UpdateSensorImage(mj::Simulate* sim, const mjModel* m, const mjData* d) {
if (sim->selected_image_sensor < 0 || !sim->sensor_image) return;
int sensor_idx = sim->image_sensor_indices[sim->selected_image_sensor];
int adr = m->sensor_adr[sensor_idx];
int w = sim->sensor_image_width;
int h = sim->sensor_image_height;
int img_size = w * h * 3;
// Check version (last element) - 0 means MuJoCo reset, skip copy
int current_version = (int)d->sensordata[adr + img_size - 1];
if (current_version == 0 || current_version == sim->sensor_image_last_seq) { return; }
sim->sensor_image_last_seq = current_version;
// Copy image data (skip last element = version)
for (int i = 0; i < img_size - 1; i++) {
mjtNum val = d->sensordata[adr + i];
sim->sensor_image[i] = (unsigned char)mjMIN(255, mjMAX(0, (int)val));
}
}
void ShowFigure(mj::Simulate* sim, mjrRect viewport, mjvFigure* fig) {
mjr_figure(viewport, fig, &sim->platform_ui->mjr_context());
}
void ShowOverlayText(mj::Simulate* sim,
mjrRect viewport,
int font,
int gridpos,
std::string text1,
std::string text2) {
mjr_overlay(font,
gridpos,
viewport,
text1.c_str(),
text2.c_str(),
&sim->platform_ui->mjr_context());
}
void ShowImage(mj::Simulate* sim, mjrRect viewport, const unsigned char* image) {
mjr_drawPixels(image, nullptr, viewport, &sim->platform_ui->mjr_context());
}
// load state from history buffer
static void LoadScrubState(mj::Simulate* sim) {
// get index into circular buffer
int i = (sim->scrub_index + sim->history_cursor_) % sim->nhistory_;
i = (i + sim->nhistory_) % sim->nhistory_;
// load state
mjtNum* state = &sim->history_[i * sim->state_size_];
mj_setState(sim->m_, sim->d_, state, mjSTATE_INTEGRATION);
// call forward dynamics
mj_forward(sim->m_, sim->d_);
}
// update an entire section of ui0
static void mjui0_update_section(mj::Simulate* sim, int section) {
mjui_update(section, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
}
// prepare info text
void UpdateInfoText(mj::Simulate* sim,
const mjModel* m,
const mjData* d,
char (&title)[mj::Simulate::kMaxFilenameLength],
char (&content)[mj::Simulate::kMaxFilenameLength]) {
char tmp[20];
// number of islands with statistics
int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
// compute solver error (maximum over islands)
mjtNum solerr = 0;
for (int i = 0; i < nisland; i++) {
mjtNum solerr_i = 0;
if (d->solver_niter[i]) {
int ind = mjMIN(d->solver_niter[i], mjNSOLVER) - 1;
const mjSolverStat* stat = d->solver + i * mjNSOLVER + ind;
solerr_i = mju_min(stat->improvement, stat->gradient);
if (solerr_i == 0) { solerr_i = mju_max(stat->improvement, stat->gradient); }
}
solerr = mju_max(solerr, solerr_i);
}
solerr = mju_log10(mju_max(mjMINVAL, solerr));
// format FPS text
char fps[10];
if (sim->fps_ < 1) {
mju::sprintf_arr(fps, "%0.1f ", sim->fps_);
} else {
mju::sprintf_arr(fps, "%.0f ", sim->fps_);
}
// total iterations of all islands with statistics
int solver_niter = 0;
for (int i = 0; i < nisland; i++) { solver_niter += d->solver_niter[i]; }
mjtNum step_duration = d->timer[mjTIMER_STEP].duration - sim->timer_prev_[mjTIMER_STEP].duration;
int step_number = d->timer[mjTIMER_STEP].number - sim->timer_prev_[mjTIMER_STEP].number;
mjtNum forward_duration =
d->timer[mjTIMER_FORWARD].duration - sim->timer_prev_[mjTIMER_FORWARD].duration;
int forward_number = d->timer[mjTIMER_FORWARD].number - sim->timer_prev_[mjTIMER_FORWARD].number;
// prepare info text
mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver \nFPS\nMemory");
mju::sprintf_arr(content,
"%-9.3f\n%d (%d con)\n%.3f\n%.1f (%d it)\n%s\n%.1f%% of %s",
d->time,
d->nefc,
d->ncon,
sim->run ? step_duration / mjMAX(1, step_number)
: forward_duration / mjMAX(1, forward_number),
solerr,
solver_niter,
fps,
100 * d->maxuse_arena / (double)(d->narena),
mju_writeNumBytes(d->narena));
// add Energy if enabled
{
if (mjENABLED(mjENBL_ENERGY)) {
mju::sprintf_arr(tmp, "\n%.3f", d->energy[0] + 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, d->solver_fwdinv[0])),
mju_log10(mju_max(mjMINVAL, d->solver_fwdinv[1])));
mju::strcat_arr(content, tmp);
mju::strcat_arr(title, "\nFwdInv");
}
// add islands if enabled
if (!mjDISABLED(mjDSBL_ISLAND)) {
mju::sprintf_arr(tmp, "\n%d", d->nisland);
mju::strcat_arr(content, tmp);
mju::strcat_arr(title, "\nIslands");
}
}
}
// sprintf forwarding, to avoid compiler warning in x-macro
void PrintField(char (&str)[mjMAXUINAME], void* ptr) {
mju::sprintf_arr(str, "%g", *static_cast<mjtNum*>(ptr));
}
// update watch
void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// clear
sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
// find specified field in mjData arrays, update value
#define X(TYPE, NAME, NR, NC) \
if (!mju::strcmp_arr(#NAME, sim->field) && !mju::strcmp_arr(#TYPE, "mjtNum")) { \
if (sim->index >= 0 && sim->index < m->NR * NC) { \
PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], d->NAME + sim->index); \
} else { \
mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index"); \
} \
return; \
}
MJDATA_POINTERS
#undef X
}
//---------------------------------- UI construction -----------------------------------------------
// make physics section of UI
void MakePhysicsSection(mj::Simulate* sim) {
mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
// clang-format off
mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", mjPRESERVE, nullptr, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(opt->integrator), "Euler\nRK4\nimplicit\nimplicitfast\ndiscrete"},
{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", 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"},
{mjITEM_EDITINT, "LS Iter", 2, &(opt->ls_iterations), "1 0 100"},
{mjITEM_EDITNUM, "LS Tol", 2, &(opt->ls_tolerance), "1 0 0.1"},
{mjITEM_EDITINT, "Noslip Iter", 2, &(opt->noslip_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "Noslip Tol", 2, &(opt->noslip_tolerance), "1 0 1"},
{mjITEM_EDITINT, "CCD Iter", 2, &(opt->ccd_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "CCD Tol", 2, &(opt->ccd_tolerance), "1 0 1"},
{mjITEM_EDITNUM, "Sleep Tol", 2, &(opt->sleep_tolerance), "1 0 1"},
{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", 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", mjPRESERVE},
{mjITEM_END}
};
mjuiDef defEnableFlags[] = {
{mjITEM_SEPARATOR, "Enable Flags", mjPRESERVE},
{mjITEM_END}
};
mjuiDef defOverride[] = {
{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", 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, ""},
{mjITEM_CHECKBYTE, "Act Group 3", 2, sim->enableactuator+3, ""},
{mjITEM_CHECKBYTE, "Act Group 4", 2, sim->enableactuator+4, ""},
{mjITEM_CHECKBYTE, "Act Group 5", 2, sim->enableactuator+5, ""},
{mjITEM_END}
};
// clang-format on
// add physics
mjui_add(&sim->ui0, defPhysics);
// add flags programmatically
mjuiDef defFlag[] = {
{mjITEM_CHECKINT, "", 2, nullptr, ""},
{mjITEM_END}
};
for (int i = 0; i < mjNDISABLE; i++) {
mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
defFlag[0].pdata = sim->disable + i;
mjui_add(&sim->ui0, defFlag);
}
mjui_add(&sim->ui0, defEnableFlags);
for (int i = 0; i < mjNENABLE; i++) {
mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
defFlag[0].pdata = sim->enable + i;
mjui_add(&sim->ui0, defFlag);
}
// add contact override
mjui_add(&sim->ui0, defOverride);
// 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),
"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),
"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 (int i = 0; i < mjMIN(m->ncam, mjMAXUIMULTI - 2); i++) {
// prepare name
char camname[mjMAXUINAME] = "\n";
const char* name = mj_id2name(m, mjOBJ_CAMERA, i);
if (name) {
mju::strcat_arr(camname, name);
} 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(&sim->ui0, defRendering);
// add flags programmatically
mjuiDef defFlag[] = {
{mjITEM_CHECKBYTE, "", 2, nullptr, ""},
{mjITEM_END}
};
for (int i = 0; i < mjNVISFLAG; i++) {
// set name
mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
// set shortcut and data
if (mjVISSTRING[i][2][0]) {
mju::sprintf_arr(defFlag[0].other, " %s", mjVISSTRING[i][2]);
} else {
mju::sprintf_arr(defFlag[0].other, "");
}
defFlag[0].pdata = sim->opt.flags + i;
mjui_add(&sim->ui0, defFlag);
}
// create tree slider
mjuiDef defTree[] = {
{mjITEM_SLIDERINT, "Tree depth", 2, &sim->opt.bvh_depth, "0 20"},
{mjITEM_SLIDERINT, "Flex layer", 2, &sim->opt.flex_layer, "0 10"},
{mjITEM_END}
};
mjui_add(&sim->ui0, defTree);
// add image sensor selector if image sensors exist
if (sim->image_sensor_count > 0) {
// build options string: "All\nSensor1\nSensor2\n..."
static char sensor_options[mjMAXUITEXT];
mju::strcpy_arr(sensor_options, "All");
for (int i = 0; i < sim->image_sensor_count && i < mjMAXUIMULTI - 1; i++) {
mju::strcat_arr(sensor_options, "\n");
if ((int)sim->image_sensor_names[i].length() < mjMAXUINAME) {
mju::strcat_arr(sensor_options, sim->image_sensor_names[i].c_str());
} else {
char truncated[mjMAXUINAME];
snprintf(truncated, mjMAXUINAME, "Image %d", i);
mju::strcat_arr(sensor_options, truncated);
}
}
// selected_image_sensor is -1 for None, 0+ for actual sensor
// but mjITEM_SELECT uses 0-based index, so we need to offset
sim->image_sensor_ui_selection = sim->selected_image_sensor + 1;
mjuiDef defImageSensor[] = {
{mjITEM_SELECT, "Sensor", 2, &sim->image_sensor_ui_selection, ""},
{mjITEM_END}
};
// copy options string into the struct's other field
mju::strcpy_arr(defImageSensor[0].other, sensor_options);
mjui_add(&sim->ui0, defImageSensor);
}
// add rendering flags
mjui_add(&sim->ui0, defOpenGL);
for (int i = 0; i < mjNRNDFLAG; i++) {
// set name
mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
// set shortcut and data
if (mjRNDSTRING[i][2][0]) {
mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
} else {
mju::sprintf_arr(defFlag[0].other, "");
}
defFlag[0].pdata = sim->scn.flags + i;
mjui_add(&sim->ui0, defFlag);
}
}
// make visualization section of UI
void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
mjStatistic* stat = sim->is_passive_ ? &sim->m_passive_->stat : &sim->m_->stat;
mjVisual* vis = sim->is_passive_ ? &sim->m_passive_->vis : &sim->m_->vis;
// clang-format off
mjuiDef defVisualization[] = {
{mjITEM_SECTION, "Visualization", mjPRESERVE, nullptr, "AV"},
{mjITEM_SEPARATOR, "Headlight", 1},
{mjITEM_RADIO, "Active", 2, &(vis->headlight.active), "Off\nOn"},
{mjITEM_EDITFLOAT, "Ambient", 2, &(vis->headlight.ambient), "3"},
{mjITEM_EDITFLOAT, "Diffuse", 2, &(vis->headlight.diffuse), "3"},
{mjITEM_EDITFLOAT, "Specular", 2, &(vis->headlight.specular), "3"},
{mjITEM_SEPARATOR, "Free Camera", 1},
{mjITEM_RADIO, "Orthographic", 2, &(vis->global.orthographic), "No\nYes"},
{mjITEM_EDITFLOAT, "Field of view", 2, &(vis->global.fovy), "1"},
{mjITEM_EDITNUM, "Center", 2, &(stat->center), "3"},
{mjITEM_EDITFLOAT, "Azimuth", 2, &(vis->global.azimuth), "1"},
{mjITEM_EDITFLOAT, "Elevation", 2, &(vis->global.elevation), "1"},
{mjITEM_BUTTON, "Align", 2, nullptr, "CA"},
{mjITEM_SEPARATOR, "Global", 1},
{mjITEM_EDITNUM, "Extent", 2, &(stat->extent), "1"},
{mjITEM_RADIO, "Inertia", 2, &(vis->global.ellipsoidinertia), "Box\nEllipsoid"},
{mjITEM_RADIO, "BVH active", 5, &(vis->global.bvactive), "False\nTrue"},
{mjITEM_SEPARATOR, "Map", 1},
{mjITEM_EDITFLOAT, "Stiffness", 2, &(vis->map.stiffness), "1"},
{mjITEM_EDITFLOAT, "Rot stiffness", 2, &(vis->map.stiffnessrot), "1"},
{mjITEM_EDITFLOAT, "Force", 2, &(vis->map.force), "1"},
{mjITEM_EDITFLOAT, "Torque", 2, &(vis->map.torque), "1"},
{mjITEM_EDITFLOAT, "Alpha", 2, &(vis->map.alpha), "1"},
{mjITEM_EDITFLOAT, "Fog start", 2, &(vis->map.fogstart), "1"},
{mjITEM_EDITFLOAT, "Fog end", 2, &(vis->map.fogend), "1"},
{mjITEM_EDITFLOAT, "Z near", 2, &(vis->map.znear), "1"},
{mjITEM_EDITFLOAT, "Z far", 2, &(vis->map.zfar), "1"},
{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", 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"},
{mjITEM_EDITFLOAT, "Connect", 2, &(vis->scale.connect), "1"},
{mjITEM_EDITFLOAT, "Com", 2, &(vis->scale.com), "1"},
{mjITEM_EDITFLOAT, "Camera", 2, &(vis->scale.camera), "1"},
{mjITEM_EDITFLOAT, "Light", 2, &(vis->scale.light), "1"},
{mjITEM_EDITFLOAT, "Select point", 2, &(vis->scale.selectpoint), "1"},
{mjITEM_EDITFLOAT, "Joint length", 2, &(vis->scale.jointlength), "1"},
{mjITEM_EDITFLOAT, "Joint width", 2, &(vis->scale.jointwidth), "1"},
{mjITEM_EDITFLOAT, "Actuator length", 2, &(vis->scale.actuatorlength), "1"},
{mjITEM_EDITFLOAT, "Actuator width", 2, &(vis->scale.actuatorwidth), "1"},
{mjITEM_EDITFLOAT, "Frame length", 2, &(vis->scale.framelength), "1"},
{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 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_SEPARATOR, "Geom groups", 1},
{mjITEM_CHECKBYTE, "Geom 0", 2, sim->opt.geomgroup, " 0"},
{mjITEM_CHECKBYTE, "Geom 1", 2, sim->opt.geomgroup+1, " 1"},
{mjITEM_CHECKBYTE, "Geom 2", 2, sim->opt.geomgroup+2, " 2"},
{mjITEM_CHECKBYTE, "Geom 3", 2, sim->opt.geomgroup+3, " 3"},
{mjITEM_CHECKBYTE, "Geom 4", 2, sim->opt.geomgroup+4, " 4"},
{mjITEM_CHECKBYTE, "Geom 5", 2, sim->opt.geomgroup+5, " 5"},
{mjITEM_SEPARATOR, "Site groups", 1},
{mjITEM_CHECKBYTE, "Site 0", 2, sim->opt.sitegroup, "S0"},
{mjITEM_CHECKBYTE, "Site 1", 2, sim->opt.sitegroup+1, "S1"},
{mjITEM_CHECKBYTE, "Site 2", 2, sim->opt.sitegroup+2, "S2"},
{mjITEM_CHECKBYTE, "Site 3", 2, sim->opt.sitegroup+3, "S3"},
{mjITEM_CHECKBYTE, "Site 4", 2, sim->opt.sitegroup+4, "S4"},
{mjITEM_CHECKBYTE, "Site 5", 2, sim->opt.sitegroup+5, "S5"},
{mjITEM_SEPARATOR, "Joint groups", 1},
{mjITEM_CHECKBYTE, "Joint 0", 2, sim->opt.jointgroup, ""},
{mjITEM_CHECKBYTE, "Joint 1", 2, sim->opt.jointgroup+1, ""},
{mjITEM_CHECKBYTE, "Joint 2", 2, sim->opt.jointgroup+2, ""},
{mjITEM_CHECKBYTE, "Joint 3", 2, sim->opt.jointgroup+3, ""},
{mjITEM_CHECKBYTE, "Joint 4", 2, sim->opt.jointgroup+4, ""},
{mjITEM_CHECKBYTE, "Joint 5", 2, sim->opt.jointgroup+5, ""},
{mjITEM_SEPARATOR, "Tendon groups", 1},
{mjITEM_CHECKBYTE, "Tendon 0", 2, sim->opt.tendongroup, ""},
{mjITEM_CHECKBYTE, "Tendon 1", 2, sim->opt.tendongroup+1, ""},
{mjITEM_CHECKBYTE, "Tendon 2", 2, sim->opt.tendongroup+2, ""},
{mjITEM_CHECKBYTE, "Tendon 3", 2, sim->opt.tendongroup+3, ""},
{mjITEM_CHECKBYTE, "Tendon 4", 2, sim->opt.tendongroup+4, ""},
{mjITEM_CHECKBYTE, "Tendon 5", 2, sim->opt.tendongroup+5, ""},
{mjITEM_SEPARATOR, "Actuator groups", 1},
{mjITEM_CHECKBYTE, "Actuator 0", 2, sim->opt.actuatorgroup, ""},
{mjITEM_CHECKBYTE, "Actuator 1", 2, sim->opt.actuatorgroup+1, ""},
{mjITEM_CHECKBYTE, "Actuator 2", 2, sim->opt.actuatorgroup+2, ""},
{mjITEM_CHECKBYTE, "Actuator 3", 2, sim->opt.actuatorgroup+3, ""},
{mjITEM_CHECKBYTE, "Actuator 4", 2, sim->opt.actuatorgroup+4, ""},
{mjITEM_CHECKBYTE, "Actuator 5", 2, sim->opt.actuatorgroup+5, ""},
{mjITEM_SEPARATOR, "Flex groups", 1},
{mjITEM_CHECKBYTE, "Flex 0", 2, sim->opt.flexgroup, ""},
{mjITEM_CHECKBYTE, "Flex 1", 2, sim->opt.flexgroup+1, ""},
{mjITEM_CHECKBYTE, "Flex 2", 2, sim->opt.flexgroup+2, ""},
{mjITEM_CHECKBYTE, "Flex 3", 2, sim->opt.flexgroup+3, ""},
{mjITEM_CHECKBYTE, "Flex 4", 2, sim->opt.flexgroup+4, ""},
{mjITEM_CHECKBYTE, "Flex 5", 2, sim->opt.flexgroup+5, ""},
{mjITEM_SEPARATOR, "Skin groups", 1},
{mjITEM_CHECKBYTE, "Skin 0", 2, sim->opt.skingroup, ""},
{mjITEM_CHECKBYTE, "Skin 1", 2, sim->opt.skingroup+1, ""},
{mjITEM_CHECKBYTE, "Skin 2", 2, sim->opt.skingroup+2, ""},
{mjITEM_CHECKBYTE, "Skin 3", 2, sim->opt.skingroup+3, ""},
{mjITEM_CHECKBYTE, "Skin 4", 2, sim->opt.skingroup+4, ""},
{mjITEM_CHECKBYTE, "Skin 5", 2, sim->opt.skingroup+5, ""},
{mjITEM_END}
};
// clang-format on
// add section
mjui_add(&sim->ui0, defGroup);
}
// make logging section of UI
void MakeLoggingSection(mj::Simulate* sim) {
mjLogConfig cfg = mju_getLogConfig();
sim->log_console = cfg.logto_console;
sim->log_file = cfg.logto_file;
for (int i = 0; i < mjNTOPIC; i++) { sim->log_topics[i] = ((cfg.topics & (1 << i)) != 0); }
// clang-format off
mjuiDef defLogging[] = {
{mjITEM_SECTION, "Logging", mjPRESERVE, nullptr, "AL"},
{mjITEM_CHECKBYTE, "Console", 2, &sim->log_console, ""},
{mjITEM_CHECKBYTE, "File", 2, &sim->log_file, ""},
{mjITEM_SEPARATOR, "Info topics", 1},
{mjITEM_END}
};
mjui_add(&sim->ui0, defLogging);
mjuiDef defTopic[] = {
{mjITEM_CHECKBYTE, "", 2, nullptr, ""},
{mjITEM_END}
};
// clang-format on
for (int i = 0; i < mjNTOPIC; i++) {
mju::strcpy_arr(defTopic[0].name, mjTOPICSTRING[i]);
defTopic[0].pdata = sim->log_topics + i;
mjui_add(&sim->ui0, defTopic);
}
}
// make joint section of UI
void MakeJointSection(mj::Simulate* sim) {
mjuiDef defJoint[] = {
{mjITEM_SECTION, "Joint", mjPRESERVE, nullptr, "AJ"},
{mjITEM_END}
};
mjuiDef defSlider[] = {
{mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
{mjITEM_END}
};
// add section
mjui_add(&sim->ui1, defJoint);
defSlider[0].state = 4;
// add scalar joints, exit if UI limit reached
int itemcnt = 0;
for (int i = 0; i < sim->jnt_type_.size() && itemcnt < mjMAXUIITEM; i++) {
if ((sim->jnt_type_[i] == mjJNT_HINGE || sim->jnt_type_[i] == mjJNT_SLIDE)) {
// skip if joint group is disabled
if (!sim->opt.jointgroup[mjMAX(0, mjMIN(mjNGROUP - 1, sim->jnt_group_[i]))]) { continue; }
// set data and name
if (!sim->is_passive_) {
defSlider[0].pdata = &sim->d_->qpos[sim->m_->jnt_qposadr[i]];
} else {
defSlider[0].pdata = &sim->qpos_[sim->jnt_qposadr_[i]];
}
if (!sim->jnt_names_[i].empty()) {
mju::strcpy_arr(defSlider[0].name, sim->jnt_names_[i].c_str());
} else {
mju::sprintf_arr(defSlider[0].name, "joint %d", i);
}
// set range
if (sim->jnt_range_[i].has_value())
mju::sprintf_arr(defSlider[0].other,
"%.17g %.17g",
sim->jnt_range_[i]->first,
sim->jnt_range_[i]->second);
else if (sim->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(&sim->ui1, defSlider);
itemcnt++;
}
}
}
// make control section of UI
void MakeControlSection(mj::Simulate* sim) {
mjuiDef defControl[] = {
{mjITEM_SECTION, "Control", mjPRESERVE, nullptr, "AC"},
{mjITEM_BUTTON, "Clear all", 2},
{mjITEM_END}
};
mjuiDef defSlider[] = {
{mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
{mjITEM_END}
};
// add section
mjui_add(&sim->ui1, defControl);
// add controls, exit if UI limit reached (Clear button already added)
int itemcnt = 1;
for (int i = 0; i < sim->actuator_ctrlrange_.size() && itemcnt < mjMAXUIITEM; i++) {
// skip if actuator vis group is disabled
int group = sim->actuator_group_[i];
if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP - 1, group))]) { continue; }
// grey out if actuator group is disabled
if (group >= 0 && group <= 30 && sim->m_->opt.disableactuator & (1 << group)) {
defSlider[0].state = 0;
} else {
defSlider[0].state = 2;
}
// set data and name
if (!sim->is_passive_) {
defSlider[0].pdata = &sim->d_->ctrl[i];
} else {
defSlider[0].pdata = &sim->ctrl_[i];
}
if (!sim->actuator_names_[i].empty()) {
mju::strcpy_arr(defSlider[0].name, sim->actuator_names_[i].c_str());
} else {
mju::sprintf_arr(defSlider[0].name, "control %d", i);
}
// set range
if (sim->actuator_ctrlrange_[i].has_value())
mju::sprintf_arr(defSlider[0].other,
"%.17g %.17g",
sim->actuator_ctrlrange_[i]->first,
sim->actuator_ctrlrange_[i]->second);
else { mju::strcpy_arr(defSlider[0].other, "-1 1"); }
// add and count
mjui_add(&sim->ui1, defSlider);
itemcnt++;
}
}
// make equality section of UI
void MakeEqualitySection(mj::Simulate* sim) {
mjuiDef defEquality[] = {
{mjITEM_SECTION, "Equality", mjPRESERVE, nullptr, "AE"},
{mjITEM_END}
};
mjuiDef defCheckBox[] = {
{mjITEM_CHECKBYTE, "", 2, nullptr, ""},
{mjITEM_END}
};
// add section
mjui_add(&sim->ui1, defEquality);
// add equalities, exit if UI limit reached
for (int i = 0; i < sim->m_->neq && i < mjMAXUIITEM; i++) {
// set data
defCheckBox[0].pdata = &sim->d_->eq_active[i];
// set name
if (!sim->equality_names_[i].empty()) {
mju::strcpy_arr(defCheckBox[0].name, sim->equality_names_[i].c_str());
} else {
mju::sprintf_arr(defCheckBox[0].name, "equality %d", i);
}
mjui_add(&sim->ui1, defCheckBox);
}
}
// make model-dependent UI sections
void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// clear model-dependent sections of UI
sim->ui0.nsect = SECT_PHYSICS;
sim->ui1.nsect = 0;
// make
MakePhysicsSection(sim);
MakeRenderingSection(sim, m);
MakeVisualizationSection(sim, m);
MakeGroupSection(sim);
MakeLoggingSection(sim);
MakeJointSection(sim);
MakeControlSection(sim);
MakeEqualitySection(sim);
}
//---------------------------------- utility functions ---------------------------------------------
// align and scale view
void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
// if the id is valid, use the initial fixed camera
if (m->vis.global.cameraid >= 0 && m->vis.global.cameraid < m->ncam) {
sim->cam.fixedcamid = m->vis.global.cameraid;
sim->cam.type = mjCAMERA_FIXED;
}
// otherwise use default free camera
else {
mjv_defaultFreeCamera(m, &sim->cam);
}
}
// copy state to clipboard as key
void CopyKey(mj::Simulate* sim, const mjModel* m, const mjData* d, bool fp) {
char clipboard[5000] = "<key\n";
char buf[200];
const char p_regular[] = "%g";
const char p_full[] = "%-22.16g";
const char* format = fp ? p_full : p_regular;
// time
mju::strcat_arr(clipboard, " time=\"");
mju::sprintf_arr(buf, format, d->time);
mju::strcat_arr(clipboard, buf);
// qpos
mju::strcat_arr(clipboard, "\"\n qpos=\"");
for (int i = 0; i < m->nq; i++) {
mju::sprintf_arr(buf, format, d->qpos[i]);
if (i < m->nq - 1) mju::strcat_arr(buf, " ");
mju::strcat_arr(clipboard, buf);
}
// qvel
mju::strcat_arr(clipboard, "\"\n qvel=\"");
for (int i = 0; i < m->nv; i++) {
mju::sprintf_arr(buf, format, d->qvel[i]);
if (i < m->nv - 1) mju::strcat_arr(buf, " ");
mju::strcat_arr(clipboard, buf);
}
// act
if (m->na > 0) {
mju::strcat_arr(clipboard, "\"\n act=\"");
for (int i = 0; i < m->na; i++) {
mju::sprintf_arr(buf, format, d->act[i]);
if (i < m->na - 1) mju::strcat_arr(buf, " ");
mju::strcat_arr(clipboard, buf);
}
}
// ctrl
if (m->nu > 0) {
mju::strcat_arr(clipboard, "\"\n ctrl=\"");
for (int i = 0; i < m->nu; i++) {
mju::sprintf_arr(buf, format, d->ctrl[i]);
if (i < m->nu - 1) mju::strcat_arr(buf, " ");
mju::strcat_arr(clipboard, buf);
}
}
if (m->nmocap > 0) {
// mocap_pos
mju::strcat_arr(clipboard, "\"\n mpos=\"");
for (int i = 0; i < 3 * m->nmocap; i++) {
mju::sprintf_arr(buf, format, d->mocap_pos[i]);
if (i < 3 * m->nmocap - 1) mju::strcat_arr(buf, " ");
mju::strcat_arr(clipboard, buf);
}
// mocap_quat
mju::strcat_arr(clipboard, "\"\n mquat=\"");
for (int i = 0; i < 4 * m->nmocap; i++) {
mju::sprintf_arr(buf, format, d->mocap_quat[i]);
if (i < 4 * m->nmocap - 1) mju::strcat_arr(buf, " ");
mju::strcat_arr(clipboard, buf);
}
}
mju::strcat_arr(clipboard, "\"\n/>");
// copy to clipboard
sim->platform_ui->SetClipboardString(clipboard);
}
// millisecond timer, for MuJoCo built-in profiler
mjtNum Timer() {
static auto start = mj::Simulate::Clock::now();
auto elapsed = Milliseconds(mj::Simulate::Clock::now() - start);
return elapsed.count();
}
// copy current camera to clipboard as MJCF specification
void CopyCamera(mj::Simulate* sim) {
mjvGLCamera* camera = sim->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
sim->platform_ui->SetClipboardString(clipboard);
}
// update UI 0 when MuJoCo structures change (except for joint sliders)
void UpdateSettings(mj::Simulate* sim, const mjModel* m) {
// physics flags
for (int i = 0; i < mjNDISABLE; i++) {
int new_value = ((m->opt.disableflags & (1 << i)) != 0);
if (sim->disable[i] != new_value) {
sim->disable[i] = new_value;
sim->pending_.ui_update_physics = true;
}
}
for (int i = 0; i < mjNENABLE; i++) {
int new_value = ((m->opt.enableflags & (1 << i)) != 0);
if (sim->enable[i] != new_value) {
sim->enable[i] = new_value;
sim->pending_.ui_update_physics = true;
}
}
for (int i = 0; i < mjNGROUP; i++) {
int enabled = ((m->opt.disableactuator & (1 << i)) == 0);
if (sim->enableactuator[i] != enabled) {
sim->enableactuator[i] = enabled;
sim->pending_.ui_update_physics = true;
sim->pending_.ui_remake_ctrl = true;
}
}
// camera
int old_camera = sim->camera;
if (sim->cam.type == mjCAMERA_FIXED) {
sim->camera = 2 + sim->cam.fixedcamid;
} else if (sim->cam.type == mjCAMERA_TRACKING) {
sim->camera = 1;
} else {
sim->camera = 0;
}
if (old_camera != sim->camera) { sim->pending_.ui_update_rendering = true; }
// logging flags
mjLogConfig cfg = mju_getLogConfig();
bool logging_changed = false;
if (sim->log_console != cfg.logto_console) {
sim->log_console = cfg.logto_console;
logging_changed = true;
}
if (sim->log_file != cfg.logto_file) {
sim->log_file = cfg.logto_file;
logging_changed = true;
}
for (int i = 0; i < mjNTOPIC; i++) {
int enabled = ((cfg.topics & (1 << i)) != 0);
if (sim->log_topics[i] != enabled) {
sim->log_topics[i] = enabled;
logging_changed = true;
}
}
if (logging_changed) { sim->pending_.ui_update_logging = true; }
}
// Compute suitable font scale.
int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
// compute framebuffer-to-window ratio
auto [buf_width, buf_height] = platform_ui.GetFramebufferSize();
auto [win_width, win_height] = platform_ui.GetWindowSize();
double b2w = static_cast<double>(buf_width) / win_width;
// compute PPI
double PPI = b2w * platform_ui.GetDisplayPixelsPerInch();
// estimate font scaling, guard against unrealistic PPI
int fs;
if (buf_width > win_width) {
fs = mju_round(b2w * 100);
} else if (PPI > 50 && PPI < 350) {
fs = mju_round(PPI);
} else {
fs = 150;
}
fs = mju_round(fs * 0.02) * 50;
fs = mjMIN(300, mjMAX(100, fs));
return fs;
}
//---------------------------------- UI handlers ---------------------------------------------------
// determine enable/disable item state given category
int UiPredicate(int category, void* userdata) {
mj::Simulate* sim = static_cast<mj::Simulate*>(userdata);
switch (category) {
case 2: // require model
return sim->m_ || sim->is_passive_;
case 3: // require model and nkey
return (sim->m_ || sim->is_passive_) && sim->nkey_;
case 4: // require model and paused
return sim->m_ && !sim->run;
case 5: // require model and fully managed mode
return !sim->is_passive_ && sim->m_;
default:
return 1;
}
}
// set window layout
void UiLayout(mjuiState* state) {
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
mjrRect* rect = state->rect;
// set number of rectangles
state->nrect = 4;
// rect 1: UI 0
rect[1].left = 0;
rect[1].width = sim->ui0_enable ? sim->ui0.width : 0;
rect[1].bottom = 0;
rect[1].height = rect[0].height;
// rect 2: UI 1
rect[2].width = sim->ui1_enable ? sim->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;
}
// modify UI
void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
mjui_resize(ui, con);
// remake aux buffer only if missing or different
int id = ui->auxid;
if (con->auxFBO[id] == 0 ||
con->auxFBO_r[id] == 0 ||
con->auxColor[id] == 0 ||
con->auxColor_r[id] == 0 ||
con->auxWidth[id] != ui->width ||
con->auxHeight[id] != ui->maxheight ||
con->auxSamples[id] != ui->spacing.samples) {
mjr_addAux(id, ui->width, ui->maxheight, ui->spacing.samples, con);
}
UiLayout(state);
mjui_update(-1, -1, ui, state, con);
}
// handle UI event
void UiEvent(mjuiState* state) {
mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
// call UI 0 if event is directed to it
if ((state->dragrect == sim->ui0.rectid) ||
(state->dragrect == 0 && state->mouserect == sim->ui0.rectid) ||
state->type == mjEVENT_KEY) {
// process UI event
mjuiItem* it = mjui_event(&sim->ui0, state, &sim->platform_ui->mjr_context());
// file section
if (it && it->sectionid == SECT_FILE) {
switch (it->itemid) {
case 0: // Save xml
sim->pending_.save_xml = GetSavePath("mjmodel.xml");
break;
case 1: // Save mjb
sim->pending_.save_mjb = GetSavePath("mjmodel.mjb");
break;
case 2: // Print model
sim->pending_.print_model = GetSavePath("MJMODEL.TXT");
break;
case 3: // Print data
sim->pending_.print_data = GetSavePath("MJDATA.TXT");
break;
case 4: // Quit
sim->exitrequest.store(1);
break;
case 5: // Screenshot
sim->screenshotrequest.store(true);
break;
}
}
// option section
else if (it && it->sectionid == SECT_OPTION) {
if (it->pdata == &sim->info) {
// clear load error/warning when toggling info panel
sim->load_error[0] = '\0';
}
if (it->pdata == &sim->spacing) {
sim->ui0.spacing = mjui_themeSpacing(sim->spacing);
sim->ui1.spacing = mjui_themeSpacing(sim->spacing);
} else if (it->pdata == &sim->color) {
sim->ui0.color = mjui_themeColor(sim->color);
sim->ui1.color = mjui_themeColor(sim->color);
} else if (it->pdata == &sim->font) {
mjr_changeFont(50 * (sim->font + 1), &sim->platform_ui->mjr_context());
} else if (it->pdata == &sim->fullscreen) {
sim->platform_ui->ToggleFullscreen();
} else if (it->pdata == &sim->vsync) {
sim->platform_ui->SetVSync(sim->vsync);
}
// modify UI
UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
// simulation section
else if (it && it->sectionid == SECT_SIMULATION) {
if (it->itemid == 0) {
// clear load error/warning when toggling play/pause
sim->load_error[0] = '\0';
}
switch (it->itemid) {
case 1: // Threadpool
sim->pending_.update_threadpool = true;
break;
case 2: // Reset
sim->pending_.reset = true;
break;
case 3: // Reload
sim->uiloadrequest.fetch_add(1);
break;
case 4: // Align
sim->pending_.align = true;
break;
case 5: // Copy key
sim->pending_.copy_key = true;
sim->pending_.copy_key_full_precision = sim->platform_ui->IsShiftKeyPressed();
break;
case 6: // Adjust key
case 7: // Load key
sim->pending_.load_key = true;
break;
case 8: // Save key
sim->pending_.save_key = true;
break;
case 12: // History scrubber
sim->run = 0;
sim->pending_.load_from_history = true;
mjui0_update_section(sim, SECT_SIMULATION);
break;
}
}
// physics section
else if (it && it->sectionid == SECT_PHYSICS && sim->m_) {
mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
// update disable flags in mjOption
opt->disableflags = 0;
for (int i = 0; i < mjNDISABLE; i++) {
if (sim->disable[i]) { opt->disableflags |= (1 << i); }
}
// update enable flags in mjOption
opt->enableflags = 0;
for (int i = 0; i < mjNENABLE; i++) {
if (sim->enable[i]) { opt->enableflags |= (1 << i); }
}
// update disableactuator bitflag in mjOption
bool group_changed = false;
for (int i = 0; i < mjNGROUP; i++) {
if ((!sim->enableactuator[i]) != (opt->disableactuator & (1 << i))) {
group_changed = true;
if (!sim->enableactuator[i]) {
// disable actuator group i
opt->disableactuator |= (1 << i);
} else {
// enable actuator group i
opt->disableactuator &= ~(1 << i);
}
}
}
// remake control section if actuator disable group changed
if (group_changed) { sim->pending_.ui_remake_ctrl = true; }
}
// rendering section
else if (it && it->sectionid == SECT_RENDERING) {
// only update the camera when the camera itself changed
if (it->pdata == &sim->camera) {
if (sim->camera == 0) {
sim->cam.type = mjCAMERA_FREE;
} else if (sim->camera == 1) {
if (sim->pert.select > 0) {
sim->cam.type = mjCAMERA_TRACKING;
sim->cam.trackbodyid = sim->pert.select;
sim->cam.fixedcamid = -1;
} else {
sim->cam.type = mjCAMERA_FREE;
sim->camera = 0;
mjui0_update_section(sim, SECT_RENDERING);
}
} else {
sim->cam.type = mjCAMERA_FIXED;
sim->cam.fixedcamid = sim->camera - 2;
}
}
// copy camera spec to clipboard (as MJCF element)
if (it->itemid == 3) { CopyCamera(sim); }
}
// visualization section
else if (it && it->sectionid == SECT_VISUALIZATION) {
if (!mju::strcmp_arr(it->name, "Align")) { sim->pending_.align = true; }
}
// 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') {
sim->ui1.nsect = SECT_JOINT;
MakeJointSection(sim);
sim->ui1.nsect = NSECT1;
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
// remake control section if actuator group changed
if (it->name[0] == 'A' && it->name[1] == 'c') { sim->pending_.ui_remake_ctrl = true; }
}
// logging section
else if (it && it->sectionid == SECT_LOGGING) {
mjLogConfig cfg = mju_getLogConfig();
cfg.logto_console = sim->log_console;
cfg.logto_file = sim->log_file;
cfg.topics = 0;
for (int i = 0; i < mjNTOPIC; i++) {
if (sim->log_topics[i]) { cfg.topics |= (1 << i); }
}
mju_setLogConfig(cfg);
}
// 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 == sim->ui1.rectid) ||
(state->dragrect == 0 && state->mouserect == sim->ui1.rectid) ||
state->type == mjEVENT_KEY) {
// process UI event
mjuiItem* it = mjui_event(&sim->ui1, state, &sim->platform_ui->mjr_context());
// control section
if (it && it->sectionid == SECT_CONTROL) {
// clear controls
if (it->itemid == 0) { sim->pending_.zero_ctrl = true; }
}
// 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 (!sim->is_passive_ && sim->m_) {
sim->run = 1 - sim->run;
sim->pert.active = 0;
sim->load_error[0] = '\0';
if (sim->run) sim->scrub_index = 0; // reset scrubber
mjui0_update_section(sim, -1);
}
break;
case mjKEY_RIGHT: // step forward
if (!sim->is_passive_ && sim->m_ && !sim->run) {
// currently in scrubber: increment scrub, load state, update slider UI
if (sim->scrub_index < 0) {
sim->scrub_index++;
sim->pending_.load_from_history = true;
mjui0_update_section(sim, SECT_SIMULATION);
}
// not in scrubber: step, add to history buffer
else {
mj_step(sim->m_, sim->d_);
sim->AddToHistory();
}
UpdateProfiler(sim, sim->m_, sim->d_);
UpdateSensor(sim, sim->m_, sim->d_);
UpdateSettings(sim, sim->m_);
}
break;
case mjKEY_LEFT: // step backward
if (!sim->is_passive_ && sim->m_) {
sim->run = 0;
// decrement scrub, load state
sim->scrub_index = mjMAX(sim->scrub_index - 1, 1 - sim->nhistory_);
sim->pending_.load_from_history = true;
// update slider UI, profiler, sensor
mjui0_update_section(sim, SECT_SIMULATION);
UpdateProfiler(sim, sim->m_, sim->d_);
UpdateSensor(sim, sim->m_, sim->d_);
}
break;
case mjKEY_PAGE_UP: // select parent body
if ((sim->m_ || sim->is_passive_) && sim->pert.select > 0) {
sim->pert.select = sim->body_parentid_[sim->pert.select];
sim->pert.flexselect = -1;
sim->pert.skinselect = -1;
// stop perturbation if world reached
if (sim->pert.select <= 0) { sim->pert.active = 0; }
}
break;
case ']': // cycle up fixed cameras
if ((sim->m_ || !sim->is_passive_) && sim->ncam_) {
sim->cam.type = mjCAMERA_FIXED;
// camera = {0 or 1} are reserved for the free and tracking cameras
if (sim->camera < 2 || sim->camera == 2 + sim->ncam_ - 1) {
sim->camera = 2;
} else {
sim->camera += 1;
}
sim->cam.fixedcamid = sim->camera - 2;
mjui0_update_section(sim, SECT_RENDERING);
}
break;
case '[': // cycle down fixed cameras
if ((sim->m_ || sim->is_passive_) && sim->ncam_) {
sim->cam.type = mjCAMERA_FIXED;
// camera = {0 or 1} are reserved for the free and tracking cameras
if (sim->camera <= 2) {
sim->camera = 2 + sim->ncam_ - 1;
} else {
sim->camera -= 1;
}
sim->cam.fixedcamid = sim->camera - 2;
mjui0_update_section(sim, SECT_RENDERING);
}
break;
case mjKEY_F6: // cycle frame visualisation
if (sim->m_ || sim->is_passive_) {
sim->opt.frame = (sim->opt.frame + 1) % mjNFRAME;
mjui0_update_section(sim, SECT_RENDERING);
}
break;
case mjKEY_F7: // cycle label visualisation
if (sim->m_ || sim->is_passive_) {
sim->opt.label = (sim->opt.label + 1) % mjNLABEL;
mjui0_update_section(sim, SECT_RENDERING);
}
break;
case mjKEY_ESCAPE: // free camera
sim->cam.type = mjCAMERA_FREE;
sim->camera = 0;
mjui0_update_section(sim, SECT_RENDERING);
break;
case '-': // slow down
if (!sim->is_passive_) {
int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
if (sim->real_time_index < numclicks - 1 && !state->shift) {
sim->real_time_index++;
sim->speed_changed = true;
}
}
break;
case '=': // speed up
if (!sim->is_passive_ && sim->real_time_index > 0 && !state->shift) {
sim->real_time_index--;
sim->speed_changed = true;
}
break;
case mjKEY_TAB: // toggle left/right UI
if (!state->shift) {
// toggle left UI
sim->ui0_enable = !sim->ui0_enable;
UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
} else {
// toggle right UI
sim->ui1_enable = !sim->ui1_enable;
UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
}
break;
}
return;
}
// local pointers used below
mjModel* model = sim->is_passive_ ? sim->m_passive_ : sim->m_;
mjData* data = sim->is_passive_ ? sim->d_passive_ : sim->d_;
// 3D scroll
if (state->type == mjEVENT_SCROLL && state->mouserect == 3 && model) {
// emulate vertical mouse motion = 2% of window height
mjv_moveCamera(model, mjMOUSE_ZOOM, 0, -zoom_increment * state->sy, &sim->cam);
return;
}
// 3D press
if (state->type == mjEVENT_PRESS && state->mouserect == 3) {
// set perturbation
int newperturb = 0;
if (state->control && sim->pert.select > 0 && (sim->m_ || sim->is_passive_)) {
// right: translate; left: rotate
if (state->right) {
newperturb = mjPERT_TRANSLATE;
} else if (state->left) {
newperturb = mjPERT_ROTATE;
}
if (newperturb && !sim->pert.active) { sim->pending_.newperturb = newperturb; }
}
// handle double-click
if (state->doubleclick && (sim->m_ || sim->is_passive_)) {
sim->pending_.select = true;
std::memcpy(&sim->pending_.select_state, state, sizeof(sim->pending_.select_state));
// stop perturbation on select
sim->pert.active = 0;
sim->pending_.newperturb = 0;
}
return;
}
// 3D release
if (state->type == mjEVENT_RELEASE && state->dragrect == 3 && (sim->m_ || sim->is_passive_)) {
// stop perturbation
sim->pert.active = 0;
sim->pending_.newperturb = 0;
return;
}
// 3D move
if (state->type == mjEVENT_MOVE && state->dragrect == 3 && (sim->m_ || sim->is_passive_)) {
// 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 (sim->pert.active) {
mjv_movePerturb(model,
data,
action,
state->dx / r.height,
-state->dy / r.height,
&sim->scn,
&sim->pert);
} else {
mjv_moveCamera(model, action, state->dx / r.height, -state->dy / r.height, &sim->cam);
}
return;
}
// Dropped files
if (state->type == mjEVENT_FILESDROP && state->dropcount > 0 && !sim->is_passive_) {
while (sim->droploadrequest.load()) {}
mju::strcpy_arr(sim->dropfilename, state->droppaths[0]);
sim->droploadrequest.store(true);
return;
}
// Redraw
if (state->type == mjEVENT_REDRAW) {
sim->Render();
return;
}
}
} // namespace
namespace mujoco {
namespace mju = ::mujoco::sample_util;
Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
mjvCamera* cam,
mjvOption* opt,
mjvPerturb* pert,
bool is_passive)
: is_passive_(is_passive),
cam(*cam),
opt(*opt),
pert(*pert),
platform_ui(std::move(platform_ui)),
uistate(this->platform_ui->state()) {
mjv_defaultScene(&scn);
}
//------------------------- Synchronize render and physics threads ---------------------------------
// operations which require holding the mutex, prevents racing with physics thread
void Simulate::Sync(bool state_only) {
MutexLock lock(this->mtx);
if (!m_) { return; }
if (this->exitrequest.load()) { return; }
bool update_profiler = this->profiler;
bool update_sensor = this->sensor;
for (int i = 0; i < m_->njnt; ++i) {
std::optional<std::pair<mjtNum, mjtNum>> range;
if (m_->jnt_limited[i]) { range.emplace(m_->jnt_range[2 * i], m_->jnt_range[2 * i + 1]); }
if (jnt_range_[i] != range) {
pending_.ui_update_joint = true;
jnt_range_[i].swap(range);
}
}
for (int i = 0; i < m_->nu; ++i) {
std::optional<std::pair<mjtNum, mjtNum>> range;
// a defined ctrlrange sets the slider range, even when ctrl is not clamped
if (m_->actuator_ctrlrange[2 * i] < m_->actuator_ctrlrange[2 * i + 1]) {
range.emplace(m_->actuator_ctrlrange[2 * i], m_->actuator_ctrlrange[2 * i + 1]);
}
if (actuator_ctrlrange_[i] != range) {
pending_.ui_remake_ctrl = true;
actuator_ctrlrange_[i].swap(range);
}
}
for (int i = 0; i < m_->nq; ++i) {
if (qpos_[i] != qpos_prev_[i]) {
d_->qpos[i] = qpos_[i];
} else {
qpos_[i] = d_->qpos[i];
}
if (qpos_prev_[i] != qpos_[i]) {
pending_.ui_update_joint = true;
qpos_prev_[i] = qpos_[i];
}
}
for (int i = 0; i < m_->nu; ++i) {
if (ctrl_[i] != ctrl_prev_[i]) {
d_->ctrl[i] = ctrl_[i];
} else {
ctrl_[i] = d_->ctrl[i];
}
if (ctrl_prev_[i] != ctrl_[i]) {
pending_.ui_update_ctrl = true;
ctrl_prev_[i] = ctrl_[i];
}
}
for (int i = 0; i < m_->neq; ++i) {
if (eq_active_[i] != eq_active_prev_[i]) {
d_->eq_active[i] = eq_active_[i];
} else {
eq_active_[i] = d_->eq_active[i];
}
if (eq_active_prev_[i] != eq_active_[i]) {
pending_.ui_update_equality = true;
eq_active_prev_[i] = eq_active_[i];
}
}
// in passive mode, synchronize user's mjModel with changes made via the UI
if (is_passive_) {
// synchronize mjModel.opt
if (std::memcmp(&m_passive_->opt, &mjopt_prev_, sizeof(mjOption))) {
pending_.ui_update_physics = true;
m_->opt = m_passive_->opt;
}
// synchronize mjModel.vis
if (std::memcmp(&m_passive_->vis, &mjvis_prev_, sizeof(mjVisual))) {
pending_.ui_update_visualization = true;
m_->vis = m_passive_->vis;
}
// synchronize mjModel.stat
if (std::memcmp(&m_passive_->stat, &mjstat_prev_, sizeof(mjStatistic))) {
pending_.ui_update_visualization = true;
m_->stat = m_passive_->stat;
}
}
if (pending_.save_xml) {
char err[200];
if (!pending_.save_xml->empty() && !mj_saveLastXML(pending_.save_xml->c_str(), m_, err, 200)) {
std::printf("Save XML error: %s", err);
}
pending_.save_xml = std::nullopt;
}
if (pending_.save_mjb) {
if (!pending_.save_mjb->empty()) { mj_saveModel(m_, pending_.save_mjb->c_str(), nullptr, 0); }
pending_.save_mjb = std::nullopt;
}
if (pending_.print_model) {
if (!pending_.print_model->empty()) { mj_printModel(m_, pending_.print_model->c_str()); }
pending_.print_model = std::nullopt;
}
if (pending_.print_data) {
if (!pending_.print_data->empty()) { mj_printData(m_, d_, pending_.print_data->c_str()); }
pending_.print_data = std::nullopt;
}
if (pending_.update_threadpool) {
mju_threadpool(d_, nthread);
pending_.update_threadpool = false;
}
if (pending_.reset) {
mj_resetData(m_, d_);
memset(timer_prev_, 0, sizeof(timer_prev_));
mj_forward(m_, d_);
load_error[0] = '\0';
update_profiler = true;
update_sensor = true;
scrub_index = 0;
pending_.reset = false;
pending_.ui_update_simulation = true;
}
if (pending_.align) {
AlignAndScaleView(this, m_);
pending_.align = false;
}
if (pending_.copy_key) {
CopyKey(this, m_, d_, pending_.copy_key_full_precision);
pending_.copy_key = false;
pending_.copy_key_full_precision = false;
}
if (pending_.load_from_history) {
LoadScrubState(this);
update_profiler = true;
update_sensor = true;
pending_.load_from_history = false;
}
if (pending_.load_key) {
mj_resetDataKeyframe(m_, d_, this->key);
mj_forward(m_, d_);
update_profiler = true;
update_sensor = true;
pending_.load_key = false;
}
if (pending_.save_key) {
mj_setKeyframe(m_, d_, this->key);
pending_.save_key = false;
}
if (pending_.zero_ctrl) {
mj_resetCtrl(m_, d_);
pending_.zero_ctrl = false;
}
// perturbation onset: reset reference
if (pending_.newperturb) {
mjv_initPerturb(m_, d_, &this->scn, &this->pert);
this->pert.active = pending_.newperturb;
pending_.newperturb = 0;
}
if (pending_.select) {
// determine selection mode
int selmode;
if (pending_.select_state.button == mjBUTTON_LEFT) {
selmode = 1;
} else if (pending_.select_state.control) {
selmode = 3;
} else {
selmode = 2;
}
// find geom and 3D click point, get corresponding body
mjrRect r = pending_.select_state.rect[3];
mjtNum selpnt[3];
int selgeom, selflex, selskin;
int selbody = mjv_select(m_,
d_,
&this->opt,
static_cast<mjtNum>(r.width) / r.height,
(pending_.select_state.x - r.left) / r.width,
(pending_.select_state.y - r.bottom) / r.height,
&this->scn,
selpnt,
&selgeom,
&selflex,
&selskin);
// set lookat point, start tracking is requested
if (selmode == 2 || selmode == 3) {
// copy selpnt if anything clicked
if (selbody >= 0) { mju_copy3(this->cam.lookat, selpnt); }
// switch to tracking camera if dynamic body clicked
if (selmode == 3 && selbody > 0) {
// mujoco camera
this->cam.type = mjCAMERA_TRACKING;
this->cam.trackbodyid = selbody;
this->cam.fixedcamid = -1;
// UI camera
this->camera = 1;
pending_.ui_update_rendering = true;
}
}
// set body selection
else {
if (selbody >= 0) {
// record selection
this->pert.select = selbody;
this->pert.flexselect = selflex;
this->pert.skinselect = selskin;
// compute localpos
mjtNum tmp[3];
mju_sub3(tmp, selpnt, d_->xpos + 3 * this->pert.select);
mju_mulMatTVec(this->pert.localpos, d_->xmat + 9 * this->pert.select, tmp, 3, 3);
} else {
this->pert.select = 0;
this->pert.flexselect = -1;
this->pert.skinselect = -1;
}
}
pending_.select = false;
}
// update scene or sync data from user in passive mode
if (!is_passive_) {
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
if (state_only) {
int state_size = mj_stateSize(m_, mjSTATE_INTEGRATION);
mjtNum* state = new mjtNum[state_size];
mj_getState(m_, d_, state, mjSTATE_INTEGRATION);
mj_setState(m_passive_, d_passive_, state, mjSTATE_INTEGRATION);
mj_forward(m_passive_, d_passive_);
delete[] state;
} else {
mjv_copyModel(m_passive_, m_);
mjv_copyData(d_passive_, m_passive_, d_);
}
// append geoms from user_scn to scratch space
if (user_scn) {
user_scn_geoms_.clear();
user_scn_geoms_.reserve(user_scn->ngeom);
for (int i = 0; i < user_scn->ngeom; ++i) { user_scn_geoms_.push_back(user_scn->geoms[i]); }
}
// pick up rendering flags changed via user_scn
if (user_scn) {
for (int i = 0; i < mjNRNDFLAG; ++i) {
if (user_scn->flags[i] != user_scn_flags_prev_[i]) {
scn.flags[i] = user_scn->flags[i];
pending_.ui_update_rendering = true;
}
}
Copy(user_scn->flags, scn.flags);
Copy(user_scn_flags_prev_, user_scn->flags);
}
mjopt_prev_ = m_passive_->opt;
mjvis_prev_ = m_passive_->vis;
mjstat_prev_ = m_passive_->stat;
}
// update settings
UpdateSettings(this, m_);
// update watch
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) { UpdateWatch(this, m_, d_); }
// update info text
if (this->info) { UpdateInfoText(this, m_, d_, this->info_title, this->info_content); }
if (update_profiler) { UpdateProfiler(this, m_, d_); }
if (update_sensor) {
UpdateSensor(this, m_, d_);
// check if image sensor selection changed in UI dropdown
int new_selected = this->image_sensor_ui_selection - 1; // 0=None(-1), 1+=sensor
if (new_selected != this->selected_image_sensor) {
this->selected_image_sensor = new_selected;
InitializeSensorImage(this, m_);
}
UpdateSensorImage(this, m_, d_);
}
if (this->run || this->is_passive_) {
// clear old perturbations, apply new
mju_zero(d_->xfrc_applied, 6 * m_->nbody);
mjv_applyPerturbPose(m_, d_, &this->pert, 0); // mocap bodies only
mjv_applyPerturbForce(m_, d_, &this->pert);
} else {
mjv_applyPerturbPose(m_, d_, &this->pert, 1); // mocap and dynamic bodies
}
for (int i = 0; i < mjNTIMER; i++) { timer_prev_[i] = d_->timer[i]; }
}
//------------------------- Tell the render thread to load a file and wait -------------------------
void Simulate::LoadMessage(const char* displayed_filename) {
mju::strcpy_arr(this->filename, displayed_filename);
{
MutexLock lock(mtx);
this->loadrequest = 3;
}
}
void Simulate::Load(mjModel* m, mjData* d, const char* displayed_filename) {
this->mnew_ = m;
this->dnew_ = d;
mju::strcpy_arr(this->filename, displayed_filename);
{
MutexLock lock(mtx);
this->loadrequest = 2;
// Wait for the render thread to be done loading
// so that we know the old model and data's memory can
// be free'd by the other thread (sometimes python)
cond_loadrequest.wait(lock, [this]() { return this->loadrequest == 0; });
}
}
void Simulate::LoadMessageClear(void) {
{
MutexLock lock(mtx);
this->loadrequest = 0;
}
}
//------------------------------------- load mjb or xml model --------------------------------------
void Simulate::LoadOnRenderThread() {
this->m_ = this->mnew_;
this->d_ = this->dnew_;
ncam_ = this->m_->ncam;
nkey_ = this->m_->nkey;
body_parentid_.resize(this->m_->nbody);
std::memcpy(body_parentid_.data(),
this->m_->body_parentid,
sizeof(this->m_->body_parentid[0]) * this->m_->nbody);
jnt_type_.resize(this->m_->njnt);
std::memcpy(jnt_type_.data(), this->m_->jnt_type, sizeof(this->m_->jnt_type[0]) * this->m_->njnt);
jnt_group_.resize(this->m_->njnt);
std::memcpy(jnt_group_.data(),
this->m_->jnt_group,
sizeof(this->m_->jnt_group[0]) * this->m_->njnt);
jnt_qposadr_.resize(this->m_->njnt);
std::memcpy(jnt_qposadr_.data(),
this->m_->jnt_qposadr,
sizeof(this->m_->jnt_qposadr[0]) * this->m_->njnt);
jnt_range_.clear();
jnt_range_.reserve(this->m_->njnt);
for (int i = 0; i < this->m_->njnt; ++i) {
if (this->m_->jnt_limited[i]) {
jnt_range_.push_back(
std::make_pair(this->m_->jnt_range[2 * i], this->m_->jnt_range[2 * i + 1]));
} else {
jnt_range_.push_back(std::nullopt);
}
}
jnt_names_.clear();
jnt_names_.reserve(this->m_->njnt);
for (int i = 0; i < this->m_->njnt; ++i) {
const char* name = mj_id2name(this->m_, mjOBJ_JOINT, i);
jnt_names_.emplace_back(name ? name : "");
}
actuator_ctrlrange_.clear();
actuator_ctrlrange_.reserve(this->m_->nu);
for (int i = 0; i < this->m_->nu; ++i) {
// a defined ctrlrange sets the slider range, even when ctrl is not clamped
if (this->m_->actuator_ctrlrange[2 * i] < this->m_->actuator_ctrlrange[2 * i + 1]) {
actuator_ctrlrange_.push_back(std::make_pair(this->m_->actuator_ctrlrange[2 * i + 0],
this->m_->actuator_ctrlrange[2 * i + 1]));
} else {
actuator_ctrlrange_.push_back(std::nullopt);
}
}
// per-control group and name; multi-input actuators suffix the input name
actuator_group_.resize(this->m_->nu);
actuator_names_.clear();
actuator_names_.reserve(this->m_->nu);
for (int i = 0; i < this->m_->nactuator; ++i) {
const char* actname = mj_id2name(this->m_, mjOBJ_ACTUATOR, i);
int ctrlnum = this->m_->actuator_ctrlnum[i];
for (int k = 0; k < ctrlnum; ++k) {
actuator_group_[this->m_->actuator_ctrladr[i] + k] = this->m_->actuator_group[i];
std::string name = actname ? actname : "";
if (ctrlnum > 1 && actname) {
const char* input_name = mj_actuatorInputName(this->m_, i, k);
name += '/';
name += input_name ? input_name : std::to_string(k);
}
actuator_names_.emplace_back(std::move(name));
}
}
equality_names_.clear();
equality_names_.reserve(this->m_->neq);
for (int i = 0; i < this->m_->neq; ++i) {
const char* name = mj_id2name(this->m_, mjOBJ_EQUALITY, i);
equality_names_.emplace_back(name ? name : "");
}
qpos_.resize(this->m_->nq);
std::memcpy(qpos_.data(), this->d_->qpos, sizeof(this->d_->qpos[0]) * this->m_->nq);
qpos_prev_ = qpos_;
ctrl_.resize(this->m_->nu);
std::memcpy(ctrl_.data(), this->d_->ctrl, sizeof(this->d_->ctrl[0]) * this->m_->nu);
ctrl_prev_ = ctrl_;
eq_active_.resize(this->m_->neq);
std::memcpy(eq_active_.data(),
this->d_->eq_active,
sizeof(this->d_->eq_active[0]) * this->m_->neq);
eq_active_prev_ = eq_active_;
// allocate history buffer: smaller of {2000 states, 100 MB}
if (!this->is_passive_) {
constexpr int kMaxHistoryBytes = 1e8;
// get state size, size of history buffer
state_size_ = mj_stateSize(this->m_, mjSTATE_INTEGRATION);
int state_bytes = state_size_ * sizeof(mjtNum);
int history_length = mjMIN(INT_MAX / state_bytes, 2000);
int history_bytes = mjMIN(state_bytes * history_length, kMaxHistoryBytes);
nhistory_ = history_bytes / state_bytes;
// allocate history buffer, reset cursor and UI slider
history_.clear();
history_.resize(nhistory_ * state_size_);
history_cursor_ = 0;
scrub_index = 0;
// fill buffer with initial state
mj_getState(this->m_, this->d_, history_.data(), mjSTATE_INTEGRATION);
for (int i = 1; i < nhistory_; ++i) {
mju_copy(&history_[i * state_size_], history_.data(), state_size_);
}
}
// re-create scene
mjv_makeScene(this->m_, &this->scn, kMaxGeom);
this->platform_ui->RefreshMjrContext(this->m_, 50 * (this->font + 1));
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
if (!this->platform_ui->IsGPUAccelerated()) {
this->scn.flags[mjRND_SHADOW] = 0;
this->scn.flags[mjRND_REFLECTION] = 0;
}
if (this->user_scn) {
Copy(this->user_scn->flags, this->scn.flags);
Copy(this->user_scn_flags_prev_, this->scn.flags);
}
// clear perturbation state
this->pert.active = 0;
this->pert.select = 0;
this->pert.flexselect = -1;
this->pert.skinselect = -1;
memset(timer_prev_, 0, sizeof(timer_prev_));
// align and scale view unless reloading the same file
if (this->filename[0] && mju::strcmp_arr(this->filename, this->previous_filename)) {
AlignAndScaleView(this, this->m_);
mju::strcpy_arr(this->previous_filename, this->filename);
}
// update scene in managed mode, in passive mode copy data from user (update in RenderLoop)
if (!is_passive_) {
mjv_updateScene(this->m_, this->d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjopt_prev_ = m_->opt;
opt_prev_ = opt;
cam_prev_ = cam;
// full copy on init
m_passive_ = mj_copyModel(nullptr, m_);
d_passive_ = mj_copyData(nullptr, m_passive_, d_);
}
// set window title to model name
if (this->m_->names) {
char title[200] = "MuJoCo : ";
mju::strcat_arr(title, this->m_->names);
platform_ui->SetWindowTitle(title);
}
// set keyframe range and divisions
this->ui0.sect[SECT_SIMULATION].item[6].slider.range[0] = 0;
this->ui0.sect[SECT_SIMULATION].item[6].slider.range[1] = mjMAX(0, this->m_->nkey - 1);
this->ui0.sect[SECT_SIMULATION].item[6].slider.divisions = mjMAX(1, this->m_->nkey - 1);
// set scrubber range and divisions
this->ui0.sect[SECT_SIMULATION].item[12].slider.range[0] = 1 - nhistory_;
this->ui0.sect[SECT_SIMULATION].item[12].slider.divisions = nhistory_;
// detect image sensors for visualization
DetectImageSensors(this, this->m_);
// rebuild UI sections
MakeUiSections(this, this->m_, this->d_);
// full ui update
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
UpdateSettings(this, this->m_);
// clear request
this->loadrequest = 0;
cond_loadrequest.notify_all();
// set real time index
int numclicks = sizeof(this->percentRealTime) / sizeof(this->percentRealTime[0]);
float min_error = 1e6;
float desired = mju_log(100 * this->m_->vis.global.realtime);
for (int click = 0; click < numclicks; click++) {
float error = mju_abs(mju_log(this->percentRealTime[click]) - desired);
if (error < min_error) {
min_error = error;
this->real_time_index = click;
}
}
this->mnew_ = nullptr;
this->dnew_ = nullptr;
}
//------------------------------------------- rendering --------------------------------------------
// render the ui to the window
void Simulate::Render() {
// update rendering context buffer size if required
if (this->platform_ui->EnsureContextSize()) {
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// 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->is_passive_ && !this->m_) {
// blank screen
mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);
// label
if (this->loadrequest) {
mjr_overlay(mjFONT_BIG,
mjGRID_TOP,
smallrect,
"LOADING...",
nullptr,
&this->platform_ui->mjr_context());
} 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->platform_ui->mjr_context());
}
// show last loading error
if (this->load_error[0]) {
mjr_overlay(mjFONT_NORMAL,
mjGRID_BOTTOMLEFT,
rect,
this->load_error,
0,
&this->platform_ui->mjr_context());
}
// render uis
if (this->ui0_enable) {
mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
}
if (this->ui1_enable) {
mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// finalize
this->platform_ui->SwapBuffers();
return;
}
// update UI sections from last sync
if (pending_.ui_update_simulation) {
if (this->ui0_enable && this->ui0.sect[SECT_SIMULATION].state) {
mjui0_update_section(this, SECT_SIMULATION);
}
pending_.ui_update_simulation = false;
}
if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
mjui0_update_section(this, SECT_WATCH);
}
if (pending_.ui_update_physics) {
if (this->ui0_enable && this->ui0.sect[SECT_PHYSICS].state) {
mjui0_update_section(this, SECT_PHYSICS);
}
pending_.ui_update_physics = false;
}
if (pending_.ui_update_visualization) {
if (this->ui0_enable && this->ui0.sect[SECT_VISUALIZATION].state) {
mjui0_update_section(this, SECT_VISUALIZATION);
}
pending_.ui_update_visualization = false;
}
if (pending_.ui_update_logging) {
if (this->ui0_enable && this->ui0.sect[SECT_LOGGING].state) {
mjui0_update_section(this, SECT_LOGGING);
}
pending_.ui_update_logging = false;
}
if (is_passive_) {
if (this->ui0_enable &&
this->ui0.sect[SECT_RENDERING].state &&
(cam_prev_.type != cam.type ||
cam_prev_.fixedcamid != cam.fixedcamid ||
cam_prev_.trackbodyid != cam.trackbodyid ||
opt_prev_.label != opt.label ||
opt_prev_.frame != opt.frame ||
IsDifferent(opt_prev_.flags, opt.flags))) {
pending_.ui_update_rendering = true;
}
if (this->ui0_enable &&
this->ui0.sect[SECT_RENDERING].state &&
(IsDifferent(opt_prev_.geomgroup, opt.geomgroup) ||
IsDifferent(opt_prev_.sitegroup, opt.sitegroup) ||
IsDifferent(opt_prev_.jointgroup, opt.jointgroup) ||
IsDifferent(opt_prev_.tendongroup, opt.tendongroup) ||
IsDifferent(opt_prev_.actuatorgroup, opt.actuatorgroup) ||
IsDifferent(opt_prev_.flexgroup, opt.flexgroup) ||
IsDifferent(opt_prev_.skingroup, opt.skingroup))) {
mjui0_update_section(this, SECT_GROUP);
}
opt_prev_ = opt;
cam_prev_ = cam;
}
if (pending_.ui_update_rendering) {
if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state) {
mjui0_update_section(this, SECT_RENDERING);
}
pending_.ui_update_rendering = false;
}
if (pending_.ui_update_joint) {
if (this->ui1_enable && this->ui1.sect[SECT_JOINT].state) {
mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
pending_.ui_update_joint = false;
}
if (pending_.ui_remake_ctrl) {
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
this->ui1.nsect = SECT_CONTROL;
MakeControlSection(this);
this->ui1.nsect = NSECT1;
UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
pending_.ui_remake_ctrl = false;
}
if (pending_.ui_update_ctrl) {
if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
pending_.ui_update_ctrl = false;
}
if (pending_.ui_update_equality) {
if (this->ui1_enable && this->ui1.sect[SECT_EQUALITY].state) {
mjui_update(SECT_EQUALITY, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
pending_.ui_update_equality = false;
}
// render scene
mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
// show last loading error
if (this->load_error[0]) {
mjr_overlay(mjFONT_NORMAL,
mjGRID_BOTTOMLEFT,
rect,
this->load_error,
0,
&this->platform_ui->mjr_context());
}
// show pause/loading label
if (!this->run || this->loadrequest) {
char label[30] = {'\0'};
if (this->loadrequest) {
std::snprintf(label, sizeof(label), "LOADING...");
} else if (this->scrub_index == 0) {
std::snprintf(label, sizeof(label), "PAUSE");
} else {
std::snprintf(label, sizeof(label), "PAUSE (%d)", this->scrub_index);
}
mjr_overlay(mjFONT_BIG,
mjGRID_TOP,
smallrect,
label,
nullptr,
&this->platform_ui->mjr_context());
}
// get desired and actual percent-of-real-time
float desiredRealtime = this->percentRealTime[this->real_time_index];
float actualRealtime = 100 / this->measured_slowdown;
// if running, check for misalignment of more than 10%
float realtime_offset = mju_abs(actualRealtime - desiredRealtime);
bool misaligned = this->run && realtime_offset > 0.1 * desiredRealtime;
// make realtime overlay label
char rtlabel[30] = {'\0'};
if (desiredRealtime != 100.0 || misaligned) {
// print desired realtime
int labelsize = std::snprintf(rtlabel, sizeof(rtlabel), "%g%%", desiredRealtime);
// if misaligned, append to label
if (misaligned) {
std::snprintf(rtlabel + labelsize,
sizeof(rtlabel) - labelsize,
" (%-4.1f%%)",
actualRealtime);
}
}
// show real-time overlay
if (rtlabel[0]) {
mjr_overlay(mjFONT_BIG,
mjGRID_TOPLEFT,
smallrect,
rtlabel,
nullptr,
&this->platform_ui->mjr_context());
}
// show ui 0
if (this->ui0_enable) {
mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
}
// show ui 1
if (this->ui1_enable) {
mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
}
// show help
if (this->help) {
mjr_overlay(mjFONT_NORMAL,
mjGRID_TOPLEFT,
rect,
help_title,
help_content,
&this->platform_ui->mjr_context());
}
// show info
if (this->info) {
mjr_overlay(mjFONT_NORMAL,
mjGRID_BOTTOMLEFT,
rect,
this->info_title,
this->info_content,
&this->platform_ui->mjr_context());
}
// show profiler
if (this->profiler) { ShowProfiler(this, rect); }
// show sensor
if (this->sensor) { ShowSensor(this, smallrect); }
// take screenshot, save to file
if (this->screenshotrequest.exchange(false)) {
const unsigned int h = uistate.rect[0].height;
const unsigned int w = uistate.rect[0].width;
std::unique_ptr<unsigned char[]> rgb(new unsigned char[3 * w * h]);
if (!rgb) { mju_error("could not allocate buffer for screenshot"); }
mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &this->platform_ui->mjr_context());
// flip up-down
for (int r = 0; r < h / 2; ++r) {
unsigned char* top_row = &rgb[3 * w * r];
unsigned char* bottom_row = &rgb[3 * w * (h - 1 - r)];
std::swap_ranges(top_row, top_row + 3 * w, bottom_row);
}
// save as PNG
// TODO(b/241577466): Parse the stem of the filename and use a .PNG extension.
// Unfortunately, if we just yank ".xml"/".mjb" from the filename and append .PNG, the macOS
// file dialog does not automatically open that location. Thus, we defer to a default
// "screenshot.png" for now.
const std::string path = GetSavePath("screenshot.png");
if (!path.empty()) {
if (lodepng::encode(path, rgb.get(), w, h, LCT_RGB)) {
mju_error("could not save screenshot");
} else {
std::printf("saved screenshot: %s\n", path.c_str());
}
}
}
// user figures
if (this->newfigurerequest.load() == 1) {
this->user_figures_.clear();
std::swap(this->user_figures_, this->user_figures_new_);
int value = 1;
this->newfigurerequest.compare_exchange_strong(value, 0);
}
for (auto& [viewport, figure] : this->user_figures_) { ShowFigure(this, viewport, &figure); }
// overlay text
if (this->newtextrequest.load() == 1) {
this->user_texts_.clear();
std::swap(this->user_texts_, this->user_texts_new_);
int value = 1;
this->newtextrequest.compare_exchange_strong(value, 0);
}
for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
ShowOverlayText(this, rect, font, gridpos, text1, text2);
}
// user images
if (this->newimagerequest.load() == 1) {
this->user_images_.clear();
std::swap(this->user_images_, this->user_images_new_);
int value = 1;
this->newimagerequest.compare_exchange_strong(value, 0);
}
for (auto& [viewport, image] : this->user_images_) { ShowImage(this, viewport, image.get()); }
// finalize
this->platform_ui->SwapBuffers();
}
void Simulate::RenderLoop() {
// Set timer callback (milliseconds)
mjcb_time = Timer;
// init abstract visualization
mjv_defaultCamera(&this->cam);
mjv_defaultOption(&this->opt);
InitializeProfiler(this);
InitializeSensor(this);
// make empty scene
if (!is_passive_) {
mjv_defaultScene(&this->scn);
mjv_makeScene(nullptr, &this->scn, kMaxGeom);
}
if (!this->platform_ui->IsGPUAccelerated()) {
this->scn.flags[mjRND_SHADOW] = 0;
this->scn.flags[mjRND_REFLECTION] = 0;
}
// select default font
int fontscale = ComputeFontScale(*this->platform_ui);
this->font = fontscale / 50 - 1;
// make empty context
this->platform_ui->RefreshMjrContext(nullptr, 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));
auto [buf_width, buf_height] = this->platform_ui->GetFramebufferSize();
this->uistate.nrect = 1;
this->uistate.rect[0].width = buf_width;
this->uistate.rect[0].height = buf_height;
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 GUI adapter callbacks
this->uistate.userdata = this;
this->platform_ui->SetEventCallback(UiEvent);
this->platform_ui->SetLayoutCallback(UiLayout);
// 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());
// set VSync to initial value
this->platform_ui->SetVSync(this->vsync);
frames_ = 0;
last_fps_update_ = mj::Simulate::Clock::now();
// run event loop
while (!this->platform_ui->ShouldCloseWindow() && !this->exitrequest.load()) {
{
const MutexLock lock(this->mtx);
// load model (not on first pass, to show "loading" label)
if (this->loadrequest == 1) {
this->LoadOnRenderThread();
} else if (this->loadrequest == 2) {
this->loadrequest = 1;
}
// poll and handle events
this->platform_ui->PollEvents();
// upload assets if requested
bool upload_notify = false;
if (hfield_upload_ != -1) {
mjr_uploadHField(m_, &platform_ui->mjr_context(), hfield_upload_);
hfield_upload_ = -1;
upload_notify = true;
}
if (mesh_upload_ != -1) {
mjr_uploadMesh(m_, &platform_ui->mjr_context(), mesh_upload_);
mesh_upload_ = -1;
upload_notify = true;
}
if (texture_upload_ != -1) {
mjr_uploadTexture(m_, &platform_ui->mjr_context(), texture_upload_);
texture_upload_ = -1;
upload_notify = true;
}
if (upload_notify) { cond_upload_.notify_all(); }
// update scene, doing a full sync if in fully managed mode
if (!is_passive_) {
Sync();
} else if (m_passive_ && d_passive_) {
// the user has called Sync() in their code
mjv_updateScene(m_passive_,
d_passive_,
&this->opt,
&this->pert,
&this->cam,
mjCAT_ALL,
&this->scn);
// add user geoms to scene
int nusergeom = user_scn_geoms_.size();
int ngeom = std::min(nusergeom, this->scn.maxgeom - this->scn.ngeom);
if (ngeom < nusergeom) {
if (!this->scn.status) {
mju_warning(
"Pre-allocated visual geom buffer is full. "
"Increase maxgeom above %d.",
this->scn.maxgeom);
this->scn.status = 1;
}
}
std::memcpy(this->scn.geoms + this->scn.ngeom,
user_scn_geoms_.data(),
ngeom * sizeof(mjvGeom));
this->scn.ngeom += ngeom;
}
} // MutexLock (unblocks simulation thread)
// render while simulation is running
this->Render();
// update FPS stat, at most 5 times per second
auto now = mj::Simulate::Clock::now();
double interval = Seconds(now - last_fps_update_).count();
++frames_;
if (interval > 0.2) {
last_fps_update_ = now;
fps_ = frames_ / interval;
frames_ = 0;
}
}
const MutexLock lock(this->mtx);
mjv_freeScene(&this->scn);
if (is_passive_) {
mj_deleteData(d_passive_);
mj_deleteModel(m_passive_);
}
this->exitrequest.store(2);
}
// add state to history buffer
void Simulate::AddToHistory() {
if (history_.empty()) { return; }
// circular increment of cursor
history_cursor_ = (history_cursor_ + 1) % nhistory_;
// add state at cursor
mjtNum* state = &history_[state_size_ * history_cursor_];
mj_getState(m_, d_, state, mjSTATE_INTEGRATION);
}
// inject Brownian noise
void Simulate::InjectNoise(int key) {
// no noise, return
if (ctrl_noise_std <= 0) { return; }
// convert rate and scale to discrete time (Ornstein–Uhlenbeck)
mjtNum rate = mju_exp(-m_->opt.timestep / ctrl_noise_rate);
mjtNum scale = ctrl_noise_std * mju_sqrt(1 - rate * rate);
for (int i = 0; i < m_->nu; i++) {
mjtNum bottom = 0, top = 0, midpoint = 0, halfrange = 1;
if (m_->actuator_ctrllimited[i]) {
bottom = m_->actuator_ctrlrange[2 * i];
top = m_->actuator_ctrlrange[2 * i + 1];
midpoint = 0.5 * (top + bottom); // target of exponential decay
halfrange = 0.5 * (top - bottom); // scales noise
}
// overwrite midpoint with keyframe, if given
if (key >= 0) { midpoint = m_->key_ctrl[key * m_->nu + i]; }
// exponential convergence to midpoint at ctrl_noise_rate
d_->ctrl[i] = rate * d_->ctrl[i] + (1 - rate) * midpoint;
// add noise
d_->ctrl[i] += scale * halfrange * mju_standardNormal(nullptr);
// clip to range if limited
if (m_->actuator_ctrllimited[i]) { d_->ctrl[i] = mju_clip(d_->ctrl[i], bottom, top); }
}
}
void Simulate::UpdateHField(int hfieldid) {
MutexLock lock(this->mtx);
if (!m_ || hfieldid < 0 || hfieldid >= m_->nhfield) { return; }
hfield_upload_ = hfieldid;
cond_upload_.wait(lock, [this]() { return hfield_upload_ == -1; });
}
void Simulate::UpdateMesh(int meshid) {
MutexLock lock(this->mtx);
if (!m_ || meshid < 0 || meshid >= m_->nmesh) { return; }
mesh_upload_ = meshid;
cond_upload_.wait(lock, [this]() { return mesh_upload_ == -1; });
}
void Simulate::UpdateTexture(int texid) {
MutexLock lock(this->mtx);
if (!m_ || texid < 0 || texid >= m_->ntex) { return; }
texture_upload_ = texid;
cond_upload_.wait(lock, [this]() { return texture_upload_ == -1; });
}
} // namespace mujoco