bullet3/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
erwin coumans 5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
2021-03-15 22:44:55 -07:00

305 lines
9.4 KiB
C++

#include "GwenParameterInterface.h"
#include "gwenInternalData.h"
#include <cstring>
#ifdef _WIN32
#define safe_printf _snprintf
#else
#define safe_printf snprintf
#endif
struct MyButtonEventHandler : public Gwen::Event::Handler
{
Gwen::Controls::Button* m_buttonControl;
ButtonParamChangedCallback m_callback;
void* m_userPointer;
int m_buttonId;
MyButtonEventHandler(Gwen::Controls::Button* buttonControl, ButtonParamChangedCallback callback, int buttonId, void* userPointer)
: m_buttonControl(buttonControl),
m_callback(callback),
m_userPointer(userPointer),
m_buttonId(buttonId)
{
}
void onButtonPress(Gwen::Controls::Base* pControl)
{
if (m_callback)
{
bool buttonState = true;
if (m_buttonControl->IsToggle())
{
buttonState = m_buttonControl->GetToggleState();
}
(*m_callback)(m_buttonId, buttonState, m_userPointer);
}
}
};
template <typename T>
struct MySliderEventHandler : public Gwen::Event::Handler
{
SliderParamChangedCallback m_callback;
void* m_userPointer;
Gwen::Controls::TextBox* m_label;
Gwen::Controls::Slider* m_pSlider;
char m_variableName[1024];
T* m_targetValue;
bool m_showValue;
MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider, T* target, SliderParamChangedCallback callback, void* userPtr)
: m_callback(callback),
m_userPointer(userPtr),
m_label(label),
m_pSlider(pSlider),
m_targetValue(target),
m_showValue(true)
{
strncpy(m_variableName, varName, sizeof(m_variableName));
}
void SliderMoved(Gwen::Controls::Base* pControl)
{
Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
//printf("value = %f\n", pSlider->GetValue());//UnitPrint( Utility::Format( L"Slider Value: %.2f", pSlider->GetValue() ) );
float bla = pSlider->GetValue();
T v = T(bla);
SetValue(v);
if (m_callback)
{
(*m_callback)(v, m_userPointer);
}
}
void SetValue(T v)
{
if (v < m_pSlider->GetRangeMin())
{
printf("?\n");
}
if (v > m_pSlider->GetRangeMax())
{
printf("?\n");
}
m_pSlider->SetValue(v, true);
(*m_targetValue) = v;
float val = float(v); //todo: specialize on template type
if (m_showValue)
{
char txt[1024];
safe_printf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
m_label->SetText(txt);
}
}
};
struct GwenParameters
{
b3AlignedObjectArray<MySliderEventHandler<btScalar>*> m_sliderEventHandlers;
b3AlignedObjectArray<Gwen::Controls::HorizontalSlider*> m_sliders;
b3AlignedObjectArray<Gwen::Controls::ComboBox*> m_comboBoxes;
b3AlignedObjectArray<Gwen::Controls::Button*> m_buttons;
b3AlignedObjectArray<MyButtonEventHandler*> m_buttonEventHandlers;
b3AlignedObjectArray<Gwen::Controls::TextBox*> m_textLabels;
int m_savedYposition;
};
GwenParameterInterface::GwenParameterInterface(GwenInternalData* gwenInternalData)
: m_gwenInternalData(gwenInternalData)
{
m_paramInternalData = new GwenParameters;
m_paramInternalData->m_savedYposition = m_gwenInternalData->m_curYposition;
}
GwenParameterInterface::~GwenParameterInterface()
{
removeAllParameters();
delete m_paramInternalData;
}
void GwenParameterInterface::setSliderValue(int sliderIndex, double sliderValue)
{
int sliderCapped = sliderValue + 4;
sliderCapped /= 8;
sliderCapped *= 8;
if (sliderIndex >= 0 && sliderIndex < m_paramInternalData->m_sliders.size())
{
m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin();
m_paramInternalData->m_sliders[sliderIndex]->GetRangeMax();
float mappedValue = m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin() +
(m_paramInternalData->m_sliders[sliderIndex]->GetRangeMax() -
m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin()) *
sliderCapped / 128.f;
printf("mappedValue = %f\n", mappedValue);
m_paramInternalData->m_sliders[sliderIndex]->SetValue(mappedValue);
}
}
#include <stdio.h>
void GwenParameterInterface::registerButtonParameter(ButtonParams& params)
{
Gwen::Controls::Button* button = new Gwen::Controls::Button(m_gwenInternalData->m_demoPage->GetPage());
MyButtonEventHandler* handler = new MyButtonEventHandler(button, params.m_callback, params.m_buttonId, params.m_userPointer);
button->SetText(params.m_name);
button->onPress.Add(handler, &MyButtonEventHandler::onButtonPress);
button->SetIsToggle(params.m_isTrigger);
button->SetToggleState(params.m_initialState);
m_paramInternalData->m_buttons.push_back(button);
m_paramInternalData->m_buttonEventHandlers.push_back(handler);
button->SetPos(5, m_gwenInternalData->m_curYposition);
button->SetWidth(220);
m_gwenInternalData->m_curYposition += 22;
}
struct MyComboBoxHander2 : public Gwen::Event::Handler
{
GwenInternalData* m_data;
int m_buttonId;
ComboBoxCallback m_callback;
void* m_userPointer;
MyComboBoxHander2(GwenInternalData* data, int buttonId, ComboBoxCallback callback, void* userPointer)
: m_data(data),
m_buttonId(buttonId),
m_callback(callback),
m_userPointer(userPointer)
{
}
void onSelect(Gwen::Controls::Base* pControl)
{
Gwen::Controls::ComboBox* but = (Gwen::Controls::ComboBox*)pControl;
Gwen::String str = Gwen::Utility::UnicodeToString(but->GetSelectedItem()->GetText());
if (m_callback)
(*m_callback)(m_buttonId, str.c_str(), m_userPointer);
}
};
void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
{
Gwen::Controls::ComboBox* combobox = new Gwen::Controls::ComboBox(m_gwenInternalData->m_demoPage->GetPage());
m_paramInternalData->m_comboBoxes.push_back(combobox);
MyComboBoxHander2* handler = new MyComboBoxHander2(m_gwenInternalData, params.m_comboboxId, params.m_callback, params.m_userPointer);
m_gwenInternalData->m_handlers.push_back(handler);
combobox->onSelection.Add(handler, &MyComboBoxHander2::onSelect);
int ypos = m_gwenInternalData->m_curYposition;
m_gwenInternalData->m_curYposition += 22;
combobox->SetPos(5, ypos);
combobox->SetWidth(220);
//box->SetPos(120,130);
for (int i = 0; i < params.m_numItems; i++)
{
Gwen::Controls::MenuItem* item = combobox->AddItem(Gwen::Utility::StringToUnicode(params.m_items[i]));
if (i == params.m_startItem)
combobox->OnItemSelected(item);
}
}
void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
{
Gwen::Controls::TextBox* label = new Gwen::Controls::TextBox(m_gwenInternalData->m_demoPage->GetPage());
m_paramInternalData->m_textLabels.push_back(label);
//m_data->m_myControls.push_back(label);
label->SetText(params.m_name);
label->SetPos(10, 10 + 25);
label->SetWidth(210);
label->SetPos(10, m_gwenInternalData->m_curYposition);
m_gwenInternalData->m_curYposition += 22;
Gwen::Controls::HorizontalSlider* pSlider = new Gwen::Controls::HorizontalSlider(m_gwenInternalData->m_demoPage->GetPage());
m_paramInternalData->m_sliders.push_back(pSlider);
//m_data->m_myControls.push_back(pSlider);
pSlider->SetPos(10, m_gwenInternalData->m_curYposition);
pSlider->SetSize(200, 20);
pSlider->SetRange(params.m_minVal, params.m_maxVal);
if (params.m_clampToIntegers)
{
pSlider->SetNotchCount(int(params.m_maxVal - params.m_minVal));
pSlider->SetClampToNotches(true);
}
else
{
pSlider->SetNotchCount(16); //float(params.m_maxVal-params.m_minVal)/100.f);
pSlider->SetClampToNotches(params.m_clampToNotches);
}
pSlider->SetValue(*params.m_paramValuePointer); //dimensions[i] );
char labelName[1024];
safe_printf(labelName, sizeof(labelName), "%s", params.m_name); //axisNames[0]);
MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName, label, pSlider, params.m_paramValuePointer, params.m_callback, params.m_userPointer);
handler->m_showValue = params.m_showValues;
m_paramInternalData->m_sliderEventHandlers.push_back(handler);
pSlider->onValueChanged.Add(handler, &MySliderEventHandler<btScalar>::SliderMoved);
handler->SliderMoved(pSlider);
// float v = pSlider->GetValue();
m_gwenInternalData->m_curYposition += 22;
}
void GwenParameterInterface::syncParameters()
{
for (int i = 0; i < m_paramInternalData->m_sliderEventHandlers.size(); i++)
{
MySliderEventHandler<btScalar>* handler = m_paramInternalData->m_sliderEventHandlers[i];
handler->m_pSlider->SetValue(*handler->m_targetValue, true);
}
}
void GwenParameterInterface::removeAllParameters()
{
for (int i = 0; i < m_paramInternalData->m_buttons.size(); i++)
{
delete m_paramInternalData->m_buttons[i];
}
m_paramInternalData->m_buttons.clear();
for (int i = 0; i < m_paramInternalData->m_buttonEventHandlers.size(); i++)
{
delete m_paramInternalData->m_buttonEventHandlers[i];
}
m_paramInternalData->m_buttonEventHandlers.clear();
m_gwenInternalData->m_curYposition += 22;
for (int i = 0; i < m_paramInternalData->m_sliders.size(); i++)
{
delete m_paramInternalData->m_sliders[i];
}
m_paramInternalData->m_sliders.clear();
for (int i = 0; i < m_paramInternalData->m_sliderEventHandlers.size(); i++)
{
delete m_paramInternalData->m_sliderEventHandlers[i];
}
m_paramInternalData->m_sliderEventHandlers.clear();
for (int i = 0; i < m_paramInternalData->m_textLabels.size(); i++)
{
delete m_paramInternalData->m_textLabels[i];
}
m_paramInternalData->m_textLabels.clear();
for (int i = 0; i < m_paramInternalData->m_comboBoxes.size(); i++)
{
delete m_paramInternalData->m_comboBoxes[i];
}
m_paramInternalData->m_comboBoxes.clear();
m_gwenInternalData->m_curYposition = this->m_paramInternalData->m_savedYposition;
for (int i = 0; i < m_gwenInternalData->m_handlers.size(); i++)
{
delete m_gwenInternalData->m_handlers[i];
}
m_gwenInternalData->m_handlers.clear();
}