├── ext ├── ImGuizmo │ ├── .gitignore │ ├── Images │ │ └── nodeeditor.jpg │ ├── bin │ │ ├── ImGuizmoSample.exe │ │ └── imgui.ini │ ├── vcpkg-example │ │ ├── vcpkg.json │ │ ├── imgui.ini │ │ ├── CMakeLists.txt │ │ └── README.md │ ├── .editorconfig │ ├── Makefile │ ├── LICENSE │ └── ImGradient.h ├── pugixml │ ├── README.md │ └── CMakeLists.txt ├── imgui │ ├── examples │ │ ├── example_android_opengl3 │ │ │ ├── android │ │ │ │ ├── settings.gradle │ │ │ │ ├── .gitignore │ │ │ │ ├── build.gradle │ │ │ │ └── app │ │ │ │ │ ├── src │ │ │ │ │ └── main │ │ │ │ │ │ ├── AndroidManifest.xml │ │ │ │ │ │ └── java │ │ │ │ │ │ └── MainActivity.kt │ │ │ │ │ └── build.gradle │ │ │ └── CMakeLists.txt │ │ ├── libs │ │ │ ├── glfw │ │ │ │ ├── lib-vc2010-32 │ │ │ │ │ └── glfw3.lib │ │ │ │ ├── lib-vc2010-64 │ │ │ │ │ └── glfw3.lib │ │ │ │ └── COPYING.txt │ │ │ └── usynergy │ │ │ │ └── README.txt │ │ ├── example_null │ │ │ ├── build_win32.bat │ │ │ └── main.cpp │ │ ├── example_apple_metal │ │ │ ├── README.md │ │ │ ├── macOS │ │ │ │ └── Info-macOS.plist │ │ │ └── iOS │ │ │ │ ├── Info-iOS.plist │ │ │ │ └── LaunchScreen.storyboard │ │ ├── example_win32_directx9 │ │ │ ├── build_win32.bat │ │ │ └── example_win32_directx9.vcxproj.filters │ │ ├── example_glfw_opengl2 │ │ │ ├── build_win32.bat │ │ │ └── example_glfw_opengl2.vcxproj.filters │ │ ├── example_glfw_opengl3 │ │ │ └── build_win32.bat │ │ ├── example_sdl2_sdlrenderer │ │ │ ├── build_win32.bat │ │ │ ├── README.md │ │ │ ├── example_sdl2_sdlrenderer.vcxproj.filters │ │ │ └── Makefile │ │ ├── example_sdl3_opengl3 │ │ │ └── build_win32.bat │ │ ├── example_sdl2_opengl2 │ │ │ ├── build_win32.bat │ │ │ ├── README.md │ │ │ ├── example_sdl2_opengl2.vcxproj.filters │ │ │ └── Makefile │ │ ├── example_sdl2_opengl3 │ │ │ └── build_win32.bat │ │ ├── example_allegro5 │ │ │ ├── imconfig_allegro5.h │ │ │ ├── README.md │ │ │ └── example_allegro5.vcxproj.filters │ │ ├── README.txt │ │ ├── example_win32_directx10 │ │ │ ├── build_win32.bat │ │ │ └── example_win32_directx10.vcxproj.filters │ │ ├── example_win32_directx11 │ │ │ ├── build_win32.bat │ │ │ └── example_win32_directx11.vcxproj.filters │ │ ├── example_sdl2_vulkan │ │ │ ├── build_win32.bat │ │ │ └── example_sdl2_vulkan.vcxproj.filters │ │ ├── example_sdl2_directx11 │ │ │ ├── build_win32.bat │ │ │ └── example_sdl2_directx11.vcxproj.filters │ │ ├── example_win32_directx12 │ │ │ ├── build_win32.bat │ │ │ └── example_win32_directx12.vcxproj.filters │ │ ├── example_glfw_vulkan │ │ │ ├── build_win64.bat │ │ │ ├── build_win32.bat │ │ │ ├── CMakeLists.txt │ │ │ └── example_glfw_vulkan.vcxproj.filters │ │ ├── example_glfw_metal │ │ │ └── Makefile │ │ ├── example_sdl2_metal │ │ │ └── Makefile │ │ ├── example_glut_opengl2 │ │ │ ├── Makefile │ │ │ └── example_glut_opengl2.vcxproj.filters │ │ └── example_emscripten_wgpu │ │ │ └── README.md │ ├── .github │ │ ├── FUNDING.yml │ │ ├── pull_request_template.md │ │ ├── workflows │ │ │ ├── scheduled.yml │ │ │ └── static-analysis.yml │ │ └── issue_template.md │ ├── misc │ │ ├── fonts │ │ │ ├── DroidSans.ttf │ │ │ ├── ProggyTiny.ttf │ │ │ ├── Karla-Regular.ttf │ │ │ ├── ProggyClean.ttf │ │ │ ├── Roboto-Medium.ttf │ │ │ └── Cousine-Regular.ttf │ │ ├── debuggers │ │ │ ├── README.txt │ │ │ ├── imgui.gdb │ │ │ ├── imgui.natstepfilter │ │ │ └── imgui.natvis │ │ ├── cpp │ │ │ ├── README.txt │ │ │ └── imgui_stdlib.h │ │ ├── README.txt │ │ ├── single_file │ │ │ └── imgui_single_file.h │ │ └── freetype │ │ │ └── README.md │ ├── backends │ │ ├── vulkan │ │ │ ├── generate_spv.sh │ │ │ ├── glsl_shader.frag │ │ │ └── glsl_shader.vert │ │ ├── imgui_impl_dx9.h │ │ ├── imgui_impl_dx10.h │ │ ├── imgui_impl_dx11.h │ │ ├── imgui_impl_sdlrenderer.h │ │ ├── imgui_impl_wgpu.h │ │ ├── imgui_impl_android.h │ │ ├── imgui_impl_opengl2.h │ │ ├── imgui_impl_allegro5.h │ │ ├── imgui_impl_osx.h │ │ ├── imgui_impl_sdl3.h │ │ └── imgui_impl_sdl2.h │ ├── .gitattributes │ ├── LICENSE.txt │ ├── .editorconfig │ └── .gitignore ├── glfw │ ├── examples │ │ ├── glfw.rc │ │ ├── glfw.icns │ │ └── glfw.ico │ ├── src │ │ ├── glfw3Config.cmake.in │ │ ├── glfw3.pc.in │ │ ├── xkb_unicode.h │ │ ├── null_joystick.h │ │ ├── posix_time.h │ │ ├── posix_thread.h │ │ ├── null_joystick.c │ │ ├── cocoa_joystick.h │ │ ├── null_init.c │ │ ├── win32_joystick.h │ │ └── cocoa_time.c │ ├── docs │ │ ├── footer.html │ │ ├── CODEOWNERS │ │ ├── SUPPORT.md │ │ ├── CMakeLists.txt │ │ ├── header.html │ │ ├── extra.css.map │ │ ├── main.dox │ │ └── DoxygenLayout.xml │ ├── .mailmap │ ├── CMake │ │ ├── modules │ │ │ ├── FindOSMesa.cmake │ │ │ ├── FindEpollShim.cmake │ │ │ ├── FindWaylandProtocols.cmake │ │ │ └── FindXKBCommon.cmake │ │ ├── i686-w64-mingw32.cmake │ │ ├── x86_64-w64-mingw32.cmake │ │ ├── i686-w64-mingw32-clang.cmake │ │ ├── x86_64-w64-mingw32-clang.cmake │ │ ├── MacOSXBundleInfo.plist.in │ │ └── GenerateMappings.cmake │ ├── LICENSE.md │ ├── cmake_uninstall.cmake.in │ ├── deps │ │ └── getopt.h │ └── tests │ │ └── title.c └── implot │ ├── LICENSE │ └── .github │ └── example_implot.cpp ├── .gitignore ├── robots ├── assets │ ├── README.md │ ├── table.stl │ ├── marble.png │ └── longtable.stl ├── box.in.yaml ├── ground.in.yaml ├── table.in.yaml ├── longtable.in.yaml ├── table.xml ├── ground.xml ├── CMakeLists.txt ├── box.xml └── longtable.xml ├── .gitmodules ├── docker ├── Makefile ├── docker-compose.yml └── entrypoint.sh ├── .github └── workflows │ └── test-standalone │ ├── CMakeLists.txt │ └── main.cpp ├── src ├── config.in.h ├── widgets │ ├── MujocoWidget.h │ ├── Rotation.h │ ├── Visual.h │ ├── XYTheta.h │ ├── Force.h │ ├── Transform.h │ ├── details │ │ ├── ControlAxis.h │ │ ├── InteractiveMarker.h │ │ ├── TransformBase.h │ │ └── InteractiveMarker.cpp │ ├── Point3D.h │ ├── Polygon.h │ ├── Polyhedron.h │ ├── Trajectory.h │ └── Arrow.h ├── mj_configuration.h ├── mj_sim.h └── mj_utils.h ├── cmake ├── CMakeLists.txt └── Config.cmake.in ├── .pre-commit-config.yaml └── LICENSE /ext/ImGuizmo/.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | .*/ -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | build 3 | compile_commands.json 4 | .cache/ 5 | -------------------------------------------------------------------------------- /ext/pugixml/README.md: -------------------------------------------------------------------------------- 1 | pugixml sources files from release v1.11.4 2 | -------------------------------------------------------------------------------- /robots/assets/README.md: -------------------------------------------------------------------------------- 1 | ### Credits 2 | 3 | - `marble.png`: www.mujoco.org 4 | -------------------------------------------------------------------------------- /robots/box.in.yaml: -------------------------------------------------------------------------------- 1 | xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/object/box.xml" 2 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/android/settings.gradle: -------------------------------------------------------------------------------- 1 | include ':app' 2 | -------------------------------------------------------------------------------- /robots/ground.in.yaml: -------------------------------------------------------------------------------- 1 | xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/env/ground.xml" 2 | -------------------------------------------------------------------------------- /robots/table.in.yaml: -------------------------------------------------------------------------------- 1 | xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/object/table.xml" 2 | -------------------------------------------------------------------------------- /ext/glfw/examples/glfw.rc: -------------------------------------------------------------------------------- 1 | 2 | GLFW_ICON ICON "glfw.ico" 3 | 4 | -------------------------------------------------------------------------------- /ext/glfw/src/glfw3Config.cmake.in: -------------------------------------------------------------------------------- 1 | include("${CMAKE_CURRENT_LIST_DIR}/glfw3Targets.cmake") 2 | -------------------------------------------------------------------------------- /ext/imgui/.github/FUNDING.yml: -------------------------------------------------------------------------------- 1 | custom: ['https://github.com/ocornut/imgui/wiki/Sponsors'] 2 | -------------------------------------------------------------------------------- /robots/longtable.in.yaml: -------------------------------------------------------------------------------- 1 | xmlModelPath: "@MC_MUJOCO_SHARE_DESTINATION@/object/longtable.xml" 2 | -------------------------------------------------------------------------------- /robots/assets/table.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/robots/assets/table.stl -------------------------------------------------------------------------------- /robots/assets/marble.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/robots/assets/marble.png -------------------------------------------------------------------------------- /ext/glfw/examples/glfw.icns: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/glfw/examples/glfw.icns -------------------------------------------------------------------------------- /ext/glfw/examples/glfw.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/glfw/examples/glfw.ico -------------------------------------------------------------------------------- /robots/assets/longtable.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/robots/assets/longtable.stl -------------------------------------------------------------------------------- /ext/ImGuizmo/Images/nodeeditor.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/ImGuizmo/Images/nodeeditor.jpg -------------------------------------------------------------------------------- /ext/ImGuizmo/bin/ImGuizmoSample.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/ImGuizmo/bin/ImGuizmoSample.exe -------------------------------------------------------------------------------- /ext/imgui/misc/fonts/DroidSans.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/misc/fonts/DroidSans.ttf -------------------------------------------------------------------------------- /ext/imgui/misc/fonts/ProggyTiny.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/misc/fonts/ProggyTiny.ttf -------------------------------------------------------------------------------- /ext/imgui/misc/fonts/Karla-Regular.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/misc/fonts/Karla-Regular.ttf -------------------------------------------------------------------------------- /ext/imgui/misc/fonts/ProggyClean.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/misc/fonts/ProggyClean.ttf -------------------------------------------------------------------------------- /ext/imgui/misc/fonts/Roboto-Medium.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/misc/fonts/Roboto-Medium.ttf -------------------------------------------------------------------------------- /ext/imgui/misc/fonts/Cousine-Regular.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/misc/fonts/Cousine-Regular.ttf -------------------------------------------------------------------------------- /ext/imgui/examples/libs/glfw/lib-vc2010-32/glfw3.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/examples/libs/glfw/lib-vc2010-32/glfw3.lib -------------------------------------------------------------------------------- /ext/imgui/examples/libs/glfw/lib-vc2010-64/glfw3.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rohanpsingh/mc_mujoco/HEAD/ext/imgui/examples/libs/glfw/lib-vc2010-64/glfw3.lib -------------------------------------------------------------------------------- /ext/glfw/docs/footer.html: -------------------------------------------------------------------------------- 1 |
2 |

3 | Last update on $date for $projectname $projectnumber 4 |

5 |
6 | 7 | 8 | -------------------------------------------------------------------------------- /ext/ImGuizmo/vcpkg-example/vcpkg.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "vcpkg-example", 3 | "version": "1.83", 4 | "dependencies": [ 5 | "imgui", 6 | "imguizmo", 7 | "stb" 8 | ] 9 | } -------------------------------------------------------------------------------- /ext/pugixml/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library(pugixml OBJECT pugixml.cpp) 2 | target_include_directories(pugixml PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/pugixml") 3 | target_include_directories(pugixml PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}") 4 | -------------------------------------------------------------------------------- /ext/glfw/docs/CODEOWNERS: -------------------------------------------------------------------------------- 1 | 2 | * @elmindreda 3 | 4 | src/wl_* @linkmauve 5 | 6 | docs/*.css @glfw/webdev 7 | docs/*.scss @glfw/webdev 8 | docs/*.html @glfw/webdev 9 | docs/*.xml @glfw/webdev 10 | 11 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "robots/jvrc_mj_description"] 2 | path = robots/jvrc_mj_description 3 | url = https://github.com/isri-aist/jvrc_mj_description.git 4 | [submodule "ext/mc_rtc-imgui"] 5 | path = ext/mc_rtc-imgui 6 | url = https://github.com/mc-rtc/mc_rtc-imgui 7 | -------------------------------------------------------------------------------- /ext/ImGuizmo/.editorconfig: -------------------------------------------------------------------------------- 1 | root = true 2 | 3 | [*] 4 | indent_style = space 5 | indent_size = 3 6 | end_of_line = lf 7 | insert_final_newline = true 8 | trim_trailing_whitespace = true 9 | 10 | [*.md] 11 | trim_trailing_whitespace = false 12 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/android/.gitignore: -------------------------------------------------------------------------------- 1 | .cxx 2 | .externalNativeBuild 3 | build/ 4 | *.iml 5 | 6 | .idea 7 | .gradle 8 | local.properties 9 | 10 | # Android Studio puts a Gradle wrapper here, that we don't want: 11 | gradle/ 12 | gradlew* 13 | -------------------------------------------------------------------------------- /ext/imgui/.github/pull_request_template.md: -------------------------------------------------------------------------------- 1 | (Click "Preview" to turn any http URL into a clickable link) 2 | 3 | 1. PLEASE CAREFULLY READ: [Contributing Guidelines](https://github.com/ocornut/imgui/blob/master/docs/CONTRIBUTING.md) 4 | 5 | 2. Clear this template before submitting your PR. 6 | 7 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_null/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | mkdir Debug 3 | cl /nologo /Zi /MD /I ..\.. %* *.cpp ..\..\*.cpp /FeDebug/example_null.exe /FoDebug/ /link gdi32.lib shell32.lib imm32.lib 4 | -------------------------------------------------------------------------------- /ext/imgui/backends/vulkan/generate_spv.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ## -V: create SPIR-V binary 3 | ## -x: save binary output as text-based 32-bit hexadecimal numbers 4 | ## -o: output file 5 | glslangValidator -V -x -o glsl_shader.frag.u32 glsl_shader.frag 6 | glslangValidator -V -x -o glsl_shader.vert.u32 glsl_shader.vert 7 | -------------------------------------------------------------------------------- /ext/imgui/examples/libs/usynergy/README.txt: -------------------------------------------------------------------------------- 1 | 2 | uSynergy client -- Implementation for the embedded Synergy client library 3 | version 1.0.0, July 7th, 2012 4 | Copyright (c) 2012 Alex Evans 5 | 6 | This is a copy of the files once found at: 7 | https://github.com/symless/synergy-core/tree/790d108a56ada9caad8e56ff777d444485a69da9/src/micro 8 | 9 | -------------------------------------------------------------------------------- /ext/imgui/backends/vulkan/glsl_shader.frag: -------------------------------------------------------------------------------- 1 | #version 450 core 2 | layout(location = 0) out vec4 fColor; 3 | 4 | layout(set=0, binding=0) uniform sampler2D sTexture; 5 | 6 | layout(location = 0) in struct { 7 | vec4 Color; 8 | vec2 UV; 9 | } In; 10 | 11 | void main() 12 | { 13 | fColor = In.Color * texture(sTexture, In.UV.st); 14 | } 15 | -------------------------------------------------------------------------------- /docker/Makefile: -------------------------------------------------------------------------------- 1 | .PHONY: run-docker-container 2 | run: 3 | @echo "Granting X11 access to docker..." 4 | @xhost +local:docker >/dev/null 5 | @echo "Building container..." 6 | @docker compose -f docker-compose.yml build 7 | @echo "Running container..." 8 | @docker compose -f docker-compose.yml run --rm mc-rtc-mujoco 9 | @echo "Revoking X11 access..." 10 | @xhost -local:docker >/dev/null 11 | -------------------------------------------------------------------------------- /.github/workflows/test-standalone/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1) 2 | 3 | project( 4 | TestMcMuJoCo 5 | LANGUAGES CXX 6 | VERSION 1.0.0) 7 | 8 | include(CTest) 9 | enable_testing() 10 | 11 | find_package(mc_mujoco REQUIRED) 12 | 13 | add_executable(main main.cpp) 14 | target_link_libraries(main PUBLIC mc_mujoco::mc_mujoco) 15 | 16 | add_test(NAME TestMcMuJoCo COMMAND main) 17 | -------------------------------------------------------------------------------- /ext/imgui/.github/workflows/scheduled.yml: -------------------------------------------------------------------------------- 1 | # 2 | # This is a dummy workflow used to trigger scheduled builds. Forked repositories most likely should disable this 3 | # workflow to avoid daily builds of inactive repositories. 4 | # 5 | name: scheduled 6 | 7 | on: 8 | schedule: 9 | - cron: '0 9 * * *' 10 | 11 | jobs: 12 | scheduled: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - run: exit 0 16 | -------------------------------------------------------------------------------- /ext/ImGuizmo/bin/imgui.ini: -------------------------------------------------------------------------------- 1 | [Window][Debug##Default] 2 | Pos=60,60 3 | Size=400,400 4 | Collapsed=0 5 | 6 | [Window][Editor] 7 | Pos=10,10 8 | Size=320,340 9 | Collapsed=0 10 | 11 | [Window][Gizmo] 12 | Pos=400,20 13 | Size=800,400 14 | Collapsed=0 15 | 16 | [Window][Graph Editor] 17 | Pos=981,294 18 | Size=787,580 19 | Collapsed=0 20 | 21 | [Window][Other controls] 22 | Pos=10,350 23 | Size=693,395 24 | Collapsed=0 25 | 26 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_apple_metal/README.md: -------------------------------------------------------------------------------- 1 | # iOS / OSX Metal example 2 | 3 | ## Introduction 4 | 5 | This example shows how to integrate Dear ImGui with Metal. It is based on the "cross-platform" game template provided with Xcode as of Xcode 9. 6 | 7 | Consider basing your work off the example_glfw_metal/ or example_sdl2_metal/ examples. They are better supported and will be portable unlike this one. 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ext/ImGuizmo/vcpkg-example/imgui.ini: -------------------------------------------------------------------------------- 1 | [Window][Debug##Default] 2 | Pos=60,60 3 | Size=400,400 4 | Collapsed=0 5 | 6 | [Window][Editor] 7 | Pos=10,10 8 | Size=320,340 9 | Collapsed=0 10 | 11 | [Window][Graph Editor] 12 | Pos=976,359 13 | Size=1325,844 14 | Collapsed=0 15 | 16 | [Window][Other controls] 17 | Pos=10,350 18 | Size=940,480 19 | Collapsed=0 20 | 21 | [Window][Gizmo] 22 | Pos=400,20 23 | Size=800,400 24 | Collapsed=0 25 | 26 | -------------------------------------------------------------------------------- /ext/glfw/.mailmap: -------------------------------------------------------------------------------- 1 | Camilla Löwy 2 | Camilla Löwy 3 | Camilla Löwy 4 | 5 | Emmanuel Gil Peyrot 6 | 7 | Marcus Geelnard 8 | Marcus Geelnard 9 | Marcus Geelnard 10 | 11 | -------------------------------------------------------------------------------- /src/config.in.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace mc_mujoco 4 | { 5 | 6 | /** Default key path */ 7 | constexpr auto MUJOCO_KEY_PATH = "@MUJOCO_ROOT_DIR@/bin/mjkey.txt"; 8 | 9 | /** System folder searched for Mujoco models */ 10 | constexpr auto SHARE_FOLDER = "@MC_MUJOCO_SHARE_DESTINATION@"; 11 | 12 | /** User folder searched for Mujoco models */ 13 | constexpr auto USER_FOLDER = "@MC_MUJOCO_USER_DESTINATION@"; 14 | 15 | } // namespace mc_mujoco 16 | -------------------------------------------------------------------------------- /ext/glfw/src/glfw3.pc.in: -------------------------------------------------------------------------------- 1 | prefix=@CMAKE_INSTALL_PREFIX@ 2 | exec_prefix=${prefix} 3 | includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@ 4 | libdir=@CMAKE_INSTALL_FULL_LIBDIR@ 5 | 6 | Name: GLFW 7 | Description: A multi-platform library for OpenGL, window and input 8 | Version: @GLFW_VERSION@ 9 | URL: https://www.glfw.org/ 10 | Requires.private: @GLFW_PKG_DEPS@ 11 | Libs: -L${libdir} -l@GLFW_LIB_NAME@ 12 | Libs.private: @GLFW_PKG_LIBS@ 13 | Cflags: -I${includedir} 14 | -------------------------------------------------------------------------------- /src/widgets/MujocoWidget.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "../MujocoClient.h" 4 | #include "Widget.h" 5 | 6 | namespace mc_mujoco 7 | { 8 | 9 | struct MujocoWidget : public mc_rtc::imgui::Widget 10 | { 11 | MujocoWidget(Client & client, const ElementId & id) 12 | : mc_rtc::imgui::Widget(client, id), mclient_(static_cast(client)) 13 | { 14 | } 15 | 16 | protected: 17 | MujocoClient & mclient_; 18 | }; 19 | 20 | } // namespace mc_mujoco 21 | -------------------------------------------------------------------------------- /docker/docker-compose.yml: -------------------------------------------------------------------------------- 1 | services: 2 | mc-rtc-mujoco: 3 | build: 4 | context: . 5 | dockerfile: Dockerfile 6 | image: mc-rtc-mujoco:latest 7 | container_name: mc-rtc-mujoco-container 8 | volumes: 9 | - /tmp/.X11-unix:/tmp/.X11-unix 10 | environment: 11 | - DISPLAY=${DISPLAY:-:0} 12 | - ROS_DISTRO=humble 13 | devices: 14 | - /dev/dri:/dev/dri 15 | network_mode: host 16 | stdin_open: true 17 | tty: true 18 | -------------------------------------------------------------------------------- /docker/entrypoint.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | set -e 3 | 4 | # Create mc_rtc config directory if it doesn't exist 5 | mkdir -p ~/.config/mc_rtc/ 6 | 7 | # Create mc_rtc.yaml with MainRobot configuration 8 | cat > ~/.config/mc_rtc/mc_rtc.yaml << EOF 9 | MainRobot: JVRC1 10 | Timestep: 0.002 11 | Enabled: [Posture, EndEffector, CoM] 12 | EOF 13 | 14 | # Source ROS setup 15 | source /opt/ros/humble/setup.bash 16 | 17 | # Execute the command passed to the container 18 | exec "$@" 19 | -------------------------------------------------------------------------------- /src/widgets/Rotation.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "details/TransformBase.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct Rotation : public TransformBase 9 | { 10 | Rotation(Client & client, const ElementId & id, const ElementId & reqId) : TransformBase(client, id, reqId) {} 11 | 12 | void draw3D() override 13 | { 14 | TransformBase::draw3D(); 15 | mclient_.draw_frame(marker_.pose()); 16 | } 17 | }; 18 | 19 | } // namespace mc_mujoco 20 | -------------------------------------------------------------------------------- /src/widgets/Visual.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "MujocoWidget.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct Visual : public MujocoWidget 9 | { 10 | Visual(Client & client, const ElementId & id); 11 | 12 | void data(const rbd::parsers::Visual & visual, const sva::PTransformd & pos); 13 | 14 | void draw2D() override; 15 | 16 | void draw3D() override; 17 | 18 | private: 19 | rbd::parsers::Visual visual_; 20 | sva::PTransformd pos_; 21 | bool show_ = true; 22 | }; 23 | 24 | } // namespace mc_mujoco 25 | -------------------------------------------------------------------------------- /ext/imgui/.gitattributes: -------------------------------------------------------------------------------- 1 | * text=auto 2 | 3 | *.c text 4 | *.cpp text 5 | *.h text 6 | *.m text 7 | *.mm text 8 | *.md text 9 | *.txt text 10 | *.html text 11 | *.bat text 12 | *.frag text 13 | *.vert text 14 | *.mkb text 15 | *.icf text 16 | 17 | *.sln text eol=crlf 18 | *.vcxproj text eol=crlf 19 | *.vcxproj.filters text eol=crlf 20 | *.natvis text eol=crlf 21 | 22 | Makefile text eol=lf 23 | *.sh text eol=lf 24 | *.pbxproj text eol=lf 25 | *.storyboard text eol=lf 26 | *.plist text eol=lf 27 | 28 | *.png binary 29 | *.ttf binary 30 | *.lib binary 31 | -------------------------------------------------------------------------------- /ext/glfw/CMake/modules/FindOSMesa.cmake: -------------------------------------------------------------------------------- 1 | # Try to find OSMesa on a Unix system 2 | # 3 | # This will define: 4 | # 5 | # OSMESA_LIBRARIES - Link these to use OSMesa 6 | # OSMESA_INCLUDE_DIR - Include directory for OSMesa 7 | # 8 | # Copyright (c) 2014 Brandon Schaefer 9 | 10 | if (NOT WIN32) 11 | 12 | find_package (PkgConfig) 13 | pkg_check_modules (PKG_OSMESA QUIET osmesa) 14 | 15 | set (OSMESA_INCLUDE_DIR ${PKG_OSMESA_INCLUDE_DIRS}) 16 | set (OSMESA_LIBRARIES ${PKG_OSMESA_LIBRARIES}) 17 | 18 | endif () 19 | -------------------------------------------------------------------------------- /ext/imgui/misc/debuggers/README.txt: -------------------------------------------------------------------------------- 1 | 2 | HELPER FILES FOR POPULAR DEBUGGERS 3 | 4 | imgui.gdb 5 | GDB: disable stepping into trivial functions. 6 | (read comments inside file for details) 7 | 8 | imgui.natstepfilter 9 | Visual Studio Debugger: disable stepping into trivial functions. 10 | (read comments inside file for details) 11 | 12 | imgui.natvis 13 | Visual Studio Debugger: describe Dear ImGui types for better display. 14 | With this, types like ImVector<> will be displayed nicely in the debugger. 15 | (read comments inside file for details) 16 | 17 | -------------------------------------------------------------------------------- /.github/workflows/test-standalone/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | int main() 4 | { 5 | mc_mujoco::MjConfiguration config; 6 | config.with_visualization = false; 7 | mc_mujoco::MjSim simulation(config); 8 | auto & ctl = *simulation.controller(); 9 | mc_rtc::log::info("Start pos: {}", ctl.controller().robot().posW().translation().transpose()); 10 | for(size_t i = 0; i < 1000; ++i) 11 | { 12 | simulation.stepSimulation(); 13 | } 14 | mc_rtc::log::info("Final pos: {}", ctl.controller().robot().posW().translation().transpose()); 15 | return 0; 16 | } 17 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/android/build.gradle: -------------------------------------------------------------------------------- 1 | buildscript { 2 | ext.kotlin_version = '1.8.0' 3 | repositories { 4 | google() 5 | mavenCentral() 6 | 7 | } 8 | dependencies { 9 | classpath 'com.android.tools.build:gradle:7.4.1' 10 | classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version" 11 | 12 | } 13 | } 14 | 15 | allprojects { 16 | repositories { 17 | google() 18 | mavenCentral() 19 | } 20 | } 21 | 22 | task clean(type: Delete) { 23 | delete rootProject.buildDir 24 | } 25 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx9/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_win32_directx9 4 | @set INCLUDES=/I..\.. /I..\..\backends /I "%DXSDK_DIR%/Include" 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_dx9.cpp ..\..\backends\imgui_impl_win32.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:"%DXSDK_DIR%/Lib/x86" d3d9.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% /D UNICODE /D _UNICODE %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 9 | -------------------------------------------------------------------------------- /ext/glfw/docs/SUPPORT.md: -------------------------------------------------------------------------------- 1 | # Support resources 2 | 3 | See the [latest documentation](https://www.glfw.org/docs/latest/) for tutorials, 4 | guides and the API reference. 5 | 6 | If you have questions about using GLFW, we have a 7 | [forum](https://discourse.glfw.org/), and the `#glfw` IRC channel on 8 | [Libera.Chat](https://libera.chat/). 9 | 10 | Bugs are reported to our [issue tracker](https://github.com/glfw/glfw/issues). 11 | Please check the [contribution 12 | guide](https://github.com/glfw/glfw/blob/master/docs/CONTRIBUTING.md) for 13 | information on what to include when reporting a bug. 14 | 15 | -------------------------------------------------------------------------------- /ext/imgui/backends/vulkan/glsl_shader.vert: -------------------------------------------------------------------------------- 1 | #version 450 core 2 | layout(location = 0) in vec2 aPos; 3 | layout(location = 1) in vec2 aUV; 4 | layout(location = 2) in vec4 aColor; 5 | 6 | layout(push_constant) uniform uPushConstant { 7 | vec2 uScale; 8 | vec2 uTranslate; 9 | } pc; 10 | 11 | out gl_PerVertex { 12 | vec4 gl_Position; 13 | }; 14 | 15 | layout(location = 0) out struct { 16 | vec4 Color; 17 | vec2 UV; 18 | } Out; 19 | 20 | void main() 21 | { 22 | Out.Color = aColor; 23 | Out.UV = aUV; 24 | gl_Position = vec4(aPos * pc.uScale + pc.uTranslate, 0, 1); 25 | } 26 | -------------------------------------------------------------------------------- /robots/table.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_opengl2/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_glfw_opengl2 4 | @set INCLUDES=/I..\.. /I..\..\backends /I..\libs\glfw\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_opengl2.cpp ..\..\backends\imgui_impl_glfw.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:..\libs\glfw\lib-vc2010-32 glfw3.lib opengl32.lib gdi32.lib shell32.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 9 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_opengl3/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_glfw_opengl3 4 | @set INCLUDES=/I..\.. /I..\..\backends /I..\libs\glfw\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_glfw.cpp ..\..\backends\imgui_impl_opengl3.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:..\libs\glfw\lib-vc2010-32 glfw3.lib opengl32.lib gdi32.lib shell32.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 9 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_sdlrenderer/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_sdl2_sdlrenderer_ 4 | @set INCLUDES=/I..\.. /I..\..\backends /I%SDL2_DIR%\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_sdlrenderer.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:%SDL2_DIR%\lib\x86 SDL2.lib SDL2main.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% /subsystem:console 9 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl3_opengl3/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_sdl3_opengl3 4 | @set INCLUDES=/I..\.. /I..\..\backends /I%SDL3_DIR%\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_sdl3.cpp ..\..\backends\imgui_impl_opengl3.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:%SDL3_DIR%\lib\x86 SDL3.lib opengl32.lib shell32.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% /subsystem:console 9 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_opengl2/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_sdl2_opengl2 4 | @set INCLUDES=/I..\.. /I..\..\backends /I%SDL2_DIR%\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_opengl2.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:%SDL2_DIR%\lib\x86 SDL2.lib SDL2main.lib opengl32.lib shell32.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% /subsystem:console 9 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_opengl3/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_sdl2_opengl3 4 | @set INCLUDES=/I..\.. /I..\..\backends /I%SDL2_DIR%\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_opengl3.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:%SDL2_DIR%\lib\x86 SDL2.lib SDL2main.lib opengl32.lib shell32.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% /subsystem:console 9 | -------------------------------------------------------------------------------- /ext/imgui/misc/debuggers/imgui.gdb: -------------------------------------------------------------------------------- 1 | # GDB configuration to aid debugging experience 2 | 3 | # To enable these customizations edit $HOME/.gdbinit (or ./.gdbinit if local gdbinit is enabled) and add: 4 | # add-auto-load-safe-path /path/to/imgui.gdb 5 | # source /path/to/imgui.gdb 6 | # 7 | # More Information at: 8 | # * https://sourceware.org/gdb/current/onlinedocs/gdb/gdbinit-man.html 9 | # * https://sourceware.org/gdb/current/onlinedocs/gdb/Init-File-in-the-Current-Directory.html#Init-File-in-the-Current-Directory 10 | 11 | # Disable stepping into trivial functions 12 | skip -rfunction Im(Vec2|Vec4|Strv|Vector|Span)::.+ 13 | -------------------------------------------------------------------------------- /src/widgets/XYTheta.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "details/TransformBase.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct XYTheta : public TransformBase 9 | { 10 | XYTheta(Client & client, const ElementId & id, const ElementId & reqId) : TransformBase(client, id, reqId) {} 11 | 12 | void data(bool ro, const Eigen::Vector3d & xytheta, double altitude) 13 | { 14 | TransformBase::data(ro, {sva::RotZ(xytheta.z()), {xytheta.x(), xytheta.y(), altitude}}); 15 | } 16 | 17 | void draw3D() override 18 | { 19 | TransformBase::draw3D(); 20 | } 21 | }; 22 | 23 | } // namespace mc_mujoco 24 | -------------------------------------------------------------------------------- /ext/ImGuizmo/Makefile: -------------------------------------------------------------------------------- 1 | CXXFLAGS=-std=c++11 2 | CPPFLAGS=-I. -Iexample 3 | 4 | LIB_OBJS = ImGuizmo.o GraphEditor.o ImCurveEdit.o ImGradient.o ImSequencer.o 5 | EXAMPLE_OBJS = example/imgui.o example/imgui_draw.o example/imgui_tables.o example/imgui_widgets.o example/main.o 6 | 7 | EXAMPLE_NAME = example.exe 8 | LDFLAGS=-mwindows -static-libgcc -static-libstdc++ 9 | LIBS=-limm32 -lopengl32 -lgdi32 10 | 11 | $(EXAMPLE_NAME): $(LIB_OBJS) $(EXAMPLE_OBJS) 12 | $(CXX) $(LDFLAGS) -o $@ $^ $(LIBS) 13 | 14 | example/main.o: CXXFLAGS := -std=c++17 15 | 16 | clean: 17 | $(RM) $(LIB_OBJS) 18 | $(RM) $(EXAMPLE_OBJS) 19 | $(RM) $(EXAMPLE_NAME) 20 | -------------------------------------------------------------------------------- /src/widgets/Force.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Arrow.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct Force : public Arrow 9 | { 10 | Force(Client & client, const ElementId & id, const ElementId & reqId) : Arrow(client, id, reqId) {} 11 | 12 | void data(const sva::ForceVecd & force, const sva::PTransformd & pose, const mc_rtc::gui::ForceConfig config, bool ro) 13 | { 14 | const auto & p0 = pose.translation(); 15 | Eigen::Vector3d p1 = (sva::PTransformd(Eigen::Vector3d(config.scale * force.force())) * pose).translation(); 16 | Arrow::data(p0, p1, config, ro); 17 | } 18 | }; 19 | 20 | } // namespace mc_mujoco 21 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_allegro5/imconfig_allegro5.h: -------------------------------------------------------------------------------- 1 | //----------------------------------------------------------------------------- 2 | // COMPILE-TIME OPTIONS FOR DEAR IMGUI ALLEGRO 5 EXAMPLE 3 | // See imconfig.h for the full template 4 | // Because Allegro doesn't support 16-bit vertex indices, we enable the compile-time option of imgui to use 32-bit indices 5 | //----------------------------------------------------------------------------- 6 | 7 | #pragma once 8 | 9 | // Use 32-bit vertex indices because Allegro doesn't support 16-bit ones 10 | // This allows us to avoid converting vertices format at runtime 11 | #define ImDrawIdx int 12 | -------------------------------------------------------------------------------- /ext/imgui/examples/README.txt: -------------------------------------------------------------------------------- 1 | See BACKENDS and EXAMPLES files in the docs/ folder, or on the web at: https://github.com/ocornut/imgui/tree/master/docs 2 | 3 | Backends = Helper code to facilitate integration with platforms/graphics api (used by Examples + should be used by your app). 4 | Examples = Standalone applications showcasing integration with platforms/graphics api. 5 | 6 | Some Examples have extra README files in their respective directory, please check them too! 7 | 8 | Once Dear ImGui is running (in either examples or your own application/game/engine), 9 | run and refer to ImGui::ShowDemoWindow() in imgui_demo.cpp for the end-user API. 10 | -------------------------------------------------------------------------------- /ext/ImGuizmo/vcpkg-example/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.16) 2 | 3 | project(vcpkg-example) 4 | 5 | add_definitions(-DSTB_IMAGE_IMPLEMENTATION) 6 | find_path(STB_INCLUDE_DIRS "stb.h") 7 | 8 | find_package(imgui CONFIG REQUIRED) 9 | find_package(imguizmo CONFIG REQUIRED) 10 | 11 | add_executable(example-app) 12 | 13 | target_sources(example-app PRIVATE main.cpp) 14 | 15 | target_compile_options(example-app PRIVATE "/std:c++17") 16 | 17 | target_include_directories(example-app PRIVATE 18 | ${STB_INCLUDE_DIRS} 19 | ) 20 | 21 | target_link_libraries(example-app PRIVATE 22 | imgui::imgui 23 | imguizmo::imguizmo 24 | ) 25 | -------------------------------------------------------------------------------- /ext/imgui/misc/cpp/README.txt: -------------------------------------------------------------------------------- 1 | 2 | imgui_stdlib.h + imgui_stdlib.cpp 3 | InputText() wrappers for C++ standard library (STL) type: std::string. 4 | This is also an example of how you may wrap your own similar types. 5 | 6 | imgui_scoped.h 7 | [Experimental, not currently in main repository] 8 | Additional header file with some RAII-style wrappers for common Dear ImGui functions. 9 | Try by merging: https://github.com/ocornut/imgui/pull/2197 10 | Discuss at: https://github.com/ocornut/imgui/issues/2096 11 | 12 | See more C++ related extension (fmt, RAII, syntaxis sugar) on Wiki: 13 | https://github.com/ocornut/imgui/wiki/Useful-Extensions#cness 14 | -------------------------------------------------------------------------------- /ext/glfw/CMake/i686-w64-mingw32.cmake: -------------------------------------------------------------------------------- 1 | # Define the environment for cross-compiling with 32-bit MinGW-w64 GCC 2 | SET(CMAKE_SYSTEM_NAME Windows) # Target system name 3 | SET(CMAKE_SYSTEM_VERSION 1) 4 | SET(CMAKE_C_COMPILER "i686-w64-mingw32-gcc") 5 | SET(CMAKE_CXX_COMPILER "i686-w64-mingw32-g++") 6 | SET(CMAKE_RC_COMPILER "i686-w64-mingw32-windres") 7 | SET(CMAKE_RANLIB "i686-w64-mingw32-ranlib") 8 | 9 | # Configure the behaviour of the find commands 10 | SET(CMAKE_FIND_ROOT_PATH "/usr/i686-w64-mingw32") 11 | SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) 12 | SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) 13 | SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) 14 | -------------------------------------------------------------------------------- /ext/glfw/CMake/x86_64-w64-mingw32.cmake: -------------------------------------------------------------------------------- 1 | # Define the environment for cross-compiling with 64-bit MinGW-w64 GCC 2 | SET(CMAKE_SYSTEM_NAME Windows) # Target system name 3 | SET(CMAKE_SYSTEM_VERSION 1) 4 | SET(CMAKE_C_COMPILER "x86_64-w64-mingw32-gcc") 5 | SET(CMAKE_CXX_COMPILER "x86_64-w64-mingw32-g++") 6 | SET(CMAKE_RC_COMPILER "x86_64-w64-mingw32-windres") 7 | SET(CMAKE_RANLIB "x86_64-w64-mingw32-ranlib") 8 | 9 | # Configure the behaviour of the find commands 10 | SET(CMAKE_FIND_ROOT_PATH "/usr/x86_64-w64-mingw32") 11 | SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) 12 | SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) 13 | SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) 14 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx10/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_win32_directx10 4 | @set INCLUDES=/I..\.. /I..\..\backends /I "%WindowsSdkDir%Include\um" /I "%WindowsSdkDir%Include\shared" /I "%DXSDK_DIR%Include" 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_win32.cpp ..\..\backends\imgui_impl_dx10.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:"%DXSDK_DIR%/Lib/x86" d3d10.lib d3dcompiler.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% /D UNICODE /D _UNICODE %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 9 | -------------------------------------------------------------------------------- /cmake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | include(CMakePackageConfigHelpers) 2 | set(VERSION_CONFIG 3 | "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake") 4 | set(PROJECT_CONFIG "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake") 5 | set(CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}") 6 | write_basic_package_version_file( 7 | ${VERSION_CONFIG} 8 | VERSION ${PROJECT_VERSION} 9 | COMPATIBILITY SameMajorVersion) 10 | configure_package_config_file( 11 | "${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in" "${PROJECT_CONFIG}" 12 | INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}") 13 | install(FILES "${PROJECT_CONFIG}" "${VERSION_CONFIG}" 14 | DESTINATION "${CONFIG_INSTALL_DIR}") 15 | -------------------------------------------------------------------------------- /ext/glfw/CMake/i686-w64-mingw32-clang.cmake: -------------------------------------------------------------------------------- 1 | # Define the environment for cross-compiling with 32-bit MinGW-w64 Clang 2 | SET(CMAKE_SYSTEM_NAME Windows) # Target system name 3 | SET(CMAKE_SYSTEM_VERSION 1) 4 | SET(CMAKE_C_COMPILER "i686-w64-mingw32-clang") 5 | SET(CMAKE_CXX_COMPILER "i686-w64-mingw32-clang++") 6 | SET(CMAKE_RC_COMPILER "i686-w64-mingw32-windres") 7 | SET(CMAKE_RANLIB "i686-w64-mingw32-ranlib") 8 | 9 | # Configure the behaviour of the find commands 10 | SET(CMAKE_FIND_ROOT_PATH "/usr/i686-w64-mingw32") 11 | SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) 12 | SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) 13 | SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) 14 | -------------------------------------------------------------------------------- /ext/glfw/CMake/x86_64-w64-mingw32-clang.cmake: -------------------------------------------------------------------------------- 1 | # Define the environment for cross-compiling with 64-bit MinGW-w64 Clang 2 | SET(CMAKE_SYSTEM_NAME Windows) # Target system name 3 | SET(CMAKE_SYSTEM_VERSION 1) 4 | SET(CMAKE_C_COMPILER "x86_64-w64-mingw32-clang") 5 | SET(CMAKE_CXX_COMPILER "x86_64-w64-mingw32-clang++") 6 | SET(CMAKE_RC_COMPILER "x86_64-w64-mingw32-windres") 7 | SET(CMAKE_RANLIB "x86_64-w64-mingw32-ranlib") 8 | 9 | # Configure the behaviour of the find commands 10 | SET(CMAKE_FIND_ROOT_PATH "/usr/x86_64-w64-mingw32") 11 | SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) 12 | SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) 13 | SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) 14 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx11/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_win32_directx11 4 | @set INCLUDES=/I..\.. /I..\..\backends /I "%WindowsSdkDir%Include\um" /I "%WindowsSdkDir%Include\shared" /I "%DXSDK_DIR%Include" 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_dx11.cpp ..\..\backends\imgui_impl_win32.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:"%DXSDK_DIR%/Lib/x86" d3d11.lib d3dcompiler.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% /D UNICODE /D _UNICODE %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 9 | 10 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_vulkan/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | 3 | @set OUT_EXE=example_sdl2_vulkan 4 | @set INCLUDES=/I..\.. /I..\..\backends /I%SDL2_DIR%\include /I %VULKAN_SDK%\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_vulkan.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:%SDL2_DIR%\lib\x86 /libpath:%VULKAN_SDK%\lib32 SDL2.lib SDL2main.lib shell32.lib vulkan-1.lib 7 | 8 | @set OUT_DIR=Debug 9 | mkdir %OUT_DIR% 10 | cl /nologo /Zi /MD %INCLUDES% /D ImTextureID=ImU64 %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% /subsystem:console 11 | -------------------------------------------------------------------------------- /src/widgets/Transform.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "details/TransformBase.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct TransformWidget : public TransformBase 9 | { 10 | TransformWidget(Client & client, const ElementId & id, const ElementId & reqId) : TransformBase(client, id, reqId) {} 11 | 12 | void draw3D() override 13 | { 14 | if(!show_) 15 | { 16 | return; 17 | } 18 | 19 | TransformBase::draw3D(); 20 | mclient_.draw_frame(marker_.pose()); 21 | } 22 | 23 | void draw2D() override 24 | { 25 | ImGui::Checkbox(label(fmt::format("Show {}", id.name)).c_str(), &show_); 26 | } 27 | 28 | private: 29 | bool show_ = true; 30 | }; 31 | 32 | } // namespace mc_mujoco 33 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_directx11/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @set OUT_DIR=Debug 3 | @set OUT_EXE=example_sdl2_directx11 4 | @set INCLUDES=/I..\.. /I..\..\backends /I%SDL2_DIR%\include /I "%WindowsSdkDir%Include\um" /I "%WindowsSdkDir%Include\shared" /I "%DXSDK_DIR%Include" 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_dx11.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:%SDL2_DIR%\lib\x86 SDL2.lib SDL2main.lib /LIBPATH:"%DXSDK_DIR%/Lib/x86" d3d11.lib d3dcompiler.lib shell32.lib 7 | mkdir %OUT_DIR% 8 | cl /nologo /Zi /MD %INCLUDES% %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% /subsystem:console 9 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx12/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | @REM Important: to build on 32-bit systems, the DX12 backends needs '#define ImTextureID ImU64', so we pass it here. 3 | @set OUT_DIR=Debug 4 | @set OUT_EXE=example_win32_directx12 5 | @set INCLUDES=/I..\.. /I..\..\backends /I "%WindowsSdkDir%Include\um" /I "%WindowsSdkDir%Include\shared" 6 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_dx12.cpp ..\..\backends\imgui_impl_win32.cpp ..\..\imgui*.cpp 7 | @set LIBS=d3d12.lib d3dcompiler.lib dxgi.lib 8 | mkdir Debug 9 | cl /nologo /Zi /MD %INCLUDES% /D ImTextureID=ImU64 /D UNICODE /D _UNICODE %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 10 | -------------------------------------------------------------------------------- /cmake/Config.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | find_package(mc_rtc REQUIRED) 4 | 5 | set(OpenGL_GL_PREFERENCE "GLVND") 6 | find_package(OpenGL REQUIRED) 7 | find_package(GLEW REQUIRED) 8 | 9 | set(MC_MUJOCO_SHARE_DESTINATION "@MC_MUJOCO_SHARE_DESTINATION@") 10 | set(MC_MUJOCO_USER_DESTINATION "@MC_MUJOCO_USER_DESTINATION@") 11 | 12 | include("${CMAKE_CURRENT_LIST_DIR}/mc_mujocoTargets.cmake") 13 | check_required_components(mc_mujoco) 14 | 15 | if(@COMBINED_MC_MUJOCO_LIB@) 16 | find_package(X11 REQUIRED) 17 | add_library(mc_mujoco::mc_mujoco STATIC IMPORTED GLOBAL) 18 | set_target_properties(mc_mujoco::mc_mujoco PROPERTIES IMPORTED_LOCATION @CMAKE_INSTALL_PREFIX@/lib/libmc_mujoco_lib_combined.a) 19 | target_link_libraries(mc_mujoco::mc_mujoco INTERFACE mc_mujoco::mc_mujoco_lib ${X11_X11_LIB}) 20 | endif() 21 | -------------------------------------------------------------------------------- /ext/glfw/CMake/modules/FindEpollShim.cmake: -------------------------------------------------------------------------------- 1 | # Find EpollShim 2 | # Once done, this will define 3 | # 4 | # EPOLLSHIM_FOUND - System has EpollShim 5 | # EPOLLSHIM_INCLUDE_DIRS - The EpollShim include directories 6 | # EPOLLSHIM_LIBRARIES - The libraries needed to use EpollShim 7 | 8 | find_path(EPOLLSHIM_INCLUDE_DIRS NAMES sys/epoll.h sys/timerfd.h HINTS /usr/local/include/libepoll-shim) 9 | find_library(EPOLLSHIM_LIBRARIES NAMES epoll-shim libepoll-shim HINTS /usr/local/lib) 10 | 11 | if (EPOLLSHIM_INCLUDE_DIRS AND EPOLLSHIM_LIBRARIES) 12 | set(EPOLLSHIM_FOUND TRUE) 13 | endif (EPOLLSHIM_INCLUDE_DIRS AND EPOLLSHIM_LIBRARIES) 14 | 15 | include(FindPackageHandleStandardArgs) 16 | find_package_handle_standard_args(EpollShim DEFAULT_MSG EPOLLSHIM_LIBRARIES EPOLLSHIM_INCLUDE_DIRS) 17 | mark_as_advanced(EPOLLSHIM_INCLUDE_DIRS EPOLLSHIM_LIBRARIES) 18 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_vulkan/build_win64.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of amd64/vcvars32.bat to setup 64-bit command-line compiler. 2 | 3 | @set INCLUDES=/I..\.. /I..\..\backends /I..\libs\glfw\include /I %VULKAN_SDK%\include 4 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_vulkan.cpp ..\..\backends\imgui_impl_glfw.cpp ..\..\imgui*.cpp 5 | @set LIBS=/LIBPATH:..\libs\glfw\lib-vc2010-64 /libpath:%VULKAN_SDK%\lib glfw3.lib opengl32.lib gdi32.lib shell32.lib vulkan-1.lib 6 | 7 | @set OUT_DIR=Debug 8 | mkdir %OUT_DIR% 9 | cl /nologo /Zi /MD %INCLUDES% /D ImTextureID=ImU64 %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 10 | 11 | @set OUT_DIR=Release 12 | mkdir %OUT_DIR% 13 | cl /nologo /Zi /MD /Ox /Oi %INCLUDES% /D ImTextureID=ImU64 %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 14 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_vulkan/build_win32.bat: -------------------------------------------------------------------------------- 1 | @REM Build for Visual Studio compiler. Run your copy of vcvars32.bat or vcvarsall.bat to setup command-line compiler. 2 | 3 | @set OUT_EXE=example_glfw_vulkan 4 | @set INCLUDES=/I..\.. /I..\..\backends /I..\libs\glfw\include /I %VULKAN_SDK%\include 5 | @set SOURCES=main.cpp ..\..\backends\imgui_impl_vulkan.cpp ..\..\backends\imgui_impl_glfw.cpp ..\..\imgui*.cpp 6 | @set LIBS=/LIBPATH:..\libs\glfw\lib-vc2010-32 /libpath:%VULKAN_SDK%\lib32 glfw3.lib opengl32.lib gdi32.lib shell32.lib vulkan-1.lib 7 | 8 | @set OUT_DIR=Debug 9 | mkdir %OUT_DIR% 10 | cl /nologo /Zi /MD %INCLUDES% /D ImTextureID=ImU64 %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 11 | 12 | @set OUT_DIR=Release 13 | mkdir %OUT_DIR% 14 | cl /nologo /Zi /MD /Ox /Oi %INCLUDES% /D ImTextureID=ImU64 %SOURCES% /Fe%OUT_DIR%/%OUT_EXE%.exe /Fo%OUT_DIR%/ /link %LIBS% 15 | -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | exclude: | 2 | (?x)^( 3 | ext/.*| 4 | )$ 5 | repos: 6 | - repo: meta 7 | hooks: 8 | - id: check-useless-excludes 9 | - repo: https://github.com/pre-commit/mirrors-clang-format 10 | rev: v21.1.7 11 | hooks: 12 | - id: clang-format 13 | 'types_or': [c++, c] 14 | - repo: https://github.com/pre-commit/pre-commit-hooks 15 | rev: v6.0.0 16 | hooks: 17 | - id: check-added-large-files 18 | - id: check-ast 19 | - id: check-executables-have-shebangs 20 | - id: check-merge-conflict 21 | - id: check-yaml 22 | - id: debug-statements 23 | - id: destroyed-symlinks 24 | - id: detect-private-key 25 | - id: end-of-file-fixer 26 | - id: fix-byte-order-marker 27 | - id: mixed-line-ending 28 | - id: trailing-whitespace 29 | - repo: https://github.com/cheshirekow/cmake-format-precommit 30 | rev: v0.6.13 31 | hooks: 32 | - id: cmake-format 33 | -------------------------------------------------------------------------------- /robots/ground.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/widgets/details/ControlAxis.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | enum class ControlAxis 9 | { 10 | NONE = 0, 11 | TX = (1u << 0), 12 | TY = (1u << 1), 13 | TZ = (1u << 2), 14 | RX = (1u << 3), 15 | RY = (1u << 4), 16 | RZ = (1u << 5), 17 | TRANSLATION = TX | TY | TZ, 18 | ROTATION = RX | RY | RZ, 19 | XYTHETA = TX | TY | RZ, 20 | XYZTHETA = TX | TY | TZ | RZ, 21 | ALL = TRANSLATION | ROTATION 22 | }; 23 | 24 | inline ControlAxis operator|(ControlAxis lhs, ControlAxis rhs) 25 | { 26 | using enum_t = std::underlying_type_t; 27 | return static_cast(static_cast(lhs) | static_cast(rhs)); 28 | } 29 | 30 | inline ControlAxis operator&(ControlAxis lhs, ControlAxis rhs) 31 | { 32 | using enum_t = std::underlying_type_t; 33 | return static_cast(static_cast(lhs) & static_cast(rhs)); 34 | } 35 | 36 | } // namespace mc_mujoco 37 | -------------------------------------------------------------------------------- /ext/glfw/LICENSE.md: -------------------------------------------------------------------------------- 1 | Copyright (c) 2002-2006 Marcus Geelnard 2 | 3 | Copyright (c) 2006-2019 Camilla Löwy 4 | 5 | This software is provided 'as-is', without any express or implied 6 | warranty. In no event will the authors be held liable for any damages 7 | arising from the use of this software. 8 | 9 | Permission is granted to anyone to use this software for any purpose, 10 | including commercial applications, and to alter it and redistribute it 11 | freely, subject to the following restrictions: 12 | 13 | 1. The origin of this software must not be misrepresented; you must not 14 | claim that you wrote the original software. If you use this software 15 | in a product, an acknowledgment in the product documentation would 16 | be appreciated but is not required. 17 | 18 | 2. Altered source versions must be plainly marked as such, and must not 19 | be misrepresented as being the original software. 20 | 21 | 3. This notice may not be removed or altered from any source 22 | distribution. 23 | 24 | -------------------------------------------------------------------------------- /src/widgets/details/InteractiveMarker.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #include 6 | 7 | #include "ControlAxis.h" 8 | 9 | namespace mc_mujoco 10 | { 11 | 12 | struct InteractiveMarker 13 | { 14 | InteractiveMarker(const sva::PTransformd & pose = sva::PTransformd::Identity(), ControlAxis mask = ControlAxis::NONE); 15 | 16 | void mask(ControlAxis mask); 17 | 18 | void pose(const sva::PTransformd & pose); 19 | 20 | inline bool active() const noexcept 21 | { 22 | return active_; 23 | } 24 | 25 | inline const sva::PTransformd & pose() const noexcept 26 | { 27 | return pose_; 28 | } 29 | 30 | bool draw(const std::array & view, const std::array & projection); 31 | 32 | private: 33 | sva::PTransformd pose_; 34 | int operation_; 35 | bool active_ = false; 36 | int id_; 37 | static int next_id_; 38 | }; 39 | 40 | using InteractiveMarkerPtr = std::unique_ptr; 41 | 42 | } // namespace mc_mujoco 43 | -------------------------------------------------------------------------------- /src/widgets/Point3D.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "details/TransformBase.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct Point3D : public TransformBase 9 | { 10 | Point3D(Client & client, const ElementId & id, const ElementId & reqId) : TransformBase(client, id, reqId) {} 11 | 12 | ~Point3D() override = default; 13 | 14 | void data(bool ro, const Eigen::Vector3d & pos, const mc_rtc::gui::PointConfig & config) 15 | { 16 | TransformBase::data(ro, pos); 17 | config_ = config; 18 | } 19 | 20 | void draw3D() override 21 | { 22 | if(!show_) 23 | { 24 | return; 25 | } 26 | 27 | TransformBase::draw3D(); 28 | mclient_.draw_sphere(marker_.pose().translation(), config_.scale, config_.color); 29 | } 30 | 31 | void draw2D() override 32 | { 33 | ImGui::Checkbox(label(fmt::format("Show {}", id.name)).c_str(), &show_); 34 | } 35 | 36 | private: 37 | mc_rtc::gui::PointConfig config_; 38 | bool show_ = true; 39 | }; 40 | 41 | } // namespace mc_mujoco 42 | -------------------------------------------------------------------------------- /ext/imgui/examples/libs/glfw/COPYING.txt: -------------------------------------------------------------------------------- 1 | Copyright (c) 2002-2006 Marcus Geelnard 2 | Copyright (c) 2006-2010 Camilla Berglund 3 | 4 | This software is provided 'as-is', without any express or implied 5 | warranty. In no event will the authors be held liable for any damages 6 | arising from the use of this software. 7 | 8 | Permission is granted to anyone to use this software for any purpose, 9 | including commercial applications, and to alter it and redistribute it 10 | freely, subject to the following restrictions: 11 | 12 | 1. The origin of this software must not be misrepresented; you must not 13 | claim that you wrote the original software. If you use this software 14 | in a product, an acknowledgment in the product documentation would 15 | be appreciated but is not required. 16 | 17 | 2. Altered source versions must be plainly marked as such, and must not 18 | be misrepresented as being the original software. 19 | 20 | 3. This notice may not be removed or altered from any source 21 | distribution. 22 | 23 | -------------------------------------------------------------------------------- /ext/glfw/CMake/modules/FindWaylandProtocols.cmake: -------------------------------------------------------------------------------- 1 | find_package(PkgConfig) 2 | 3 | pkg_check_modules(WaylandProtocols QUIET wayland-protocols>=${WaylandProtocols_FIND_VERSION}) 4 | 5 | execute_process(COMMAND ${PKG_CONFIG_EXECUTABLE} --variable=pkgdatadir wayland-protocols 6 | OUTPUT_VARIABLE WaylandProtocols_PKGDATADIR 7 | RESULT_VARIABLE _pkgconfig_failed) 8 | if (_pkgconfig_failed) 9 | message(FATAL_ERROR "Missing wayland-protocols pkgdatadir") 10 | endif() 11 | 12 | string(REGEX REPLACE "[\r\n]" "" WaylandProtocols_PKGDATADIR "${WaylandProtocols_PKGDATADIR}") 13 | 14 | find_package_handle_standard_args(WaylandProtocols 15 | FOUND_VAR 16 | WaylandProtocols_FOUND 17 | REQUIRED_VARS 18 | WaylandProtocols_PKGDATADIR 19 | VERSION_VAR 20 | WaylandProtocols_VERSION 21 | HANDLE_COMPONENTS 22 | ) 23 | 24 | set(WAYLAND_PROTOCOLS_FOUND ${WaylandProtocols_FOUND}) 25 | set(WAYLAND_PROTOCOLS_PKGDATADIR ${WaylandProtocols_PKGDATADIR}) 26 | set(WAYLAND_PROTOCOLS_VERSION ${WaylandProtocols_VERSION}) 27 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/android/app/src/main/AndroidManifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 9 | 10 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /ext/imgui/misc/README.txt: -------------------------------------------------------------------------------- 1 | 2 | misc/cpp/ 3 | InputText() wrappers for C++ standard library (STL) type: std::string. 4 | This is also an example of how you may wrap your own similar types. 5 | 6 | misc/debuggers/ 7 | Helper files for popular debuggers. 8 | With the .natvis file, types like ImVector<> will be displayed nicely in Visual Studio debugger. 9 | 10 | misc/fonts/ 11 | Fonts loading/merging instructions (e.g. How to handle glyph ranges, how to merge icons fonts). 12 | Command line tool "binary_to_compressed_c" to create compressed arrays to embed data in source code. 13 | Suggested fonts and links. 14 | 15 | misc/freetype/ 16 | Font atlas builder/rasterizer using FreeType instead of stb_truetype. 17 | Benefit from better FreeType rasterization, in particular for small fonts. 18 | 19 | misc/single_file/ 20 | Single-file header stub. 21 | We use this to validate compiling all *.cpp files in a same compilation unit. 22 | Users of that technique (also called "Unity builds") can generally provide this themselves, 23 | so we don't really recommend you use this in your projects. 24 | -------------------------------------------------------------------------------- /src/widgets/Polygon.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "MujocoWidget.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct Polygon : public MujocoWidget 9 | { 10 | Polygon(Client & client, const ElementId & id) : MujocoWidget(client, id) {} 11 | 12 | void data(const std::vector> & points, const mc_rtc::gui::LineConfig & config) 13 | { 14 | if(points_ != points) 15 | { 16 | points_ = points; 17 | } 18 | config_ = config; 19 | } 20 | 21 | void draw3D() override 22 | { 23 | if(!show_) 24 | { 25 | return; 26 | } 27 | 28 | for(const auto & p : points_) 29 | { 30 | // FIXME Style is not supported by imgui drawing API 31 | mclient_.draw_polygon(p, config_.color, config_.width); 32 | } 33 | } 34 | 35 | void draw2D() override 36 | { 37 | ImGui::Checkbox(label(fmt::format("Show {}", id.name)).c_str(), &show_); 38 | } 39 | 40 | private: 41 | std::vector> points_; 42 | mc_rtc::gui::LineConfig config_; 43 | bool show_ = true; 44 | }; 45 | 46 | } // namespace mc_mujoco 47 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_apple_metal/macOS/Info-macOS.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | CFBundleDevelopmentRegion 6 | $(DEVELOPMENT_LANGUAGE) 7 | CFBundleExecutable 8 | $(EXECUTABLE_NAME) 9 | CFBundleIconFile 10 | 11 | CFBundleIdentifier 12 | $(PRODUCT_BUNDLE_IDENTIFIER) 13 | CFBundleInfoDictionaryVersion 14 | 6.0 15 | CFBundleName 16 | imgui 17 | CFBundlePackageType 18 | APPL 19 | CFBundleShortVersionString 20 | 1.0 21 | CFBundleVersion 22 | 1 23 | LSMinimumSystemVersion 24 | $(MACOSX_DEPLOYMENT_TARGET) 25 | NSMainStoryboardFile 26 | MainMenu 27 | NSPrincipalClass 28 | NSApplication 29 | 30 | 31 | -------------------------------------------------------------------------------- /src/mj_configuration.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | 6 | namespace mc_mujoco 7 | { 8 | 9 | /** Configuration for the connection to MuJoCo and the simulation */ 10 | struct MjConfiguration 11 | { 12 | /** If true, enable visualization */ 13 | bool with_visualization = true; 14 | /** If true, display the collision model by default */ 15 | std::optional visualize_collisions; 16 | /** If true, display the visual model by default */ 17 | std::optional visualize_visual; 18 | /** If true, enable mc_rtc GUI inside MuJoCo simulation */ 19 | bool with_mc_rtc_gui = true; 20 | /** If true, enable mc_rtc controller inside MuJoCo simulation */ 21 | bool with_controller = true; 22 | /** If true, sync simulation time and real time */ 23 | bool sync_real_time = false; 24 | /** If true, start in step-by-step mode */ 25 | bool step_by_step = false; 26 | /** mc_rtc configuration file */ 27 | std::string mc_config = ""; 28 | /** Use torque-control rather than position control */ 29 | bool torque_control = false; 30 | }; 31 | 32 | } // namespace mc_mujoco 33 | -------------------------------------------------------------------------------- /src/widgets/Polyhedron.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "MujocoWidget.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | struct Polyhedron : public MujocoWidget 9 | { 10 | Polyhedron(Client & client, const ElementId & id) : MujocoWidget(client, id) {} 11 | 12 | void data(const std::vector> & triangles, 13 | const std::vector> & color, 14 | const mc_rtc::gui::PolyhedronConfig & config) 15 | { 16 | if(triangles_ != triangles) 17 | { 18 | triangles_ = triangles; 19 | } 20 | 21 | config_ = config; 22 | } 23 | 24 | void draw3D() override 25 | { 26 | if(!show_) 27 | { 28 | return; 29 | } 30 | 31 | mclient_.draw_polyhedron(triangles_, config_.triangle_color); 32 | } 33 | 34 | void draw2D() override 35 | { 36 | ImGui::Checkbox(label(fmt::format("Show {}", id.name)).c_str(), &show_); 37 | } 38 | 39 | private: 40 | std::vector> triangles_; 41 | mc_rtc::gui::PolyhedronConfig config_; 42 | bool show_ = true; 43 | }; 44 | 45 | } // namespace mc_mujoco 46 | -------------------------------------------------------------------------------- /robots/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/jvrc_mj_description/CMakeLists.txt") 2 | message( 3 | FATAL_ERROR 4 | "No CMakeLists.txt in jvrc_mj_description folder, did you run `git submodule update --init`?" 5 | ) 6 | endif() 7 | 8 | file(GLOB robot_dirs CONFIGURE_DEPENDS "*") 9 | foreach(robot_dir ${robot_dirs}) 10 | if(EXISTS "${robot_dir}/CMakeLists.txt") 11 | message(STATUS "Adding robot: ${robot_dir}") 12 | add_subdirectory(${robot_dir}) 13 | endif() 14 | endforeach() 15 | 16 | function(setup_env_object NAME ENV_OBJECT) 17 | set(YAML_OUT "${CMAKE_CURRENT_BINARY_DIR}/${NAME}.yaml") 18 | configure_file(${NAME}.in.yaml "${YAML_OUT}") 19 | install(FILES "${YAML_OUT}" DESTINATION "${MC_MUJOCO_SHARE_DESTINATION}") 20 | install(FILES "${NAME}.xml" 21 | DESTINATION "${MC_MUJOCO_SHARE_DESTINATION}/${ENV_OBJECT}") 22 | install(DIRECTORY assets 23 | DESTINATION "${MC_MUJOCO_SHARE_DESTINATION}/${ENV_OBJECT}") 24 | endfunction() 25 | 26 | setup_env_object(ground env) 27 | setup_env_object(box object) 28 | setup_env_object(longtable object) 29 | setup_env_object(table object) 30 | -------------------------------------------------------------------------------- /ext/imgui/misc/single_file/imgui_single_file.h: -------------------------------------------------------------------------------- 1 | // dear imgui: single-file wrapper include 2 | // We use this to validate compiling all *.cpp files in a same compilation unit. 3 | // Users of that technique (also called "Unity builds") can generally provide this themselves, 4 | // so we don't really recommend you use this in your projects. 5 | 6 | // Do this: 7 | // #define IMGUI_IMPLEMENTATION 8 | // Before you include this file in *one* C++ file to create the implementation. 9 | // Using this in your project will leak the contents of imgui_internal.h and ImVec2 operators in this compilation unit. 10 | 11 | #ifdef IMGUI_IMPLEMENTATION 12 | #define IMGUI_DEFINE_MATH_OPERATORS 13 | #endif 14 | 15 | #include "../../imgui.h" 16 | #ifdef IMGUI_ENABLE_FREETYPE 17 | #include "../../misc/freetype/imgui_freetype.h" 18 | #endif 19 | 20 | #ifdef IMGUI_IMPLEMENTATION 21 | #include "../../imgui.cpp" 22 | #include "../../imgui_demo.cpp" 23 | #include "../../imgui_draw.cpp" 24 | #include "../../imgui_tables.cpp" 25 | #include "../../imgui_widgets.cpp" 26 | #ifdef IMGUI_ENABLE_FREETYPE 27 | #include "../../misc/freetype/imgui_freetype.cpp" 28 | #endif 29 | #endif 30 | -------------------------------------------------------------------------------- /ext/implot/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2020 Evan Pezent 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /ext/ImGuizmo/LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2016 Cedric Guillemet 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /ext/imgui/LICENSE.txt: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2014-2023 Omar Cornut 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /robots/box.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ext/glfw/docs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | # NOTE: The order of this list determines the order of items in the Guides 3 | # (i.e. Pages) list in the generated documentation 4 | set(GLFW_DOXYGEN_SOURCES 5 | "include/GLFW/glfw3.h" 6 | "include/GLFW/glfw3native.h" 7 | "docs/main.dox" 8 | "docs/news.dox" 9 | "docs/quick.dox" 10 | "docs/moving.dox" 11 | "docs/compile.dox" 12 | "docs/build.dox" 13 | "docs/intro.dox" 14 | "docs/context.dox" 15 | "docs/monitor.dox" 16 | "docs/window.dox" 17 | "docs/input.dox" 18 | "docs/vulkan.dox" 19 | "docs/compat.dox" 20 | "docs/internal.dox") 21 | 22 | # Format the source list into a Doxyfile INPUT value that Doxygen can parse 23 | foreach(path IN LISTS GLFW_DOXYGEN_SOURCES) 24 | set(GLFW_DOXYGEN_INPUT "${GLFW_DOXYGEN_INPUT} \\\n\"${GLFW_SOURCE_DIR}/${path}\"") 25 | endforeach() 26 | 27 | configure_file(Doxyfile.in Doxyfile @ONLY) 28 | 29 | add_custom_target(docs ALL "${DOXYGEN_EXECUTABLE}" 30 | WORKING_DIRECTORY "${GLFW_BINARY_DIR}/docs" 31 | COMMENT "Generating HTML documentation" VERBATIM) 32 | 33 | set_target_properties(docs PROPERTIES FOLDER "GLFW3") 34 | 35 | -------------------------------------------------------------------------------- /ext/imgui/.editorconfig: -------------------------------------------------------------------------------- 1 | # See http://editorconfig.org to read about the EditorConfig format. 2 | # - In theory automatically supported by VS2017+ and most common IDE or text editors. 3 | # - In practice VS2019-VS2022 stills don't trim trailing whitespaces correctly :( 4 | # - Suggest installing this to trim whitespaces: 5 | # GitHub https://github.com/madskristensen/TrailingWhitespace 6 | # VS2019 https://marketplace.visualstudio.com/items?itemName=MadsKristensen.TrailingWhitespaceVisualizer 7 | # VS2022 https://marketplace.visualstudio.com/items?itemName=MadsKristensen.TrailingWhitespace64 8 | # (in spite of its name doesn't only visualize but also trims) 9 | # - Alternative for older VS2010 to VS2015: https://marketplace.visualstudio.com/items?itemName=EditorConfigTeam.EditorConfig 10 | 11 | # top-most EditorConfig file 12 | root = true 13 | 14 | # Default settings: 15 | # Use 4 spaces as indentation 16 | [*] 17 | indent_style = space 18 | indent_size = 4 19 | insert_final_newline = true 20 | trim_trailing_whitespace = true 21 | 22 | [imstb_*] 23 | indent_size = 3 24 | trim_trailing_whitespace = false 25 | 26 | [Makefile] 27 | indent_style = tab 28 | indent_size = 4 29 | -------------------------------------------------------------------------------- /ext/glfw/CMake/modules/FindXKBCommon.cmake: -------------------------------------------------------------------------------- 1 | # - Try to find XKBCommon 2 | # Once done, this will define 3 | # 4 | # XKBCOMMON_FOUND - System has XKBCommon 5 | # XKBCOMMON_INCLUDE_DIRS - The XKBCommon include directories 6 | # XKBCOMMON_LIBRARIES - The libraries needed to use XKBCommon 7 | # XKBCOMMON_DEFINITIONS - Compiler switches required for using XKBCommon 8 | 9 | find_package(PkgConfig) 10 | pkg_check_modules(PC_XKBCOMMON QUIET xkbcommon) 11 | set(XKBCOMMON_DEFINITIONS ${PC_XKBCOMMON_CFLAGS_OTHER}) 12 | 13 | find_path(XKBCOMMON_INCLUDE_DIR 14 | NAMES xkbcommon/xkbcommon.h 15 | HINTS ${PC_XKBCOMMON_INCLUDE_DIR} ${PC_XKBCOMMON_INCLUDE_DIRS} 16 | ) 17 | 18 | find_library(XKBCOMMON_LIBRARY 19 | NAMES xkbcommon 20 | HINTS ${PC_XKBCOMMON_LIBRARY} ${PC_XKBCOMMON_LIBRARY_DIRS} 21 | ) 22 | 23 | set(XKBCOMMON_LIBRARIES ${XKBCOMMON_LIBRARY}) 24 | set(XKBCOMMON_LIBRARY_DIRS ${XKBCOMMON_LIBRARY_DIRS}) 25 | set(XKBCOMMON_INCLUDE_DIRS ${XKBCOMMON_INCLUDE_DIR}) 26 | 27 | include(FindPackageHandleStandardArgs) 28 | find_package_handle_standard_args(XKBCommon DEFAULT_MSG 29 | XKBCOMMON_LIBRARY 30 | XKBCOMMON_INCLUDE_DIR 31 | ) 32 | 33 | mark_as_advanced(XKBCOMMON_LIBRARY XKBCOMMON_INCLUDE_DIR) 34 | 35 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/android/app/build.gradle: -------------------------------------------------------------------------------- 1 | apply plugin: 'com.android.application' 2 | apply plugin: 'kotlin-android' 3 | 4 | android { 5 | compileSdkVersion 33 6 | buildToolsVersion "33.0.2" 7 | ndkVersion "25.2.9519653" 8 | 9 | defaultConfig { 10 | applicationId "imgui.example.android" 11 | namespace "imgui.example.android" 12 | minSdkVersion 24 13 | targetSdkVersion 33 14 | versionCode 1 15 | versionName "1.0" 16 | } 17 | 18 | buildTypes { 19 | release { 20 | minifyEnabled false 21 | proguardFiles getDefaultProguardFile('proguard-android-optimize.txt') 22 | } 23 | } 24 | 25 | compileOptions { 26 | sourceCompatibility JavaVersion.VERSION_11 27 | targetCompatibility JavaVersion.VERSION_11 28 | } 29 | 30 | kotlinOptions { 31 | jvmTarget="11" 32 | } 33 | 34 | externalNativeBuild { 35 | cmake { 36 | path "../../CMakeLists.txt" 37 | version '3.22.1' 38 | } 39 | } 40 | } 41 | repositories { 42 | mavenCentral() 43 | } 44 | dependencies { 45 | implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version" 46 | } 47 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_null/main.cpp: -------------------------------------------------------------------------------- 1 | // dear imgui: "null" example application 2 | // (compile and link imgui, create context, run headless with NO INPUTS, NO GRAPHICS OUTPUT) 3 | // This is useful to test building, but you cannot interact with anything here! 4 | #include "imgui.h" 5 | #include 6 | 7 | int main(int, char**) 8 | { 9 | IMGUI_CHECKVERSION(); 10 | ImGui::CreateContext(); 11 | ImGuiIO& io = ImGui::GetIO(); 12 | 13 | // Build atlas 14 | unsigned char* tex_pixels = nullptr; 15 | int tex_w, tex_h; 16 | io.Fonts->GetTexDataAsRGBA32(&tex_pixels, &tex_w, &tex_h); 17 | 18 | for (int n = 0; n < 20; n++) 19 | { 20 | printf("NewFrame() %d\n", n); 21 | io.DisplaySize = ImVec2(1920, 1080); 22 | io.DeltaTime = 1.0f / 60.0f; 23 | ImGui::NewFrame(); 24 | 25 | static float f = 0.0f; 26 | ImGui::Text("Hello, world!"); 27 | ImGui::SliderFloat("float", &f, 0.0f, 1.0f); 28 | ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / io.Framerate, io.Framerate); 29 | ImGui::ShowDemoWindow(nullptr); 30 | 31 | ImGui::Render(); 32 | } 33 | 34 | printf("DestroyContext()\n"); 35 | ImGui::DestroyContext(); 36 | return 0; 37 | } 38 | -------------------------------------------------------------------------------- /ext/imgui/misc/cpp/imgui_stdlib.h: -------------------------------------------------------------------------------- 1 | // dear imgui: wrappers for C++ standard library (STL) types (std::string, etc.) 2 | // This is also an example of how you may wrap your own similar types. 3 | 4 | // Changelog: 5 | // - v0.10: Initial version. Added InputText() / InputTextMultiline() calls with std::string 6 | 7 | // See more C++ related extension (fmt, RAII, syntaxis sugar) on Wiki: 8 | // https://github.com/ocornut/imgui/wiki/Useful-Extensions#cness 9 | 10 | #pragma once 11 | 12 | #include 13 | 14 | namespace ImGui 15 | { 16 | // ImGui::InputText() with std::string 17 | // Because text input needs dynamic resizing, we need to setup a callback to grow the capacity 18 | IMGUI_API bool InputText(const char* label, std::string* str, ImGuiInputTextFlags flags = 0, ImGuiInputTextCallback callback = nullptr, void* user_data = nullptr); 19 | IMGUI_API bool InputTextMultiline(const char* label, std::string* str, const ImVec2& size = ImVec2(0, 0), ImGuiInputTextFlags flags = 0, ImGuiInputTextCallback callback = nullptr, void* user_data = nullptr); 20 | IMGUI_API bool InputTextWithHint(const char* label, const char* hint, std::string* str, ImGuiInputTextFlags flags = 0, ImGuiInputTextCallback callback = nullptr, void* user_data = nullptr); 21 | } 22 | -------------------------------------------------------------------------------- /ext/glfw/cmake_uninstall.cmake.in: -------------------------------------------------------------------------------- 1 | 2 | if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") 3 | message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"") 4 | endif() 5 | 6 | file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) 7 | string(REGEX REPLACE "\n" ";" files "${files}") 8 | 9 | foreach (file ${files}) 10 | message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"") 11 | if (EXISTS "$ENV{DESTDIR}${file}") 12 | exec_program("@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\"" 13 | OUTPUT_VARIABLE rm_out 14 | RETURN_VALUE rm_retval) 15 | if (NOT "${rm_retval}" STREQUAL 0) 16 | MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"") 17 | endif() 18 | elseif (IS_SYMLINK "$ENV{DESTDIR}${file}") 19 | EXEC_PROGRAM("@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\"" 20 | OUTPUT_VARIABLE rm_out 21 | RETURN_VALUE rm_retval) 22 | if (NOT "${rm_retval}" STREQUAL 0) 23 | message(FATAL_ERROR "Problem when removing symlink \"$ENV{DESTDIR}${file}\"") 24 | endif() 25 | else() 26 | message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.") 27 | endif() 28 | endforeach() 29 | 30 | -------------------------------------------------------------------------------- /ext/glfw/src/xkb_unicode.h: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 Linux - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2014 Jonas Ådahl 5 | // 6 | // This software is provided 'as-is', without any express or implied 7 | // warranty. In no event will the authors be held liable for any damages 8 | // arising from the use of this software. 9 | // 10 | // Permission is granted to anyone to use this software for any purpose, 11 | // including commercial applications, and to alter it and redistribute it 12 | // freely, subject to the following restrictions: 13 | // 14 | // 1. The origin of this software must not be misrepresented; you must not 15 | // claim that you wrote the original software. If you use this software 16 | // in a product, an acknowledgment in the product documentation would 17 | // be appreciated but is not required. 18 | // 19 | // 2. Altered source versions must be plainly marked as such, and must not 20 | // be misrepresented as being the original software. 21 | // 22 | // 3. This notice may not be removed or altered from any source 23 | // distribution. 24 | // 25 | //======================================================================== 26 | 27 | long _glfwKeySym2Unicode(unsigned int keysym); 28 | 29 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.6) 2 | 3 | project(ImGuiExample) 4 | 5 | set(CMAKE_CXX_STANDARD 11) 6 | set(CMAKE_CXX_STANDARD_REQUIRED ON) 7 | set(CMAKE_CXX_EXTENSIONS OFF) 8 | 9 | add_library(${CMAKE_PROJECT_NAME} SHARED 10 | ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp 11 | ${CMAKE_CURRENT_SOURCE_DIR}/../../imgui.cpp 12 | ${CMAKE_CURRENT_SOURCE_DIR}/../../imgui_demo.cpp 13 | ${CMAKE_CURRENT_SOURCE_DIR}/../../imgui_draw.cpp 14 | ${CMAKE_CURRENT_SOURCE_DIR}/../../imgui_tables.cpp 15 | ${CMAKE_CURRENT_SOURCE_DIR}/../../imgui_widgets.cpp 16 | ${CMAKE_CURRENT_SOURCE_DIR}/../../backends/imgui_impl_android.cpp 17 | ${CMAKE_CURRENT_SOURCE_DIR}/../../backends/imgui_impl_opengl3.cpp 18 | ${ANDROID_NDK}/sources/android/native_app_glue/android_native_app_glue.c 19 | ) 20 | 21 | set(CMAKE_SHARED_LINKER_FLAGS 22 | "${CMAKE_SHARED_LINKER_FLAGS} -u ANativeActivity_onCreate" 23 | ) 24 | 25 | target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE 26 | IMGUI_IMPL_OPENGL_ES3 27 | ) 28 | 29 | target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE 30 | ${CMAKE_CURRENT_SOURCE_DIR}/../.. 31 | ${CMAKE_CURRENT_SOURCE_DIR}/../../backends 32 | ${ANDROID_NDK}/sources/android/native_app_glue 33 | ) 34 | 35 | target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE 36 | android 37 | EGL 38 | GLESv3 39 | log 40 | ) 41 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 2-Clause License 2 | 3 | Copyright (c) 2022, CNRS-AIST JRL 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 17 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 18 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 20 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 21 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 22 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 23 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 24 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_dx9.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer Backend for DirectX9 2 | // This needs to be used along with a Platform Backend (e.g. Win32) 3 | 4 | // Implemented features: 5 | // [X] Renderer: User texture binding. Use 'LPDIRECT3DTEXTURE9' as ImTextureID. Read the FAQ about ImTextureID! 6 | // [X] Renderer: Large meshes support (64k+ vertices) with 16-bit indices. 7 | 8 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 9 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 10 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 11 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 12 | 13 | #pragma once 14 | #include "imgui.h" // IMGUI_IMPL_API 15 | 16 | struct IDirect3DDevice9; 17 | 18 | IMGUI_IMPL_API bool ImGui_ImplDX9_Init(IDirect3DDevice9* device); 19 | IMGUI_IMPL_API void ImGui_ImplDX9_Shutdown(); 20 | IMGUI_IMPL_API void ImGui_ImplDX9_NewFrame(); 21 | IMGUI_IMPL_API void ImGui_ImplDX9_RenderDrawData(ImDrawData* draw_data); 22 | 23 | // Use if you want to reset your rendering device without losing Dear ImGui state. 24 | IMGUI_IMPL_API bool ImGui_ImplDX9_CreateDeviceObjects(); 25 | IMGUI_IMPL_API void ImGui_ImplDX9_InvalidateDeviceObjects(); 26 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_dx10.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer Backend for DirectX10 2 | // This needs to be used along with a Platform Backend (e.g. Win32) 3 | 4 | // Implemented features: 5 | // [X] Renderer: User texture binding. Use 'ID3D10ShaderResourceView*' as ImTextureID. Read the FAQ about ImTextureID! 6 | // [X] Renderer: Large meshes support (64k+ vertices) with 16-bit indices. 7 | 8 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 9 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 10 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 11 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 12 | 13 | #pragma once 14 | #include "imgui.h" // IMGUI_IMPL_API 15 | 16 | struct ID3D10Device; 17 | 18 | IMGUI_IMPL_API bool ImGui_ImplDX10_Init(ID3D10Device* device); 19 | IMGUI_IMPL_API void ImGui_ImplDX10_Shutdown(); 20 | IMGUI_IMPL_API void ImGui_ImplDX10_NewFrame(); 21 | IMGUI_IMPL_API void ImGui_ImplDX10_RenderDrawData(ImDrawData* draw_data); 22 | 23 | // Use if you want to reset your rendering device without losing Dear ImGui state. 24 | IMGUI_IMPL_API void ImGui_ImplDX10_InvalidateDeviceObjects(); 25 | IMGUI_IMPL_API bool ImGui_ImplDX10_CreateDeviceObjects(); 26 | -------------------------------------------------------------------------------- /ext/glfw/docs/header.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | $projectname: $title 9 | $title 10 | 11 | 12 | 13 | $treeview 14 | $search 15 | $mathjax 16 | 17 | $extrastylesheet 18 | 19 | 20 |
21 | 22 | 23 |
24 |
25 | GLFW 26 | 31 |
32 |
33 | 34 | 35 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_sdlrenderer/README.md: -------------------------------------------------------------------------------- 1 | 2 | # How to Build 3 | 4 | - On Windows with Visual Studio's CLI 5 | 6 | ``` 7 | set SDL2_DIR=path_to_your_sdl2_folder 8 | cl /Zi /MD /I.. /I..\.. /I%SDL2_DIR%\include main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_sdlrenderer.cpp ..\..\imgui*.cpp /FeDebug/example_sdl2_sdlrenderer.exe /FoDebug/ /link /libpath:%SDL2_DIR%\lib\x86 SDL2.lib SDL2main.lib /subsystem:console 9 | # ^^ include paths ^^ source files ^^ output exe ^^ output dir ^^ libraries 10 | # or for 64-bit: 11 | cl /Zi /MD /I.. /I..\.. /I%SDL2_DIR%\include main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_sdlrenderer.cpp ..\..\imgui*.cpp /FeDebug/example_sdl2_sdlrenderer.exe /FoDebug/ /link /libpath:%SDL2_DIR%\lib\x64 SDL2.lib SDL2main.lib /subsystem:console 12 | ``` 13 | 14 | - On Linux and similar Unixes 15 | 16 | ``` 17 | c++ `sdl2-config --cflags` -I .. -I ../.. main.cpp ../../backends/imgui_impl_sdl2.cpp ../../backends/imgui_impl_sdlrenderer.cpp ../../imgui*.cpp `sdl2-config --libs` -lGL 18 | ``` 19 | 20 | - On Mac OS X 21 | 22 | ``` 23 | brew install sdl2 24 | c++ `sdl2-config --cflags` -I .. -I ../.. main.cpp ../../backends/imgui_impl_sdl2.cpp ../../backends/imgui_impl_sdlrenderer.cpp ../../imgui*.cpp `sdl2-config --libs` -framework OpenGl 25 | ``` 26 | -------------------------------------------------------------------------------- /ext/imgui/.gitignore: -------------------------------------------------------------------------------- 1 | ## OSX artifacts 2 | .DS_Store 3 | 4 | ## Dear ImGui artifacts 5 | imgui.ini 6 | 7 | ## General build artifacts 8 | *.o 9 | *.obj 10 | *.exe 11 | examples/build/* 12 | examples/*/Debug/* 13 | examples/*/Release/* 14 | examples/*/x64/* 15 | 16 | ## Visual Studio artifacts 17 | .vs 18 | ipch 19 | *.opensdf 20 | *.log 21 | *.pdb 22 | *.ilk 23 | *.user 24 | *.sdf 25 | *.suo 26 | *.VC.db 27 | *.VC.VC.opendb 28 | 29 | ## Getting files created in JSON/Schemas/Catalog/ from a VS2022 update 30 | JSON/ 31 | 32 | ## Commonly used CMake directories 33 | /build*/ 34 | 35 | ## Xcode artifacts 36 | project.xcworkspace 37 | xcuserdata 38 | 39 | ## Emscripten artifacts 40 | examples/*.o.tmp 41 | examples/*.out.js 42 | examples/*.out.wasm 43 | examples/example_glfw_opengl3/web/* 44 | examples/example_sdl2_opengl3/web/* 45 | examples/example_emscripten_wgpu/web/* 46 | 47 | ## JetBrains IDE artifacts 48 | .idea 49 | cmake-build-* 50 | 51 | ## Unix executables from our example Makefiles 52 | examples/example_glfw_metal/example_glfw_metal 53 | examples/example_glfw_opengl2/example_glfw_opengl2 54 | examples/example_glfw_opengl3/example_glfw_opengl3 55 | examples/example_glut_opengl2/example_glut_opengl2 56 | examples/example_null/example_null 57 | examples/example_sdl2_metal/example_sdl2_metal 58 | examples/example_sdl2_opengl2/example_sdl2_opengl2 59 | examples/example_sdl2_opengl3/example_sdl2_opengl3 60 | examples/example_sdl2_sdlrenderer/example_sdl2_sdlrenderer 61 | -------------------------------------------------------------------------------- /ext/glfw/CMake/MacOSXBundleInfo.plist.in: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | CFBundleDevelopmentRegion 6 | English 7 | CFBundleExecutable 8 | ${MACOSX_BUNDLE_EXECUTABLE_NAME} 9 | CFBundleGetInfoString 10 | ${MACOSX_BUNDLE_INFO_STRING} 11 | CFBundleIconFile 12 | ${MACOSX_BUNDLE_ICON_FILE} 13 | CFBundleIdentifier 14 | ${MACOSX_BUNDLE_GUI_IDENTIFIER} 15 | CFBundleInfoDictionaryVersion 16 | 6.0 17 | CFBundleLongVersionString 18 | ${MACOSX_BUNDLE_LONG_VERSION_STRING} 19 | CFBundleName 20 | ${MACOSX_BUNDLE_BUNDLE_NAME} 21 | CFBundlePackageType 22 | APPL 23 | CFBundleShortVersionString 24 | ${MACOSX_BUNDLE_SHORT_VERSION_STRING} 25 | CFBundleSignature 26 | ???? 27 | CFBundleVersion 28 | ${MACOSX_BUNDLE_BUNDLE_VERSION} 29 | CSResourcesFileMapped 30 | 31 | LSRequiresCarbon 32 | 33 | NSHumanReadableCopyright 34 | ${MACOSX_BUNDLE_COPYRIGHT} 35 | NSHighResolutionCapable 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_metal/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # You will need GLFW (http://www.glfw.org): 3 | # brew install glfw 4 | # 5 | 6 | #CXX = g++ 7 | #CXX = clang++ 8 | 9 | EXE = example_glfw_metal 10 | IMGUI_DIR = ../.. 11 | SOURCES = main.mm 12 | SOURCES += $(IMGUI_DIR)/imgui.cpp $(IMGUI_DIR)/imgui_demo.cpp $(IMGUI_DIR)/imgui_draw.cpp $(IMGUI_DIR)/imgui_tables.cpp $(IMGUI_DIR)/imgui_widgets.cpp 13 | SOURCES += $(IMGUI_DIR)/backends/imgui_impl_glfw.cpp $(IMGUI_DIR)/backends/imgui_impl_metal.mm 14 | OBJS = $(addsuffix .o, $(basename $(notdir $(SOURCES)))) 15 | 16 | LIBS = -framework Metal -framework MetalKit -framework Cocoa -framework IOKit -framework CoreVideo -framework QuartzCore 17 | LIBS += -L/usr/local/lib -L/opt/homebrew/lib 18 | LIBS += -lglfw 19 | 20 | CXXFLAGS = -std=c++11 -I$(IMGUI_DIR) -I$(IMGUI_DIR)/backends -I/usr/local/include -I/opt/homebrew/include 21 | CXXFLAGS += -Wall -Wformat 22 | CFLAGS = $(CXXFLAGS) 23 | 24 | %.o:%.cpp 25 | $(CXX) $(CXXFLAGS) -c -o $@ $< 26 | 27 | %.o:$(IMGUI_DIR)/%.cpp 28 | $(CXX) $(CXXFLAGS) -c -o $@ $< 29 | 30 | %.o:$(IMGUI_DIR)/backends/%.cpp 31 | $(CXX) $(CXXFLAGS) -c -o $@ $< 32 | 33 | %.o:%.mm 34 | $(CXX) $(CXXFLAGS) -ObjC++ -fobjc-weak -fobjc-arc -c -o $@ $< 35 | 36 | %.o:$(IMGUI_DIR)/backends/%.mm 37 | $(CXX) $(CXXFLAGS) -ObjC++ -fobjc-weak -fobjc-arc -c -o $@ $< 38 | 39 | all: $(EXE) 40 | @echo Build complete 41 | 42 | $(EXE): $(OBJS) 43 | $(CXX) -o $@ $^ $(CXXFLAGS) $(LIBS) 44 | 45 | clean: 46 | rm -f $(EXE) $(OBJS) 47 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_dx11.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer Backend for DirectX11 2 | // This needs to be used along with a Platform Backend (e.g. Win32) 3 | 4 | // Implemented features: 5 | // [X] Renderer: User texture binding. Use 'ID3D11ShaderResourceView*' as ImTextureID. Read the FAQ about ImTextureID! 6 | // [X] Renderer: Large meshes support (64k+ vertices) with 16-bit indices. 7 | 8 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 9 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 10 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 11 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 12 | 13 | #pragma once 14 | #include "imgui.h" // IMGUI_IMPL_API 15 | 16 | struct ID3D11Device; 17 | struct ID3D11DeviceContext; 18 | 19 | IMGUI_IMPL_API bool ImGui_ImplDX11_Init(ID3D11Device* device, ID3D11DeviceContext* device_context); 20 | IMGUI_IMPL_API void ImGui_ImplDX11_Shutdown(); 21 | IMGUI_IMPL_API void ImGui_ImplDX11_NewFrame(); 22 | IMGUI_IMPL_API void ImGui_ImplDX11_RenderDrawData(ImDrawData* draw_data); 23 | 24 | // Use if you want to reset your rendering device without losing Dear ImGui state. 25 | IMGUI_IMPL_API void ImGui_ImplDX11_InvalidateDeviceObjects(); 26 | IMGUI_IMPL_API bool ImGui_ImplDX11_CreateDeviceObjects(); 27 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_metal/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # You will need SDL2 (http://www.libsdl.org): 3 | # brew install sdl2 4 | # 5 | 6 | #CXX = g++ 7 | #CXX = clang++ 8 | 9 | EXE = example_sdl2_metal 10 | IMGUI_DIR = ../.. 11 | SOURCES = main.mm 12 | SOURCES += $(IMGUI_DIR)/imgui.cpp $(IMGUI_DIR)/imgui_demo.cpp $(IMGUI_DIR)/imgui_draw.cpp $(IMGUI_DIR)/imgui_tables.cpp $(IMGUI_DIR)/imgui_widgets.cpp 13 | SOURCES += $(IMGUI_DIR)/backends/imgui_impl_sdl2.cpp $(IMGUI_DIR)/backends/imgui_impl_metal.mm 14 | OBJS = $(addsuffix .o, $(basename $(notdir $(SOURCES)))) 15 | 16 | LIBS = -framework Metal -framework MetalKit -framework Cocoa -framework IOKit -framework CoreVideo -framework QuartzCore 17 | LIBS += `sdl2-config --libs` 18 | LIBS += -L/usr/local/lib 19 | 20 | CXXFLAGS = -std=c++11 -I$(IMGUI_DIR) -I$(IMGUI_DIR)/backends -I/usr/local/include 21 | CXXFLAGS += `sdl2-config --cflags` 22 | CXXFLAGS += -Wall -Wformat 23 | CFLAGS = $(CXXFLAGS) 24 | 25 | %.o:%.cpp 26 | $(CXX) $(CXXFLAGS) -c -o $@ $< 27 | 28 | %.o:$(IMGUI_DIR)/%.cpp 29 | $(CXX) $(CXXFLAGS) -c -o $@ $< 30 | 31 | %.o:$(IMGUI_DIR)/backends/%.cpp 32 | $(CXX) $(CXXFLAGS) -c -o $@ $< 33 | 34 | %.o:%.mm 35 | $(CXX) $(CXXFLAGS) -ObjC++ -fobjc-weak -fobjc-arc -c -o $@ $< 36 | 37 | %.o:$(IMGUI_DIR)/backends/%.mm 38 | $(CXX) $(CXXFLAGS) -ObjC++ -fobjc-weak -fobjc-arc -c -o $@ $< 39 | 40 | all: $(EXE) 41 | @echo Build complete 42 | 43 | $(EXE): $(OBJS) 44 | $(CXX) -o $@ $^ $(CXXFLAGS) $(LIBS) 45 | 46 | clean: 47 | rm -f $(EXE) $(OBJS) 48 | -------------------------------------------------------------------------------- /ext/glfw/src/null_joystick.h: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2006-2017 Camilla Löwy 5 | // 6 | // This software is provided 'as-is', without any express or implied 7 | // warranty. In no event will the authors be held liable for any damages 8 | // arising from the use of this software. 9 | // 10 | // Permission is granted to anyone to use this software for any purpose, 11 | // including commercial applications, and to alter it and redistribute it 12 | // freely, subject to the following restrictions: 13 | // 14 | // 1. The origin of this software must not be misrepresented; you must not 15 | // claim that you wrote the original software. If you use this software 16 | // in a product, an acknowledgment in the product documentation would 17 | // be appreciated but is not required. 18 | // 19 | // 2. Altered source versions must be plainly marked as such, and must not 20 | // be misrepresented as being the original software. 21 | // 22 | // 3. This notice may not be removed or altered from any source 23 | // distribution. 24 | // 25 | //======================================================================== 26 | 27 | #define _GLFW_PLATFORM_JOYSTICK_STATE struct { int dummyJoystick; } 28 | #define _GLFW_PLATFORM_LIBRARY_JOYSTICK_STATE struct { int dummyLibraryJoystick; } 29 | 30 | #define _GLFW_PLATFORM_MAPPING_NAME "" 31 | 32 | -------------------------------------------------------------------------------- /ext/glfw/docs/extra.css.map: -------------------------------------------------------------------------------- 1 | {"version":3,"sourceRoot":"","sources":["extra.scss"],"names":[],"mappings":"AA8EA,4GACI,gBACA,iBAGJ,yBACC,yDAGD,6HACC,sDAGD,yIACC,sDAGD,mBACI,WA9EuB,KA+EvB,iBAGJ,uBACC,MAzFoB,QA0FjB,iBAGJ,6UACC,gBAGD,mJACC,YAGD,yHACC,iBAGD,sBACC,gBAGD,4LACC,UAGD,yCACC,aAGD,kMACC,WAnHgC,QAsHjC,KACC,MA1HoB,QA6HrB,sDACC,MA/Ge,QAgHf,mBAGD,GACE,iBACA,eAGF,GACE,iBACA,gBACA,eAGF,GACE,iBACA,gBACA,eAGF,YACC,eACA,gBACA,gBACA,eACA,cAEA,aACA,mBACA,eACA,2BACA,mBACA,sBAGD,UACC,iBACA,mBACA,MA/J0B,KAgK1B,gBACA,qEAGD,YACC,qBACA,kBACA,YAGD,yBACC,WAGD,oCACC,iBACA,gBACA,cACA,MAlL0B,KAqL3B,YACC,eAGD,8CACC,qBAGD,mBACC,MA9L0B,KAiM3B,eACC,kBACA,YACA,eAGD,KACC,WAxM0B,KA2M3B,UACC,gBACA,cACA,eAGD,WACC,gBACA,cACA,eAGD,UACI,aAGJ,mBACI,iBACA,iBAGJ,WACC,gBACA,aACA,mBACA,eACA,2BACA,mBACA,sBAGD,mEACC,MA9OgC,QAiPjC,gCACC,MArPoB,QAwPrB,sCACC,MAjOoB,KAoOrB,yBACC,kBAGD,UACC,iBAGD,wBACC,gBACA,cACA,eACA,qBAGD,uDACC,gEACA,+BACA,+BACA,gBACA,MArPgB,KAwPjB,mBACC,MA5PoB,KA6PpB,aACA,kBACA,yBAGD,QACC,WACA,WAGD,WACC,iBAGD,WACC,mBAGD,WACC,cACA,eACA,qBAGD,oCACC,gEACA,kCACA,2BACA,MAlSe,QAmSf,yBACA,kBAGD,WACC,MA3QuB,QA8QxB,cACC,sBACA,2BACA,4BACA,mBAGD,cACC,sBACA,+BACA,8BACA,gBAGD,mCACC,wBACA,iBACA,sBACA,kBAGD,gIACC,MAxToB,KAyTpB,qBAGD,cACC,wBACA,iBACA,sBACA,kBAGD,iBACC,WACA,4EAGD,oCApSC,gEACA,kCACA,cACA,yBAqSD,wBAxSC,gEACA,kCACA,cACA,yBAySD,qBA5SC,gEACA,kCACA,cACA,yBA6SD,gBAhTC,gEACA,kCACA,cACA,yBAiTD,iGACC,kBACA,YACA,2BACA,aAGD,kRACC,cAGD,SACC,oBAGD,0BACC,mBACA,kBACA,YACA,YACA,cACA,2BACA,aAGD,+CACC,MA1YoB,QA6YrB,+BACC,cAGD,sBACC,cAGD,+CACC,cACA,iBAGD,mBACC,cAGD,KACC,aACA","file":"extra.css"} -------------------------------------------------------------------------------- /ext/imgui/misc/debuggers/imgui.natstepfilter: -------------------------------------------------------------------------------- 1 | 2 | 18 | 19 | 20 | 21 | 22 | 23 | (ImVec2|ImVec4|ImStrv)::.+ 24 | NoStepInto 25 | 26 | 27 | (ImVector|ImSpan).*::operator.+ 28 | NoStepInto 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /robots/longtable.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_sdlrenderer.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer Backend for SDL_Renderer 2 | // (Requires: SDL 2.0.17+) 3 | 4 | // Important to understand: SDL_Renderer is an _optional_ component of SDL. 5 | // For a multi-platform app consider using e.g. SDL+DirectX on Windows and SDL+OpenGL on Linux/OSX. 6 | // If your application will want to render any non trivial amount of graphics other than UI, 7 | // please be aware that SDL_Renderer offers a limited graphic API to the end-user and it might 8 | // be difficult to step out of those boundaries. 9 | // However, we understand it is a convenient choice to get an app started easily. 10 | 11 | // Implemented features: 12 | // [X] Renderer: User texture binding. Use 'SDL_Texture*' as ImTextureID. Read the FAQ about ImTextureID! 13 | // [X] Renderer: Large meshes support (64k+ vertices) with 16-bit indices. 14 | 15 | #pragma once 16 | #include "imgui.h" // IMGUI_IMPL_API 17 | 18 | struct SDL_Renderer; 19 | 20 | IMGUI_IMPL_API bool ImGui_ImplSDLRenderer_Init(SDL_Renderer* renderer); 21 | IMGUI_IMPL_API void ImGui_ImplSDLRenderer_Shutdown(); 22 | IMGUI_IMPL_API void ImGui_ImplSDLRenderer_NewFrame(); 23 | IMGUI_IMPL_API void ImGui_ImplSDLRenderer_RenderDrawData(ImDrawData* draw_data); 24 | 25 | // Called by Init/NewFrame/Shutdown 26 | IMGUI_IMPL_API bool ImGui_ImplSDLRenderer_CreateFontsTexture(); 27 | IMGUI_IMPL_API void ImGui_ImplSDLRenderer_DestroyFontsTexture(); 28 | IMGUI_IMPL_API bool ImGui_ImplSDLRenderer_CreateDeviceObjects(); 29 | IMGUI_IMPL_API void ImGui_ImplSDLRenderer_DestroyDeviceObjects(); 30 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_opengl2/README.md: -------------------------------------------------------------------------------- 1 | 2 | # How to Build 3 | 4 | - On Windows with Visual Studio's IDE 5 | 6 | Use the provided project file (.vcxproj). Add to solution (imgui_examples.sln) if necessary. 7 | 8 | - On Windows with Visual Studio's CLI 9 | 10 | ``` 11 | set SDL2_DIR=path_to_your_sdl2_folder 12 | cl /Zi /MD /I.. /I..\.. /I%SDL2_DIR%\include main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_opengl2.cpp ..\..\imgui*.cpp /FeDebug/example_sdl2_opengl2.exe /FoDebug/ /link /libpath:%SDL2_DIR%\lib\x86 SDL2.lib SDL2main.lib opengl32.lib /subsystem:console 13 | # ^^ include paths ^^ source files ^^ output exe ^^ output dir ^^ libraries 14 | # or for 64-bit: 15 | cl /Zi /MD /I.. /I..\.. /I%SDL2_DIR%\include main.cpp ..\..\backends\imgui_impl_sdl2.cpp ..\..\backends\imgui_impl_opengl2.cpp ..\..\imgui*.cpp /FeDebug/example_sdl2_opengl2.exe /FoDebug/ /link /libpath:%SDL2_DIR%\lib\x64 SDL2.lib SDL2main.lib opengl32.lib /subsystem:console 16 | ``` 17 | 18 | - On Linux and similar Unixes 19 | 20 | ``` 21 | c++ `sdl2-config --cflags` -I .. -I ../.. -I ../../backends main.cpp ../../backends/imgui_impl_sdl2.cpp ../../backends/imgui_impl_opengl2.cpp ../../imgui*.cpp `sdl2-config --libs` -lGL 22 | ``` 23 | 24 | - On Mac OS X 25 | 26 | ``` 27 | brew install sdl2 28 | c++ `sdl2-config --cflags` -I .. -I ../.. -I ../../backends main.cpp ../../backends/imgui_impl_sdl2.cpp ../../backends/imgui_impl_opengl2.cpp ../../imgui*.cpp `sdl2-config --libs` -framework OpenGl 29 | ``` 30 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_wgpu.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer for WebGPU 2 | // This needs to be used along with a Platform Binding (e.g. GLFW) 3 | // (Please note that WebGPU is currently experimental, will not run on non-beta browsers, and may break.) 4 | 5 | // Implemented features: 6 | // [X] Renderer: User texture binding. Use 'WGPUTextureView' as ImTextureID. Read the FAQ about ImTextureID! 7 | // [X] Renderer: Large meshes support (64k+ vertices) with 16-bit indices. 8 | 9 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 10 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 11 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 12 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 13 | 14 | #pragma once 15 | #include "imgui.h" // IMGUI_IMPL_API 16 | #include 17 | 18 | IMGUI_IMPL_API bool ImGui_ImplWGPU_Init(WGPUDevice device, int num_frames_in_flight, WGPUTextureFormat rt_format, WGPUTextureFormat depth_format = WGPUTextureFormat_Undefined); 19 | IMGUI_IMPL_API void ImGui_ImplWGPU_Shutdown(); 20 | IMGUI_IMPL_API void ImGui_ImplWGPU_NewFrame(); 21 | IMGUI_IMPL_API void ImGui_ImplWGPU_RenderDrawData(ImDrawData* draw_data, WGPURenderPassEncoder pass_encoder); 22 | 23 | // Use if you want to reset your rendering device without losing Dear ImGui state. 24 | IMGUI_IMPL_API void ImGui_ImplWGPU_InvalidateDeviceObjects(); 25 | IMGUI_IMPL_API bool ImGui_ImplWGPU_CreateDeviceObjects(); 26 | -------------------------------------------------------------------------------- /src/widgets/Trajectory.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "MujocoWidget.h" 4 | 5 | namespace mc_mujoco 6 | { 7 | 8 | template 9 | struct Trajectory : public MujocoWidget 10 | { 11 | Trajectory(Client & client, const ElementId & id) : MujocoWidget(client, id) {} 12 | 13 | void data(const T & point, const mc_rtc::gui::LineConfig & config) 14 | { 15 | points_.push_back(point); 16 | config_ = config; 17 | } 18 | 19 | void data(const std::vector & points, const mc_rtc::gui::LineConfig & config) 20 | { 21 | points_ = points; 22 | config_ = config; 23 | } 24 | 25 | void draw3D() override 26 | { 27 | if(points_.size() < 2) 28 | { 29 | return; 30 | } 31 | for(size_t i = 0; i < points_.size() - 1; ++i) 32 | { 33 | mclient_.draw_line(points_[i], points_[i + 1], config_.color); 34 | } 35 | if constexpr(std::is_same_v) 36 | { 37 | if(points_.size() < 10) // For "small" trajectories, display all points 38 | { 39 | for(const auto & p : points_) 40 | { 41 | mclient_.draw_frame(p); 42 | } 43 | } 44 | else // Otherwise draw the start and end points 45 | { 46 | mclient_.draw_frame(points_[0]); 47 | mclient_.draw_frame(points_.back()); 48 | } 49 | } 50 | else 51 | { 52 | mclient_.draw_box(points_[0], Eigen::Matrix3d::Identity(), Eigen::Vector3d::Constant(0.04), config_.color); 53 | mclient_.draw_sphere(points_.back(), 0.04, config_.color); 54 | } 55 | } 56 | 57 | private: 58 | std::vector points_; 59 | mc_rtc::gui::LineConfig config_; 60 | }; 61 | 62 | } // namespace mc_mujoco 63 | -------------------------------------------------------------------------------- /ext/glfw/src/posix_time.h: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 POSIX - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2002-2006 Marcus Geelnard 5 | // Copyright (c) 2006-2017 Camilla Löwy 6 | // 7 | // This software is provided 'as-is', without any express or implied 8 | // warranty. In no event will the authors be held liable for any damages 9 | // arising from the use of this software. 10 | // 11 | // Permission is granted to anyone to use this software for any purpose, 12 | // including commercial applications, and to alter it and redistribute it 13 | // freely, subject to the following restrictions: 14 | // 15 | // 1. The origin of this software must not be misrepresented; you must not 16 | // claim that you wrote the original software. If you use this software 17 | // in a product, an acknowledgment in the product documentation would 18 | // be appreciated but is not required. 19 | // 20 | // 2. Altered source versions must be plainly marked as such, and must not 21 | // be misrepresented as being the original software. 22 | // 23 | // 3. This notice may not be removed or altered from any source 24 | // distribution. 25 | // 26 | //======================================================================== 27 | 28 | #define _GLFW_PLATFORM_LIBRARY_TIMER_STATE _GLFWtimerPOSIX posix 29 | 30 | #include 31 | 32 | 33 | // POSIX-specific global timer data 34 | // 35 | typedef struct _GLFWtimerPOSIX 36 | { 37 | GLFWbool monotonic; 38 | uint64_t frequency; 39 | } _GLFWtimerPOSIX; 40 | 41 | 42 | void _glfwInitTimerPOSIX(void); 43 | 44 | -------------------------------------------------------------------------------- /ext/implot/.github/example_implot.cpp: -------------------------------------------------------------------------------- 1 | // Sample app built with Dear ImGui and ImPlot 2 | // This app uses implot and imgui, but does not output to any backend! It only serves as a proof that an app can be built, linked, and run. 3 | 4 | #include "imgui.h" 5 | #include "implot.h" 6 | #include "stdio.h" 7 | 8 | int main(int, char**) 9 | { 10 | printf("sample_implot: start\n"); 11 | 12 | IMGUI_CHECKVERSION(); 13 | ImGui::CreateContext(); 14 | ImPlot::CreateContext(); 15 | 16 | // Additional imgui initialization needed when no backend is present 17 | ImGui::GetIO().DisplaySize = ImVec2(400.f, 400.f); 18 | ImGui::GetIO().Fonts->Build(); 19 | 20 | // Render 500 frames 21 | for(int counter = 0; counter < 500; ++counter) 22 | { 23 | ImGui::NewFrame(); 24 | 25 | if (ImGui::Begin("Hello, world!")) 26 | { 27 | ImGui::Text("Hello again"); 28 | 29 | if (ImPlot::BeginPlot("My Plot")) 30 | { 31 | static double values[] = {1., 3., 5.}; 32 | ImPlot::PlotLine("Values", values, 3); 33 | ImPlot::EndPlot(); 34 | } 35 | 36 | #ifdef IMPLOT_INSTANTIATE_ALL_NUMERIC_TYPES 37 | if (ImPlot::BeginPlot("My Plot (long double)")) 38 | { 39 | static long double values[] = {1., 3., 5.}; 40 | ImPlot::PlotLine("Values", values, 3); 41 | ImPlot::EndPlot(); 42 | } 43 | #endif 44 | 45 | ImGui::End(); 46 | } 47 | 48 | ImGui::Render(); 49 | } 50 | 51 | ImPlot::DestroyContext(); 52 | ImGui::DestroyContext(); 53 | printf("sample_implot: end\n"); 54 | return 0; 55 | } 56 | -------------------------------------------------------------------------------- /src/widgets/Arrow.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "MujocoWidget.h" 4 | 5 | #include "details/InteractiveMarker.h" 6 | 7 | namespace mc_mujoco 8 | { 9 | 10 | struct Arrow : public MujocoWidget 11 | { 12 | Arrow(Client & client, const ElementId & id, const ElementId & reqId) : MujocoWidget(client, id), requestId_(reqId) {} 13 | 14 | void data(const Eigen::Vector3d & start, 15 | const Eigen::Vector3d & end, 16 | const mc_rtc::gui::ArrowConfig & config, 17 | bool ro) 18 | { 19 | startMarker_.mask(ro ? ControlAxis::NONE : ControlAxis::TRANSLATION); 20 | startMarker_.pose(start); 21 | endMarker_.mask(ro ? ControlAxis::NONE : ControlAxis::TRANSLATION); 22 | endMarker_.pose(end); 23 | config_ = config; 24 | } 25 | 26 | void draw3D() override 27 | { 28 | if(!show_) return; 29 | 30 | const auto & start = startMarker_.pose().translation(); 31 | const auto & end = endMarker_.pose().translation(); 32 | mclient_.draw_arrow(start, end, config_.shaft_diam, config_.head_diam, config_.head_len, config_.color); 33 | bool changed = startMarker_.draw(mclient_.view(), mclient_.projection()); 34 | if(endMarker_.draw(mclient_.view(), mclient_.projection()) || changed) 35 | { 36 | Eigen::Vector6d data; 37 | data << start, end; 38 | client.send_request(requestId_, data); 39 | } 40 | } 41 | 42 | void draw2D() override 43 | { 44 | ImGui::Checkbox(label(fmt::format("Show {}", id.name)).c_str(), &show_); 45 | } 46 | 47 | private: 48 | ElementId requestId_; 49 | mc_rtc::gui::ArrowConfig config_; 50 | InteractiveMarker startMarker_; 51 | InteractiveMarker endMarker_; 52 | bool show_ = true; 53 | }; 54 | 55 | } // namespace mc_mujoco 56 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_android_opengl3/android/app/src/main/java/MainActivity.kt: -------------------------------------------------------------------------------- 1 | package imgui.example.android 2 | 3 | import android.app.NativeActivity 4 | import android.os.Bundle 5 | import android.content.Context 6 | import android.view.inputmethod.InputMethodManager 7 | import android.view.KeyEvent 8 | import java.util.concurrent.LinkedBlockingQueue 9 | 10 | class MainActivity : NativeActivity() { 11 | public override fun onCreate(savedInstanceState: Bundle?) { 12 | super.onCreate(savedInstanceState) 13 | } 14 | 15 | fun showSoftInput() { 16 | val inputMethodManager = getSystemService(Context.INPUT_METHOD_SERVICE) as InputMethodManager 17 | inputMethodManager.showSoftInput(this.window.decorView, 0) 18 | } 19 | 20 | fun hideSoftInput() { 21 | val inputMethodManager = getSystemService(Context.INPUT_METHOD_SERVICE) as InputMethodManager 22 | inputMethodManager.hideSoftInputFromWindow(this.window.decorView.windowToken, 0) 23 | } 24 | 25 | // Queue for the Unicode characters to be polled from native code (via pollUnicodeChar()) 26 | private var unicodeCharacterQueue: LinkedBlockingQueue = LinkedBlockingQueue() 27 | 28 | // We assume dispatchKeyEvent() of the NativeActivity is actually called for every 29 | // KeyEvent and not consumed by any View before it reaches here 30 | override fun dispatchKeyEvent(event: KeyEvent): Boolean { 31 | if (event.action == KeyEvent.ACTION_DOWN) { 32 | unicodeCharacterQueue.offer(event.getUnicodeChar(event.metaState)) 33 | } 34 | return super.dispatchKeyEvent(event) 35 | } 36 | 37 | fun pollUnicodeChar(): Int { 38 | return unicodeCharacterQueue.poll() ?: 0 39 | } 40 | } 41 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_apple_metal/iOS/Info-iOS.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | CFBundleDevelopmentRegion 6 | $(DEVELOPMENT_LANGUAGE) 7 | CFBundleExecutable 8 | $(EXECUTABLE_NAME) 9 | CFBundleIdentifier 10 | $(PRODUCT_BUNDLE_IDENTIFIER) 11 | CFBundleInfoDictionaryVersion 12 | 6.0 13 | CFBundleName 14 | imgui 15 | CFBundlePackageType 16 | APPL 17 | CFBundleShortVersionString 18 | 1.0 19 | CFBundleVersion 20 | 1 21 | LSRequiresIPhoneOS 22 | 23 | UILaunchStoryboardName 24 | LaunchScreen 25 | UIRequiredDeviceCapabilities 26 | 27 | armv7 28 | metal 29 | 30 | UIRequiresFullScreen 31 | 32 | UIStatusBarHidden 33 | 34 | UISupportedInterfaceOrientations 35 | 36 | UIInterfaceOrientationPortrait 37 | UIInterfaceOrientationLandscapeLeft 38 | UIInterfaceOrientationLandscapeRight 39 | UIInterfaceOrientationPortraitUpsideDown 40 | 41 | UISupportedInterfaceOrientations~ipad 42 | 43 | UIInterfaceOrientationPortrait 44 | UIInterfaceOrientationPortraitUpsideDown 45 | UIInterfaceOrientationLandscapeLeft 46 | UIInterfaceOrientationLandscapeRight 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_allegro5/README.md: -------------------------------------------------------------------------------- 1 | 2 | # Configuration 3 | 4 | Dear ImGui outputs 16-bit vertex indices by default. 5 | Allegro doesn't support them natively, so we have two solutions: convert the indices manually in imgui_impl_allegro5.cpp, or compile dear imgui with 32-bit indices. 6 | You can either modify imconfig.h that comes with Dear ImGui (easier), or set a C++ preprocessor option IMGUI_USER_CONFIG to find to a filename. 7 | We are providing `imconfig_allegro5.h` that enables 32-bit indices. 8 | Note that the backend supports _BOTH_ 16-bit and 32-bit indices, but 32-bit indices will be slightly faster as they won't require a manual conversion. 9 | 10 | # How to Build 11 | 12 | ### On Ubuntu 14.04+ and macOS 13 | 14 | ```bash 15 | g++ -DIMGUI_USER_CONFIG=\"examples/example_allegro5/imconfig_allegro5.h\" -I .. -I ../.. -I ../../backends main.cpp ../../backends/imgui_impl_allegro5.cpp ../../imgui*.cpp -lallegro -lallegro_main -lallegro_primitives -o allegro5_example 16 | ``` 17 | 18 | On macOS, install Allegro with homebrew: `brew install allegro`. 19 | 20 | ### On Windows with Visual Studio's CLI 21 | 22 | You may install Allegro using vcpkg: 23 | ``` 24 | git clone https://github.com/Microsoft/vcpkg 25 | cd vcpkg 26 | bootstrap-vcpkg.bat 27 | vcpkg install allegro5 --triplet=x86-windows ; for win32 28 | vcpkg install allegro5 --triplet=x64-windows ; for win64 29 | vcpkg integrate install ; register include / libs in Visual Studio 30 | ``` 31 | 32 | Build: 33 | ``` 34 | set ALLEGRODIR=path_to_your_allegro5_folder 35 | cl /Zi /MD /I %ALLEGRODIR%\include /DIMGUI_USER_CONFIG=\"examples/example_allegro5/imconfig_allegro5.h\" /I .. /I ..\.. /I ..\..\backends main.cpp ..\..\backends\imgui_impl_allegro5.cpp ..\..\imgui*.cpp /link /LIBPATH:%ALLEGRODIR%\lib allegro-5.0.10-monolith-md.lib user32.lib 36 | ``` 37 | -------------------------------------------------------------------------------- /ext/ImGuizmo/ImGradient.h: -------------------------------------------------------------------------------- 1 | // https://github.com/CedricGuillemet/ImGuizmo 2 | // v 1.84 WIP 3 | // 4 | // The MIT License(MIT) 5 | // 6 | // Copyright(c) 2021 Cedric Guillemet 7 | // 8 | // Permission is hereby granted, free of charge, to any person obtaining a copy 9 | // of this software and associated documentation files(the "Software"), to deal 10 | // in the Software without restriction, including without limitation the rights 11 | // to use, copy, modify, merge, publish, distribute, sublicense, and / or sell 12 | // copies of the Software, and to permit persons to whom the Software is 13 | // furnished to do so, subject to the following conditions : 14 | // 15 | // The above copyright notice and this permission notice shall be included in all 16 | // copies or substantial portions of the Software. 17 | // 18 | // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 19 | // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 20 | // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE 21 | // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 22 | // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 23 | // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 24 | // SOFTWARE. 25 | // 26 | #pragma once 27 | #include 28 | 29 | struct ImVec4; 30 | struct ImVec2; 31 | 32 | namespace ImGradient 33 | { 34 | struct Delegate 35 | { 36 | virtual size_t GetPointCount() = 0; 37 | virtual ImVec4* GetPoints() = 0; 38 | virtual int EditPoint(int pointIndex, ImVec4 value) = 0; 39 | virtual ImVec4 GetPoint(float t) = 0; 40 | virtual void AddPoint(ImVec4 value) = 0; 41 | }; 42 | 43 | bool Edit(Delegate& delegate, const ImVec2& size, int& selection); 44 | } 45 | -------------------------------------------------------------------------------- /src/widgets/details/TransformBase.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "../MujocoWidget.h" 4 | #include "InteractiveMarker.h" 5 | 6 | namespace mc_mujoco 7 | { 8 | 9 | template 10 | struct TransformBase : public MujocoWidget 11 | { 12 | TransformBase(Client & client, const ElementId & id, const ElementId & requestId) 13 | : MujocoWidget(client, id), requestId_(requestId), marker_(sva::PTransformd::Identity(), ControlAxis::NONE) 14 | { 15 | } 16 | 17 | ~TransformBase() override = default; 18 | 19 | void data(bool ro, const sva::PTransformd & pos) 20 | { 21 | marker_.mask(ro ? ControlAxis::NONE : ctl); 22 | marker_.pose(pos); 23 | } 24 | 25 | void draw3D() override 26 | { 27 | const auto & pos = marker_.pose(); 28 | if(marker_.draw(mclient_.view(), mclient_.projection())) 29 | { 30 | if constexpr(ctl == ControlAxis::TRANSLATION) 31 | { 32 | client.send_request(requestId_, pos.translation()); 33 | } 34 | else if constexpr(ctl == ControlAxis::ROTATION) 35 | { 36 | client.send_request(requestId_, pos.rotation()); 37 | } 38 | else if constexpr(ctl == ControlAxis::ALL) 39 | { 40 | client.send_request(requestId_, pos); 41 | } 42 | else if constexpr(ctl == ControlAxis::XYTHETA || ctl == ControlAxis::XYZTHETA) 43 | { 44 | Eigen::VectorXd data = Eigen::VectorXd::Zero(4); 45 | const auto & t = pos.translation(); 46 | auto yaw = mc_rbdyn::rpyFromMat(pos.rotation()).z(); 47 | data(0) = t.x(); 48 | data(1) = t.y(); 49 | data(2) = yaw; 50 | data(3) = t.z(); 51 | client.send_request(requestId_, data); 52 | } 53 | } 54 | } 55 | 56 | protected: 57 | ElementId requestId_; 58 | InteractiveMarker marker_; 59 | }; 60 | 61 | } // namespace mc_mujoco 62 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_vulkan/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Example usage: 2 | # mkdir build 3 | # cd build 4 | # cmake -g "Visual Studio 14 2015" .. 5 | 6 | cmake_minimum_required(VERSION 2.8) 7 | project(imgui_example_glfw_vulkan C CXX) 8 | 9 | if(NOT CMAKE_BUILD_TYPE) 10 | set(CMAKE_BUILD_TYPE Debug CACHE STRING "" FORCE) 11 | endif() 12 | 13 | set(CMAKE_CXX_STANDARD 11) 14 | set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DVK_PROTOTYPES") 15 | set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DVK_PROTOTYPES") 16 | 17 | # GLFW 18 | set(GLFW_DIR ../../../glfw) # Set this to point to an up-to-date GLFW repo 19 | option(GLFW_BUILD_EXAMPLES "Build the GLFW example programs" OFF) 20 | option(GLFW_BUILD_TESTS "Build the GLFW test programs" OFF) 21 | option(GLFW_BUILD_DOCS "Build the GLFW documentation" OFF) 22 | option(GLFW_INSTALL "Generate installation target" OFF) 23 | option(GLFW_DOCUMENT_INTERNALS "Include internals in documentation" OFF) 24 | add_subdirectory(${GLFW_DIR} binary_dir EXCLUDE_FROM_ALL) 25 | include_directories(${GLFW_DIR}/include) 26 | 27 | # Dear ImGui 28 | set(IMGUI_DIR ../../) 29 | include_directories(${IMGUI_DIR} ${IMGUI_DIR}/backends ..) 30 | 31 | # Libraries 32 | find_package(Vulkan REQUIRED) 33 | #find_library(VULKAN_LIBRARY 34 | #NAMES vulkan vulkan-1) 35 | #set(LIBRARIES "glfw;${VULKAN_LIBRARY}") 36 | set(LIBRARIES "glfw;Vulkan::Vulkan") 37 | 38 | # Use vulkan headers from glfw: 39 | include_directories(${GLFW_DIR}/deps) 40 | 41 | file(GLOB sources *.cpp) 42 | 43 | add_executable(example_glfw_vulkan ${sources} ${IMGUI_DIR}/backends/imgui_impl_glfw.cpp ${IMGUI_DIR}/backends/imgui_impl_vulkan.cpp ${IMGUI_DIR}/imgui.cpp ${IMGUI_DIR}/imgui_draw.cpp ${IMGUI_DIR}/imgui_demo.cpp ${IMGUI_DIR}/imgui_tables.cpp ${IMGUI_DIR}/imgui_widgets.cpp) 44 | target_link_libraries(example_glfw_vulkan ${LIBRARIES}) 45 | target_compile_definitions(example_glfw_vulkan PUBLIC -DImTextureID=ImU64) 46 | -------------------------------------------------------------------------------- /src/mj_sim.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include 6 | 7 | #include "mujoco.h" 8 | 9 | #include "mj_configuration.h" 10 | 11 | namespace mc_mujoco 12 | { 13 | 14 | struct MjSimImpl; 15 | 16 | struct MjSim 17 | { 18 | public: 19 | /*! \brief Constructor 20 | * 21 | * Prepare to start a simulation. 22 | * 23 | * \param config Configuration for mc_mujoco 24 | * 25 | * \param mc_config Configuration file used by mc_rtc 26 | * 27 | */ 28 | MjSim(const MjConfiguration & config); 29 | 30 | /*! \brief Destructor */ 31 | ~MjSim(); 32 | 33 | /** Reset the simulation and controller to the given state */ 34 | void resetSimulation(const std::map> & reset_qs = {}, 35 | const std::map & reset_pos = {}); 36 | 37 | /** Plays one step of physics simulation, should be called as often as possible 38 | * 39 | * \returns True if the controller fails and the simulation should stop 40 | */ 41 | bool stepSimulation(); 42 | 43 | /*! Stop the simulation */ 44 | void stopSimulation(); 45 | 46 | /*! Prepare to render */ 47 | void updateScene(); 48 | 49 | /*! Update the GUI, no-op if visualization is disabled 50 | * 51 | * \returns False if the application should quit 52 | */ 53 | bool render(); 54 | 55 | /** The underlying global controller instance in the simulation 56 | * 57 | * nullptr if with_controller was false in MjConfiguration 58 | */ 59 | mc_control::MCGlobalController * controller() noexcept; 60 | 61 | /** Return the MuJoCo model */ 62 | mjModel & model() noexcept; 63 | 64 | /** Return the MuJoCo data */ 65 | mjData & data() noexcept; 66 | 67 | private: 68 | std::unique_ptr impl; 69 | }; 70 | 71 | } // namespace mc_mujoco 72 | -------------------------------------------------------------------------------- /ext/glfw/src/posix_thread.h: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 POSIX - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2002-2006 Marcus Geelnard 5 | // Copyright (c) 2006-2017 Camilla Löwy 6 | // 7 | // This software is provided 'as-is', without any express or implied 8 | // warranty. In no event will the authors be held liable for any damages 9 | // arising from the use of this software. 10 | // 11 | // Permission is granted to anyone to use this software for any purpose, 12 | // including commercial applications, and to alter it and redistribute it 13 | // freely, subject to the following restrictions: 14 | // 15 | // 1. The origin of this software must not be misrepresented; you must not 16 | // claim that you wrote the original software. If you use this software 17 | // in a product, an acknowledgment in the product documentation would 18 | // be appreciated but is not required. 19 | // 20 | // 2. Altered source versions must be plainly marked as such, and must not 21 | // be misrepresented as being the original software. 22 | // 23 | // 3. This notice may not be removed or altered from any source 24 | // distribution. 25 | // 26 | //======================================================================== 27 | 28 | #include 29 | 30 | #define _GLFW_PLATFORM_TLS_STATE _GLFWtlsPOSIX posix 31 | #define _GLFW_PLATFORM_MUTEX_STATE _GLFWmutexPOSIX posix 32 | 33 | 34 | // POSIX-specific thread local storage data 35 | // 36 | typedef struct _GLFWtlsPOSIX 37 | { 38 | GLFWbool allocated; 39 | pthread_key_t key; 40 | } _GLFWtlsPOSIX; 41 | 42 | // POSIX-specific mutex data 43 | // 44 | typedef struct _GLFWmutexPOSIX 45 | { 46 | GLFWbool allocated; 47 | pthread_mutex_t handle; 48 | } _GLFWmutexPOSIX; 49 | 50 | -------------------------------------------------------------------------------- /ext/glfw/src/null_joystick.c: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2016-2017 Camilla Löwy 5 | // 6 | // This software is provided 'as-is', without any express or implied 7 | // warranty. In no event will the authors be held liable for any damages 8 | // arising from the use of this software. 9 | // 10 | // Permission is granted to anyone to use this software for any purpose, 11 | // including commercial applications, and to alter it and redistribute it 12 | // freely, subject to the following restrictions: 13 | // 14 | // 1. The origin of this software must not be misrepresented; you must not 15 | // claim that you wrote the original software. If you use this software 16 | // in a product, an acknowledgment in the product documentation would 17 | // be appreciated but is not required. 18 | // 19 | // 2. Altered source versions must be plainly marked as such, and must not 20 | // be misrepresented as being the original software. 21 | // 22 | // 3. This notice may not be removed or altered from any source 23 | // distribution. 24 | // 25 | //======================================================================== 26 | // It is fine to use C99 in this file because it will not be built with VS 27 | //======================================================================== 28 | 29 | #include "internal.h" 30 | 31 | 32 | ////////////////////////////////////////////////////////////////////////// 33 | ////// GLFW platform API ////// 34 | ////////////////////////////////////////////////////////////////////////// 35 | 36 | int _glfwPlatformPollJoystick(_GLFWjoystick* js, int mode) 37 | { 38 | return GLFW_FALSE; 39 | } 40 | 41 | void _glfwPlatformUpdateGamepadGUID(char* guid) 42 | { 43 | } 44 | 45 | -------------------------------------------------------------------------------- /ext/glfw/CMake/GenerateMappings.cmake: -------------------------------------------------------------------------------- 1 | # Usage: 2 | # cmake -P GenerateMappings.cmake 3 | 4 | set(source_url "https://raw.githubusercontent.com/gabomdq/SDL_GameControllerDB/master/gamecontrollerdb.txt") 5 | set(source_path "${CMAKE_CURRENT_BINARY_DIR}/gamecontrollerdb.txt") 6 | set(template_path "${CMAKE_ARGV3}") 7 | set(target_path "${CMAKE_ARGV4}") 8 | 9 | if (NOT EXISTS "${template_path}") 10 | message(FATAL_ERROR "Failed to find template file ${template_path}") 11 | endif() 12 | 13 | file(DOWNLOAD "${source_url}" "${source_path}" 14 | STATUS download_status 15 | TLS_VERIFY on) 16 | 17 | list(GET download_status 0 status_code) 18 | list(GET download_status 1 status_message) 19 | 20 | if (status_code) 21 | message(FATAL_ERROR "Failed to download ${source_url}: ${status_message}") 22 | endif() 23 | 24 | file(STRINGS "${source_path}" lines) 25 | foreach(line ${lines}) 26 | if (line MATCHES "^[0-9a-fA-F]") 27 | if (line MATCHES "platform:Windows") 28 | if (GLFW_WIN32_MAPPINGS) 29 | set(GLFW_WIN32_MAPPINGS "${GLFW_WIN32_MAPPINGS}\n") 30 | endif() 31 | set(GLFW_WIN32_MAPPINGS "${GLFW_WIN32_MAPPINGS}\"${line}\",") 32 | elseif (line MATCHES "platform:Mac OS X") 33 | if (GLFW_COCOA_MAPPINGS) 34 | set(GLFW_COCOA_MAPPINGS "${GLFW_COCOA_MAPPINGS}\n") 35 | endif() 36 | set(GLFW_COCOA_MAPPINGS "${GLFW_COCOA_MAPPINGS}\"${line}\",") 37 | elseif (line MATCHES "platform:Linux") 38 | if (GLFW_LINUX_MAPPINGS) 39 | set(GLFW_LINUX_MAPPINGS "${GLFW_LINUX_MAPPINGS}\n") 40 | endif() 41 | set(GLFW_LINUX_MAPPINGS "${GLFW_LINUX_MAPPINGS}\"${line}\",") 42 | endif() 43 | endif() 44 | endforeach() 45 | 46 | configure_file("${template_path}" "${target_path}" @ONLY NEWLINE_STYLE UNIX) 47 | file(REMOVE "${source_path}") 48 | 49 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_apple_metal/iOS/LaunchScreen.storyboard: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /ext/imgui/misc/freetype/README.md: -------------------------------------------------------------------------------- 1 | # imgui_freetype 2 | 3 | Build font atlases using FreeType instead of stb_truetype (which is the default font rasterizer). 4 |
by @vuhdo, @mikesart, @ocornut. 5 | 6 | ### Usage 7 | 8 | 1. Get latest FreeType binaries or build yourself (under Windows you may use vcpkg with `vcpkg install freetype --triplet=x64-windows`, `vcpkg integrate install`). 9 | 2. Add imgui_freetype.h/cpp alongside your project files. 10 | 3. Add `#define IMGUI_ENABLE_FREETYPE` in your [imconfig.h](https://github.com/ocornut/imgui/blob/master/imconfig.h) file 11 | 12 | ### About Gamma Correct Blending 13 | 14 | FreeType assumes blending in linear space rather than gamma space. 15 | See FreeType note for [FT_Render_Glyph](https://www.freetype.org/freetype2/docs/reference/ft2-base_interface.html#FT_Render_Glyph). 16 | For correct results you need to be using sRGB and convert to linear space in the pixel shader output. 17 | The default Dear ImGui styles will be impacted by this change (alpha values will need tweaking). 18 | 19 | ### Testbed for toying with settings (for developers) 20 | 21 | See https://gist.github.com/ocornut/b3a9ecf13502fd818799a452969649ad 22 | 23 | ### Known issues 24 | 25 | - Oversampling settins are ignored but also not so much necessary with the higher quality rendering. 26 | 27 | ### Comparison 28 | 29 | Small, thin anti-aliased fonts typically benefit a lot from FreeType's hinting: 30 | ![comparing_font_rasterizers](https://user-images.githubusercontent.com/8225057/107550178-fef87f00-6bd0-11eb-8d09-e2edb2f0ccfc.gif) 31 | 32 | ### Colorful glyphs/emojis 33 | 34 | You can use the `ImGuiFreeTypeBuilderFlags_LoadColor` flag to load certain colorful glyphs. See the 35 | ["Using Colorful Glyphs/Emojis"](https://github.com/ocornut/imgui/blob/master/docs/FONTS.md#using-colorful-glyphsemojis) section of FONTS.md. 36 | 37 | ![colored glyphs](https://user-images.githubusercontent.com/8225057/106171241-9dc4ba80-6191-11eb-8a69-ca1467b206d1.png) 38 | -------------------------------------------------------------------------------- /ext/imgui/.github/issue_template.md: -------------------------------------------------------------------------------- 1 | (Click "Preview" above ^ to turn URL into clickable links) 2 | 3 | 1. FOR FIRST-TIME USERS ISSUES COMPILING/LINKING/RUNNING or LOADING FONTS, please use [GitHub Discussions](https://github.com/ocornut/imgui/discussions). 4 | 5 | 2. PLEASE CAREFULLY READ: [FAQ](https://github.com/ocornut/imgui/blob/master/docs/FAQ.md) 6 | 7 | 3. PLEASE CAREFULLY READ: [Contributing Guidelines](https://github.com/ocornut/imgui/blob/master/docs/CONTRIBUTING.md) 8 | 9 | 4. PLEASE MAKE SURE that you have: read the FAQ; explored the contents of `ShowDemoWindow()` including the Examples menu; searched among Issues; used your IDE to search for keywords in all sources and text files; and read the links above. 10 | 11 | 5. Be mindful that messages are being sent to the e-mail box of "Watching" users. Try to proof-read your messages before sending them. Edits are not seen by those users. 12 | 13 | 6. Delete points 1-6 and PLEASE FILL THE TEMPLATE BELOW before submitting your issue. 14 | 15 | Thank you! 16 | 17 | ---- 18 | 19 | _(you may also go to Demo>About Window, and click "Config/Build Information" to obtain a bunch of detailed information that you can paste here)_ 20 | 21 | **Version/Branch of Dear ImGui:** 22 | 23 | Version: XXX 24 | Branch: XXX _(master/viewport/docking/etc.)_ 25 | 26 | **Back-end/Renderer/Compiler/OS** 27 | 28 | Back-ends: imgui_impl_XXX.cpp + imgui_impl_XXX.cpp _(or specify if using a custom engine/back-end)_ 29 | Compiler: XXX _(if the question is related to building or platform specific features)_ 30 | Operating System: XXX 31 | 32 | **My Issue/Question:** 33 | 34 | XXX _(please provide as much context as possible)_ 35 | 36 | **Screenshots/Video** 37 | 38 | XXX _(you can drag files here)_ 39 | 40 | **Standalone, minimal, complete and verifiable example:** _(see https://github.com/ocornut/imgui/issues/2261)_ 41 | ``` 42 | // Here's some code anyone can copy and paste to reproduce your issue 43 | ImGui::Begin("Example Bug"); 44 | MoreCodeToExplainMyIssue(); 45 | ImGui::End(); 46 | ``` 47 | -------------------------------------------------------------------------------- /ext/imgui/.github/workflows/static-analysis.yml: -------------------------------------------------------------------------------- 1 | name: static-analysis 2 | 3 | on: 4 | workflow_run: 5 | # Perform static analysis together with build workflow. Build triggers of "build" workflow do not need to be repeated here. 6 | workflows: 7 | - build 8 | types: 9 | - requested 10 | 11 | jobs: 12 | PVS-Studio: 13 | runs-on: ubuntu-22.04 14 | steps: 15 | - uses: actions/checkout@v3 16 | with: 17 | fetch-depth: 1 18 | 19 | - name: Install Dependencies 20 | env: 21 | # The Secret variable setup in GitHub must be in format: "name_or_email key", on a single line 22 | PVS_STUDIO_LICENSE: ${{ secrets.PVS_STUDIO_LICENSE }} 23 | run: | 24 | if [[ "$PVS_STUDIO_LICENSE" != "" ]]; 25 | then 26 | wget -q https://files.viva64.com/etc/pubkey.txt 27 | sudo apt-key add pubkey.txt 28 | sudo wget -O /etc/apt/sources.list.d/viva64.list https://files.viva64.com/etc/viva64.list 29 | sudo apt-get update 30 | sudo apt-get install -y pvs-studio 31 | pvs-studio-analyzer credentials -o pvs-studio.lic $PVS_STUDIO_LICENSE 32 | fi 33 | 34 | - name: PVS-Studio static analysis 35 | run: | 36 | if [[ ! -f pvs-studio.lic ]]; 37 | then 38 | echo "PVS Studio license is missing. No analysis will be performed." 39 | echo "If you have a PVS Studio license please create a project secret named PVS_STUDIO_LICENSE with your license." 40 | echo "You may use a free license. More information at https://www.viva64.com/en/b/0457/" 41 | exit 0 42 | fi 43 | cd examples/example_null 44 | pvs-studio-analyzer trace -- make WITH_EXTRA_WARNINGS=1 45 | pvs-studio-analyzer analyze -e ../../imstb_rectpack.h -e ../../imstb_textedit.h -e ../../imstb_truetype.h -l ../../pvs-studio.lic -o pvs-studio.log 46 | plog-converter -a 'GA:1,2;OP:1' -d V1071 -t errorfile -w pvs-studio.log 47 | -------------------------------------------------------------------------------- /ext/glfw/docs/main.dox: -------------------------------------------------------------------------------- 1 | /*! 2 | 3 | @mainpage notitle 4 | 5 | @section main_intro Introduction 6 | 7 | GLFW is a free, Open Source, multi-platform library for OpenGL, OpenGL ES and 8 | Vulkan application development. It provides a simple, platform-independent API 9 | for creating windows, contexts and surfaces, reading input, handling events, etc. 10 | 11 | @ref news_33 list new features, caveats and deprecations. 12 | 13 | @ref quick_guide is a guide for users new to GLFW. It takes you through how to 14 | write a small but complete program. 15 | 16 | There are guides for each section of the API: 17 | 18 | - @ref intro_guide – initialization, error handling and high-level design 19 | - @ref window_guide – creating and working with windows and framebuffers 20 | - @ref context_guide – working with OpenGL and OpenGL ES contexts 21 | - @ref vulkan_guide - working with Vulkan objects and extensions 22 | - @ref monitor_guide – enumerating and working with monitors and video modes 23 | - @ref input_guide – receiving events, polling and processing input 24 | 25 | Once you have written a program, see @ref compile_guide and @ref build_guide. 26 | 27 | The [reference documentation](modules.html) provides more detailed information 28 | about specific functions. 29 | 30 | @ref moving_guide explains what has changed and how to update existing code to 31 | use the new API. 32 | 33 | There is a section on @ref guarantees_limitations for pointer lifetimes, 34 | reentrancy, thread safety, event order and backward and forward compatibility. 35 | 36 | The [FAQ](https://www.glfw.org/faq.html) answers many common questions about the 37 | design, implementation and use of GLFW. 38 | 39 | Finally, @ref compat_guide explains what APIs, standards and protocols GLFW uses 40 | and what happens when they are not present on a given machine. 41 | 42 | This documentation was generated with Doxygen. The sources for it are available 43 | in both the [source distribution](https://www.glfw.org/download.html) and 44 | [GitHub repository](https://github.com/glfw/glfw). 45 | 46 | */ 47 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_android.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Platform Binding for Android native app 2 | // This needs to be used along with the OpenGL 3 Renderer (imgui_impl_opengl3) 3 | 4 | // Implemented features: 5 | // [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy AKEYCODE_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set] 6 | // [X] Platform: Mouse support. Can discriminate Mouse/TouchScreen/Pen. 7 | // Missing features: 8 | // [ ] Platform: Clipboard support. 9 | // [ ] Platform: Gamepad support. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'. 10 | // [ ] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. FIXME: Check if this is even possible with Android. 11 | // Important: 12 | // - Consider using SDL or GLFW backend on Android, which will be more full-featured than this. 13 | // - FIXME: On-screen keyboard currently needs to be enabled by the application (see examples/ and issue #3446) 14 | // - FIXME: Unicode character inputs needs to be passed by Dear ImGui by the application (see examples/ and issue #3446) 15 | 16 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 17 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 18 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 19 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 20 | 21 | #pragma once 22 | 23 | struct ANativeWindow; 24 | struct AInputEvent; 25 | 26 | IMGUI_IMPL_API bool ImGui_ImplAndroid_Init(ANativeWindow* window); 27 | IMGUI_IMPL_API int32_t ImGui_ImplAndroid_HandleInputEvent(AInputEvent* input_event); 28 | IMGUI_IMPL_API void ImGui_ImplAndroid_Shutdown(); 29 | IMGUI_IMPL_API void ImGui_ImplAndroid_NewFrame(); 30 | -------------------------------------------------------------------------------- /ext/glfw/src/cocoa_joystick.h: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 Cocoa - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2006-2017 Camilla Löwy 5 | // 6 | // This software is provided 'as-is', without any express or implied 7 | // warranty. In no event will the authors be held liable for any damages 8 | // arising from the use of this software. 9 | // 10 | // Permission is granted to anyone to use this software for any purpose, 11 | // including commercial applications, and to alter it and redistribute it 12 | // freely, subject to the following restrictions: 13 | // 14 | // 1. The origin of this software must not be misrepresented; you must not 15 | // claim that you wrote the original software. If you use this software 16 | // in a product, an acknowledgment in the product documentation would 17 | // be appreciated but is not required. 18 | // 19 | // 2. Altered source versions must be plainly marked as such, and must not 20 | // be misrepresented as being the original software. 21 | // 22 | // 3. This notice may not be removed or altered from any source 23 | // distribution. 24 | // 25 | //======================================================================== 26 | 27 | #include 28 | #include 29 | #include 30 | #include 31 | 32 | #define _GLFW_PLATFORM_JOYSTICK_STATE _GLFWjoystickNS ns 33 | #define _GLFW_PLATFORM_LIBRARY_JOYSTICK_STATE struct { int dummyJoystick; } 34 | 35 | #define _GLFW_PLATFORM_MAPPING_NAME "Mac OS X" 36 | #define GLFW_BUILD_COCOA_MAPPINGS 37 | 38 | // Cocoa-specific per-joystick data 39 | // 40 | typedef struct _GLFWjoystickNS 41 | { 42 | IOHIDDeviceRef device; 43 | CFMutableArrayRef axes; 44 | CFMutableArrayRef buttons; 45 | CFMutableArrayRef hats; 46 | } _GLFWjoystickNS; 47 | 48 | 49 | void _glfwInitJoysticksNS(void); 50 | void _glfwTerminateJoysticksNS(void); 51 | 52 | -------------------------------------------------------------------------------- /ext/glfw/src/null_init.c: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2016 Google Inc. 5 | // Copyright (c) 2016-2017 Camilla Löwy 6 | // 7 | // This software is provided 'as-is', without any express or implied 8 | // warranty. In no event will the authors be held liable for any damages 9 | // arising from the use of this software. 10 | // 11 | // Permission is granted to anyone to use this software for any purpose, 12 | // including commercial applications, and to alter it and redistribute it 13 | // freely, subject to the following restrictions: 14 | // 15 | // 1. The origin of this software must not be misrepresented; you must not 16 | // claim that you wrote the original software. If you use this software 17 | // in a product, an acknowledgment in the product documentation would 18 | // be appreciated but is not required. 19 | // 20 | // 2. Altered source versions must be plainly marked as such, and must not 21 | // be misrepresented as being the original software. 22 | // 23 | // 3. This notice may not be removed or altered from any source 24 | // distribution. 25 | // 26 | //======================================================================== 27 | // It is fine to use C99 in this file because it will not be built with VS 28 | //======================================================================== 29 | 30 | #include "internal.h" 31 | 32 | 33 | ////////////////////////////////////////////////////////////////////////// 34 | ////// GLFW platform API ////// 35 | ////////////////////////////////////////////////////////////////////////// 36 | 37 | int _glfwPlatformInit(void) 38 | { 39 | _glfwInitTimerPOSIX(); 40 | return GLFW_TRUE; 41 | } 42 | 43 | void _glfwPlatformTerminate(void) 44 | { 45 | _glfwTerminateOSMesa(); 46 | } 47 | 48 | const char* _glfwPlatformGetVersionString(void) 49 | { 50 | return _GLFW_VERSION_NUMBER " null OSMesa"; 51 | } 52 | 53 | -------------------------------------------------------------------------------- /ext/ImGuizmo/vcpkg-example/README.md: -------------------------------------------------------------------------------- 1 | # ImGuizmo example 2 | 3 | ImGuizmo example app that uses [cmake][cmake] and [vcpkg][vcpkg] 4 | 5 | ## Setup 6 | 7 | Assuming cmake and vcpkg are installed, all that is required is to add the vcpkg toolchain file to 8 | the cmake configure and all dependencies will be downloaded and installed into the project 9 | 10 | ```bash 11 | mkdir build 12 | cd build 13 | cmake .. -DCMAKE_TOOLCHAIN_FILE=C:/dev/vcpkg/scripts/buildsystem/vcpkg.cmake 14 | ``` 15 | 16 | ### Visual Studio 17 | 18 | Rather than running directly, IDEs usually configure the cmake. Visual studio can be integrated 19 | directly with the `vcpkg integrate install` command or by specifying the path to the toolchain file 20 | in the project cmake settings 21 | 22 | ### VSCode 23 | 24 | When using the cmake tools extension the command can be added to the `.vscode/settings.json` file as 25 | follows 26 | 27 | ```json 28 | { 29 | "cmake.configureArgs": [ 30 | "-DCMAKE_TOOLCHAIN_FILE=C:\\dev\\vcpkg\\scripts\\buildsystems\\vcpkg.cmake" 31 | ] 32 | } 33 | ``` 34 | 35 | > :heavy_check_mark: If you include the settings file in your repo, a good practice would be to use 36 | an environment variable for the path to the vcpkg install and variable substitution in the toolchain 37 | file path so the settings work across machines. eg `"-DCMAKE_TOOLCHAIN_FILE={$env:VCPKG_ROOT}\\scripts\\buildsystems\\vcpkg.cmake"` 38 | 39 | This can also be added to the system-wide settings rather than added to each project individually 40 | 41 | ## How It Works 42 | 43 | The example contains a `vcpkg.json` manifest file that contains the dependencices. When cmake is 44 | supplied with the vcpkg toolchain file, the script detects this manifest file and then downloads and 45 | compiles the dependencies there-in 46 | 47 | In `CMakeLists.txt` the `find_package(imguizmo CONFIG REQUIRED)` command finds the cmake config 48 | added by the vcpkg install and `target_link_libraries(example-app PRIVATE imguizmo::imguizmo)` adds 49 | the includes and lib to the target 50 | 51 | [cmake]: https://cmake.org/ 52 | [vcpkg]: https://github.com/microsoft/vcpkg -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_opengl2.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer Backend for OpenGL2 (legacy OpenGL, fixed pipeline) 2 | // This needs to be used along with a Platform Backend (e.g. GLFW, SDL, Win32, custom..) 3 | 4 | // Implemented features: 5 | // [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID! 6 | 7 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 8 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 9 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 10 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 11 | 12 | // **DO NOT USE THIS CODE IF YOUR CODE/ENGINE IS USING MODERN OPENGL (SHADERS, VBO, VAO, etc.)** 13 | // **Prefer using the code in imgui_impl_opengl3.cpp** 14 | // This code is mostly provided as a reference to learn how ImGui integration works, because it is shorter to read. 15 | // If your code is using GL3+ context or any semi modern OpenGL calls, using this is likely to make everything more 16 | // complicated, will require your code to reset every single OpenGL attributes to their initial state, and might 17 | // confuse your GPU driver. 18 | // The GL2 code is unable to reset attributes or even call e.g. "glUseProgram(0)" because they don't exist in that API. 19 | 20 | #pragma once 21 | #include "imgui.h" // IMGUI_IMPL_API 22 | 23 | IMGUI_IMPL_API bool ImGui_ImplOpenGL2_Init(); 24 | IMGUI_IMPL_API void ImGui_ImplOpenGL2_Shutdown(); 25 | IMGUI_IMPL_API void ImGui_ImplOpenGL2_NewFrame(); 26 | IMGUI_IMPL_API void ImGui_ImplOpenGL2_RenderDrawData(ImDrawData* draw_data); 27 | 28 | // Called by Init/NewFrame/Shutdown 29 | IMGUI_IMPL_API bool ImGui_ImplOpenGL2_CreateFontsTexture(); 30 | IMGUI_IMPL_API void ImGui_ImplOpenGL2_DestroyFontsTexture(); 31 | IMGUI_IMPL_API bool ImGui_ImplOpenGL2_CreateDeviceObjects(); 32 | IMGUI_IMPL_API void ImGui_ImplOpenGL2_DestroyDeviceObjects(); 33 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_allegro5.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Renderer + Platform Backend for Allegro 5 2 | // (Info: Allegro 5 is a cross-platform general purpose library for handling windows, inputs, graphics, etc.) 3 | 4 | // Implemented features: 5 | // [X] Renderer: User texture binding. Use 'ALLEGRO_BITMAP*' as ImTextureID. Read the FAQ about ImTextureID! 6 | // [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy ALLEGRO_KEY_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set] 7 | // [X] Platform: Clipboard support (from Allegro 5.1.12) 8 | // [X] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. 9 | // Issues: 10 | // [ ] Renderer: The renderer is suboptimal as we need to unindex our buffers and convert vertices manually. 11 | // [ ] Platform: Missing gamepad support. 12 | 13 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 14 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 15 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 16 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 17 | 18 | #pragma once 19 | #include "imgui.h" // IMGUI_IMPL_API 20 | 21 | struct ALLEGRO_DISPLAY; 22 | union ALLEGRO_EVENT; 23 | 24 | IMGUI_IMPL_API bool ImGui_ImplAllegro5_Init(ALLEGRO_DISPLAY* display); 25 | IMGUI_IMPL_API void ImGui_ImplAllegro5_Shutdown(); 26 | IMGUI_IMPL_API void ImGui_ImplAllegro5_NewFrame(); 27 | IMGUI_IMPL_API void ImGui_ImplAllegro5_RenderDrawData(ImDrawData* draw_data); 28 | IMGUI_IMPL_API bool ImGui_ImplAllegro5_ProcessEvent(ALLEGRO_EVENT* event); 29 | 30 | // Use if you want to reset your rendering device without losing Dear ImGui state. 31 | IMGUI_IMPL_API bool ImGui_ImplAllegro5_CreateDeviceObjects(); 32 | IMGUI_IMPL_API void ImGui_ImplAllegro5_InvalidateDeviceObjects(); 33 | -------------------------------------------------------------------------------- /ext/imgui/misc/debuggers/imgui.natvis: -------------------------------------------------------------------------------- 1 | 2 | 13 | 14 | 15 | 16 | 17 | {{Size={Size} Capacity={Capacity}}} 18 | 19 | 20 | Size 21 | Data 22 | 23 | 24 | 25 | 26 | 27 | {{Size={DataEnd-Data} }} 28 | 29 | 30 | DataEnd-Data 31 | Data 32 | 33 | 34 | 35 | 36 | 37 | {{x={x,g} y={y,g}}} 38 | 39 | 40 | 41 | {{x={x,g} y={y,g} z={z,g} w={w,g}}} 42 | 43 | 44 | 45 | {{Min=({Min.x,g} {Min.y,g}) Max=({Max.x,g} {Max.y,g}) Size=({Max.x-Min.x,g} {Max.y-Min.y,g})}} 46 | 47 | Min 48 | Max 49 | Max.x - Min.x 50 | Max.y - Min.y 51 | 52 | 53 | 54 | 55 | {{Name {Name,s} Active {(Active||WasActive)?1:0,d} Child {(Flags & 0x01000000)?1:0,d} Popup {(Flags & 0x04000000)?1:0,d} Hidden {(Hidden)?1:0,d}} 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /src/mj_utils.h: -------------------------------------------------------------------------------- 1 | #ifndef MJ_UTILS_H 2 | #define MJ_UTILS_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "mj_sim_impl.h" 10 | 11 | namespace mc_mujoco 12 | { 13 | 14 | /** Merge multiple mujoco models into one 15 | * 16 | * For each merged model a prefix is added to every named entities in the model 17 | * 18 | * Warnings are displayed when some global parameters conflict, in such cases, the value from the first model where the 19 | * parameter appeared will prevail 20 | * 21 | * \param mujocoObjects Objects added to the simulation but not in mc_rtc 22 | * 23 | * \param mcrtcObjects Objects added to the simulation and to mc_rtc 24 | * 25 | * \param mjObjects MuJoCo ids for objects not in mc_rtc will be filled with parameters in the merged model 26 | * 27 | * \param mjRobots MuJoCo ids for objects in mc_rtc will be filled with parameters in the merged model 28 | * 29 | * \returns The path to the generated model 30 | */ 31 | std::string merge_mujoco_models(const std::map & mujocoObjects, 32 | const std::map & mcrtcObjects, 33 | std::vector & mjObjects, 34 | std::vector & mjRobots); 35 | 36 | /*! Load XML model and initialize */ 37 | bool mujoco_init(MjSimImpl * mj_sim, 38 | const std::map & mujocoObjects, 39 | const std::map & mcrtcObjects); 40 | 41 | /*! Create GLFW window */ 42 | void mujoco_create_window(MjSimImpl * mj_sim); 43 | 44 | /** Returns a sensor id from name, -1 if the type does not match or the sensor does not exist */ 45 | int mujoco_get_sensor_id(const mjModel & m, const std::string & name, mjtSensor type); 46 | 47 | /** Reads a MuJoCo sensor into the provided data pointer, the data must have the correct size for the sensor type */ 48 | void mujoco_get_sensordata(const mjModel & model, const mjData & data, int sensor_id, double * sensor_reading); 49 | 50 | /*! Cleanup. */ 51 | void mujoco_cleanup(MjSimImpl * mj_sim); 52 | 53 | } // namespace mc_mujoco 54 | 55 | #endif // MJ_UTILS_H_ 56 | -------------------------------------------------------------------------------- /src/widgets/details/InteractiveMarker.cpp: -------------------------------------------------------------------------------- 1 | #include "InteractiveMarker.h" 2 | 3 | #include "imgui.h" 4 | 5 | #include "ImGuizmo.h" 6 | 7 | #include 8 | 9 | namespace mc_mujoco 10 | { 11 | 12 | static inline bool has(ControlAxis mask, ControlAxis value) 13 | { 14 | return static_cast>(mask & value) != 0; 15 | } 16 | 17 | static inline ImGuizmo::OPERATION convert(ControlAxis mask) 18 | { 19 | ImGuizmo::OPERATION out = static_cast(0); 20 | #define HANDLE(CA, OP) \ 21 | if(has(mask, CA)) \ 22 | { \ 23 | out = out | OP; \ 24 | } 25 | HANDLE(ControlAxis::TX, ImGuizmo::OPERATION::TRANSLATE_X) 26 | HANDLE(ControlAxis::TY, ImGuizmo::OPERATION::TRANSLATE_Y) 27 | HANDLE(ControlAxis::TZ, ImGuizmo::OPERATION::TRANSLATE_Z) 28 | HANDLE(ControlAxis::RX, ImGuizmo::OPERATION::ROTATE_X) 29 | HANDLE(ControlAxis::RY, ImGuizmo::OPERATION::ROTATE_Y) 30 | HANDLE(ControlAxis::RZ, ImGuizmo::OPERATION::ROTATE_Z) 31 | #undef HANDLE 32 | return out; 33 | } 34 | 35 | int InteractiveMarker::next_id_ = 0; 36 | 37 | InteractiveMarker::InteractiveMarker(const sva::PTransformd & pose, ControlAxis mask) : pose_(pose), id_(next_id_++) 38 | { 39 | this->mask(mask); 40 | } 41 | 42 | void InteractiveMarker::mask(ControlAxis mask) 43 | { 44 | operation_ = convert(mask); 45 | } 46 | 47 | void InteractiveMarker::pose(const sva::PTransformd & pose) 48 | { 49 | if(!active_) 50 | { 51 | pose_ = pose; 52 | } 53 | } 54 | 55 | bool InteractiveMarker::draw(const std::array & view, const std::array & projection) 56 | { 57 | if(operation_ == 0) 58 | { 59 | return false; 60 | } 61 | ImGuizmo::SetID(id_); 62 | ImGuizmo::SetGizmoSizeWorldSpace(0.15f); 63 | Eigen::Matrix mat = sva::conversions::toHomogeneous(pose_.cast()); 64 | auto op = static_cast(operation_); 65 | bool changed = ImGuizmo::Manipulate(view.data(), projection.data(), op, ImGuizmo::MODE::LOCAL, mat.data()); 66 | active_ = ImGuizmo::IsUsing(); 67 | if(changed) 68 | { 69 | pose_ = sva::conversions::fromHomogeneous(mat).cast(); 70 | } 71 | return changed; 72 | } 73 | 74 | } // namespace mc_mujoco 75 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_allegro5/example_allegro5.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {20b90ce4-7fcb-4731-b9a0-075f875de82d} 6 | 7 | 8 | {f18ab499-84e1-499f-8eff-9754361e0e52} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | imgui 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | sources 24 | 25 | 26 | sources 27 | 28 | 29 | sources 30 | 31 | 32 | imgui 33 | 34 | 35 | imgui 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | 53 | 54 | 55 | imgui 56 | 57 | 58 | imgui 59 | 60 | 61 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glut_opengl2/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # Cross Platform Makefile 3 | # Compatible with MSYS2/MINGW, Ubuntu 14.04.1 and Mac OS X 4 | # 5 | # Linux: 6 | # apt-get install freeglut3-dev 7 | # 8 | 9 | #CXX = g++ 10 | #CXX = clang++ 11 | 12 | EXE = example_glut_opengl2 13 | IMGUI_DIR = ../.. 14 | SOURCES = main.cpp 15 | SOURCES += $(IMGUI_DIR)/imgui.cpp $(IMGUI_DIR)/imgui_demo.cpp $(IMGUI_DIR)/imgui_draw.cpp $(IMGUI_DIR)/imgui_tables.cpp $(IMGUI_DIR)/imgui_widgets.cpp 16 | SOURCES += $(IMGUI_DIR)/backends/imgui_impl_glut.cpp $(IMGUI_DIR)/backends/imgui_impl_opengl2.cpp 17 | OBJS = $(addsuffix .o, $(basename $(notdir $(SOURCES)))) 18 | UNAME_S := $(shell uname -s) 19 | 20 | CXXFLAGS = -std=c++11 -I$(IMGUI_DIR) -I$(IMGUI_DIR)/backends 21 | CXXFLAGS += -g -Wall -Wformat 22 | LIBS = 23 | 24 | ##--------------------------------------------------------------------- 25 | ## BUILD FLAGS PER PLATFORM 26 | ##--------------------------------------------------------------------- 27 | 28 | ifeq ($(UNAME_S), Linux) #LINUX 29 | ECHO_MESSAGE = "Linux" 30 | LIBS += -lGL -lglut 31 | CFLAGS = $(CXXFLAGS) 32 | endif 33 | 34 | ifeq ($(UNAME_S), Darwin) #APPLE 35 | ECHO_MESSAGE = "Mac OS X" 36 | LIBS += -framework OpenGL -framework GLUT 37 | LIBS += -L/usr/local/lib -L/opt/local/lib 38 | 39 | CXXFLAGS += -I/usr/local/include -I/opt/local/include 40 | CFLAGS = $(CXXFLAGS) 41 | endif 42 | 43 | ifeq ($(OS), Windows_NT) 44 | ECHO_MESSAGE = "MinGW" 45 | LIBS += -lgdi32 -lopengl32 -limm32 46 | ifeq ($(shell pkg-config freeglut --exists 2> /dev/null && echo yes || echo no),yes) 47 | CXXFLAGS += $(shell pkg-config freeglut --cflags) 48 | LIBS += $(shell pkg-config freeglut --libs) 49 | else 50 | LIBS += -lglut 51 | endif 52 | CFLAGS = $(CXXFLAGS) 53 | endif 54 | 55 | ##--------------------------------------------------------------------- 56 | ## BUILD RULES 57 | ##--------------------------------------------------------------------- 58 | 59 | %.o:%.cpp 60 | $(CXX) $(CXXFLAGS) -c -o $@ $< 61 | 62 | %.o:$(IMGUI_DIR)/%.cpp 63 | $(CXX) $(CXXFLAGS) -c -o $@ $< 64 | 65 | %.o:$(IMGUI_DIR)/backends/%.cpp 66 | $(CXX) $(CXXFLAGS) -c -o $@ $< 67 | 68 | all: $(EXE) 69 | @echo Build complete for $(ECHO_MESSAGE) 70 | 71 | $(EXE): $(OBJS) 72 | $(CXX) -o $@ $^ $(CXXFLAGS) $(LIBS) 73 | 74 | clean: 75 | rm -f $(EXE) $(OBJS) 76 | -------------------------------------------------------------------------------- /ext/glfw/src/win32_joystick.h: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 Win32 - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2006-2017 Camilla Löwy 5 | // 6 | // This software is provided 'as-is', without any express or implied 7 | // warranty. In no event will the authors be held liable for any damages 8 | // arising from the use of this software. 9 | // 10 | // Permission is granted to anyone to use this software for any purpose, 11 | // including commercial applications, and to alter it and redistribute it 12 | // freely, subject to the following restrictions: 13 | // 14 | // 1. The origin of this software must not be misrepresented; you must not 15 | // claim that you wrote the original software. If you use this software 16 | // in a product, an acknowledgment in the product documentation would 17 | // be appreciated but is not required. 18 | // 19 | // 2. Altered source versions must be plainly marked as such, and must not 20 | // be misrepresented as being the original software. 21 | // 22 | // 3. This notice may not be removed or altered from any source 23 | // distribution. 24 | // 25 | //======================================================================== 26 | 27 | #define _GLFW_PLATFORM_JOYSTICK_STATE _GLFWjoystickWin32 win32 28 | #define _GLFW_PLATFORM_LIBRARY_JOYSTICK_STATE struct { int dummyLibraryJoystick; } 29 | 30 | #define _GLFW_PLATFORM_MAPPING_NAME "Windows" 31 | #define GLFW_BUILD_WIN32_MAPPINGS 32 | 33 | // Joystick element (axis, button or slider) 34 | // 35 | typedef struct _GLFWjoyobjectWin32 36 | { 37 | int offset; 38 | int type; 39 | } _GLFWjoyobjectWin32; 40 | 41 | // Win32-specific per-joystick data 42 | // 43 | typedef struct _GLFWjoystickWin32 44 | { 45 | _GLFWjoyobjectWin32* objects; 46 | int objectCount; 47 | IDirectInputDevice8W* device; 48 | DWORD index; 49 | GUID guid; 50 | } _GLFWjoystickWin32; 51 | 52 | 53 | void _glfwInitJoysticksWin32(void); 54 | void _glfwTerminateJoysticksWin32(void); 55 | void _glfwDetectJoystickConnectionWin32(void); 56 | void _glfwDetectJoystickDisconnectionWin32(void); 57 | 58 | -------------------------------------------------------------------------------- /ext/glfw/docs/DoxygenLayout.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | -------------------------------------------------------------------------------- /ext/glfw/deps/getopt.h: -------------------------------------------------------------------------------- 1 | /* Copyright (c) 2012, Kim Gräsman 2 | * All rights reserved. 3 | * 4 | * Redistribution and use in source and binary forms, with or without 5 | * modification, are permitted provided that the following conditions are met: 6 | * * Redistributions of source code must retain the above copyright notice, 7 | * this list of conditions and the following disclaimer. 8 | * * Redistributions in binary form must reproduce the above copyright notice, 9 | * this list of conditions and the following disclaimer in the documentation 10 | * and/or other materials provided with the distribution. 11 | * * Neither the name of Kim Gräsman nor the names of contributors may be used 12 | * to endorse or promote products derived from this software without specific 13 | * prior written permission. 14 | * 15 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 16 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 17 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 18 | * ARE DISCLAIMED. IN NO EVENT SHALL KIM GRÄSMAN BE LIABLE FOR ANY DIRECT, 19 | * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | */ 26 | 27 | #ifndef INCLUDED_GETOPT_PORT_H 28 | #define INCLUDED_GETOPT_PORT_H 29 | 30 | #if defined(__cplusplus) 31 | extern "C" { 32 | #endif 33 | 34 | extern const int no_argument; 35 | extern const int required_argument; 36 | extern const int optional_argument; 37 | 38 | extern char* optarg; 39 | extern int optind, opterr, optopt; 40 | 41 | struct option { 42 | const char* name; 43 | int has_arg; 44 | int* flag; 45 | int val; 46 | }; 47 | 48 | int getopt(int argc, char* const argv[], const char* optstring); 49 | 50 | int getopt_long(int argc, char* const argv[], 51 | const char* optstring, const struct option* longopts, int* longindex); 52 | 53 | #if defined(__cplusplus) 54 | } 55 | #endif 56 | 57 | #endif // INCLUDED_GETOPT_PORT_H 58 | -------------------------------------------------------------------------------- /ext/glfw/tests/title.c: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // UTF-8 window title test 3 | // Copyright (c) Camilla Löwy 4 | // 5 | // This software is provided 'as-is', without any express or implied 6 | // warranty. In no event will the authors be held liable for any damages 7 | // arising from the use of this software. 8 | // 9 | // Permission is granted to anyone to use this software for any purpose, 10 | // including commercial applications, and to alter it and redistribute it 11 | // freely, subject to the following restrictions: 12 | // 13 | // 1. The origin of this software must not be misrepresented; you must not 14 | // claim that you wrote the original software. If you use this software 15 | // in a product, an acknowledgment in the product documentation would 16 | // be appreciated but is not required. 17 | // 18 | // 2. Altered source versions must be plainly marked as such, and must not 19 | // be misrepresented as being the original software. 20 | // 21 | // 3. This notice may not be removed or altered from any source 22 | // distribution. 23 | // 24 | //======================================================================== 25 | // 26 | // This test sets a UTF-8 window title 27 | // 28 | //======================================================================== 29 | 30 | #include 31 | #define GLFW_INCLUDE_NONE 32 | #include 33 | 34 | #include 35 | #include 36 | 37 | static void error_callback(int error, const char* description) 38 | { 39 | fprintf(stderr, "Error: %s\n", description); 40 | } 41 | 42 | int main(void) 43 | { 44 | GLFWwindow* window; 45 | 46 | glfwSetErrorCallback(error_callback); 47 | 48 | if (!glfwInit()) 49 | exit(EXIT_FAILURE); 50 | 51 | window = glfwCreateWindow(400, 400, "English 日本語 русский язык 官話", NULL, NULL); 52 | if (!window) 53 | { 54 | glfwTerminate(); 55 | exit(EXIT_FAILURE); 56 | } 57 | 58 | glfwMakeContextCurrent(window); 59 | gladLoadGL(glfwGetProcAddress); 60 | glfwSwapInterval(1); 61 | 62 | while (!glfwWindowShouldClose(window)) 63 | { 64 | glClear(GL_COLOR_BUFFER_BIT); 65 | glfwSwapBuffers(window); 66 | glfwWaitEvents(); 67 | } 68 | 69 | glfwTerminate(); 70 | exit(EXIT_SUCCESS); 71 | } 72 | 73 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_directx11/example_sdl2_directx11.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {0587d7a3-f2ce-4d56-b84f-a0005d3bfce6} 6 | 7 | 8 | {08e36723-ce4f-4cff-9662-c40801cf1acf} 9 | 10 | 11 | 12 | 13 | imgui 14 | 15 | 16 | imgui 17 | 18 | 19 | imgui 20 | 21 | 22 | sources 23 | 24 | 25 | sources 26 | 27 | 28 | 29 | 30 | imgui 31 | 32 | 33 | sources 34 | 35 | 36 | imgui 37 | 38 | 39 | imgui 40 | 41 | 42 | imgui 43 | 44 | 45 | imgui 46 | 47 | 48 | sources 49 | 50 | 51 | sources 52 | 53 | 54 | 55 | 56 | 57 | imgui 58 | 59 | 60 | imgui 61 | 62 | 63 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx10/example_win32_directx10.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {0587d7a3-f2ce-4d56-b84f-a0005d3bfce6} 6 | 7 | 8 | {08e36723-ce4f-4cff-9662-c40801cf1acf} 9 | 10 | 11 | 12 | 13 | imgui 14 | 15 | 16 | imgui 17 | 18 | 19 | imgui 20 | 21 | 22 | sources 23 | 24 | 25 | sources 26 | 27 | 28 | 29 | 30 | imgui 31 | 32 | 33 | sources 34 | 35 | 36 | imgui 37 | 38 | 39 | imgui 40 | 41 | 42 | sources 43 | 44 | 45 | sources 46 | 47 | 48 | imgui 49 | 50 | 51 | imgui 52 | 53 | 54 | 55 | 56 | 57 | imgui 58 | 59 | 60 | imgui 61 | 62 | 63 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx11/example_win32_directx11.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {0587d7a3-f2ce-4d56-b84f-a0005d3bfce6} 6 | 7 | 8 | {08e36723-ce4f-4cff-9662-c40801cf1acf} 9 | 10 | 11 | 12 | 13 | imgui 14 | 15 | 16 | imgui 17 | 18 | 19 | imgui 20 | 21 | 22 | sources 23 | 24 | 25 | sources 26 | 27 | 28 | 29 | 30 | imgui 31 | 32 | 33 | sources 34 | 35 | 36 | imgui 37 | 38 | 39 | imgui 40 | 41 | 42 | imgui 43 | 44 | 45 | sources 46 | 47 | 48 | sources 49 | 50 | 51 | imgui 52 | 53 | 54 | 55 | 56 | 57 | imgui 58 | 59 | 60 | imgui 61 | 62 | 63 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_emscripten_wgpu/README.md: -------------------------------------------------------------------------------- 1 | ## How to Build 2 | 3 | - You need to install Emscripten from https://emscripten.org/docs/getting_started/downloads.html, and have the environment variables set, as described in https://emscripten.org/docs/getting_started/downloads.html#installation-instructions 4 | 5 | - Depending on your configuration, in Windows you may need to run `emsdk/emsdk_env.bat` in your console to access the Emscripten command-line tools. 6 | 7 | - You may also refer to our [Continuous Integration setup](https://github.com/ocornut/imgui/tree/master/.github/workflows) for Emscripten setup. 8 | 9 | - Then build using `make` while in the `example_emscripten_wgpu/` directory. 10 | 11 | - Requires recent Emscripten as WGPU is still a work-in-progress API. 12 | 13 | ## How to Run 14 | 15 | To run on a local machine: 16 | - Make sure your browse supports WGPU and it is enabled. WGPU is still WIP not enabled by default in most browser. 17 | - `make serve` will use Python3 to spawn a local webserver, you can then browse http://localhost:8000 to access your build. 18 | - Otherwise, generally you will need a local webserver: 19 | - Quoting [https://emscripten.org/docs/getting_started](https://emscripten.org/docs/getting_started/Tutorial.html#generating-html):
20 | _"Unfortunately several browsers (including Chrome, Safari, and Internet Explorer) do not support file:// [XHR](https://emscripten.org/docs/site/glossary.html#term-xhr) requests, and can’t load extra files needed by the HTML (like a .wasm file, or packaged file data as mentioned lower down). For these browsers you’ll need to serve the files using a [local webserver](https://emscripten.org/docs/getting_started/FAQ.html#faq-local-webserver) and then open http://localhost:8000/hello.html."_ 21 | - Emscripten SDK has a handy `emrun` command: `emrun web/example_emscripten_opengl3.html --browser firefox` which will spawn a temporary local webserver (in Firefox). See https://emscripten.org/docs/compiling/Running-html-files-with-emrun.html for details. 22 | - You may use Python 3 builtin webserver: `python -m http.server -d web` (this is what `make serve` uses). 23 | - You may use Python 2 builtin webserver: `cd web && python -m SimpleHTTPServer`. 24 | - If you are accessing the files over a network, certain browsers, such as Firefox, will restrict Gamepad API access to secure contexts only (e.g. https only). 25 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_osx.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Platform Backend for OSX / Cocoa 2 | // This needs to be used along with a Renderer (e.g. OpenGL2, OpenGL3, Vulkan, Metal..) 3 | // - Not well tested. If you want a portable application, prefer using the GLFW or SDL platform Backends on Mac. 4 | // - Requires linking with the GameController framework ("-framework GameController"). 5 | 6 | // Implemented features: 7 | // [X] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. 8 | // [X] Platform: Mouse support. Can discriminate Mouse/Pen. 9 | // [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy kVK_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set] 10 | // [X] Platform: OSX clipboard is supported within core Dear ImGui (no specific code in this backend). 11 | // [X] Platform: Gamepad support. Enabled with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'. 12 | // [X] Platform: IME support. 13 | 14 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 15 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 16 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 17 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 18 | 19 | #include "imgui.h" // IMGUI_IMPL_API 20 | 21 | #ifdef __OBJC__ 22 | 23 | @class NSEvent; 24 | @class NSView; 25 | 26 | IMGUI_IMPL_API bool ImGui_ImplOSX_Init(NSView* _Nonnull view); 27 | IMGUI_IMPL_API void ImGui_ImplOSX_Shutdown(); 28 | IMGUI_IMPL_API void ImGui_ImplOSX_NewFrame(NSView* _Nullable view); 29 | 30 | #endif 31 | 32 | //----------------------------------------------------------------------------- 33 | // C++ API 34 | //----------------------------------------------------------------------------- 35 | 36 | #ifdef IMGUI_IMPL_METAL_CPP_EXTENSIONS 37 | // #include 38 | #ifndef __OBJC__ 39 | 40 | IMGUI_IMPL_API bool ImGui_ImplOSX_Init(void* _Nonnull view); 41 | IMGUI_IMPL_API void ImGui_ImplOSX_Shutdown(); 42 | IMGUI_IMPL_API void ImGui_ImplOSX_NewFrame(void* _Nullable view); 43 | 44 | #endif 45 | #endif 46 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx12/example_win32_directx12.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {fb3d294f-51ec-478e-a627-25831c80fefd} 6 | 7 | 8 | {4f33ddea-9910-456d-b868-4267eb3c2b19} 9 | 10 | 11 | 12 | 13 | imgui 14 | 15 | 16 | imgui 17 | 18 | 19 | imgui 20 | 21 | 22 | sources 23 | 24 | 25 | sources 26 | 27 | 28 | 29 | 30 | imgui 31 | 32 | 33 | sources 34 | 35 | 36 | imgui 37 | 38 | 39 | imgui 40 | 41 | 42 | sources 43 | 44 | 45 | sources 46 | 47 | 48 | imgui 49 | 50 | 51 | imgui 52 | 53 | 54 | 55 | 56 | 57 | imgui 58 | 59 | 60 | 61 | 62 | imgui 63 | 64 | 65 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_vulkan/example_glfw_vulkan.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {20b90ce4-7fcb-4731-b9a0-075f875de82d} 6 | 7 | 8 | {f18ab499-84e1-499f-8eff-9754361e0e52} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | sources 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | imgui 24 | 25 | 26 | imgui 27 | 28 | 29 | imgui 30 | 31 | 32 | sources 33 | 34 | 35 | sources 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_vulkan/example_sdl2_vulkan.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {20b90ce4-7fcb-4731-b9a0-075f875de82d} 6 | 7 | 8 | {f18ab499-84e1-499f-8eff-9754361e0e52} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | imgui 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | sources 24 | 25 | 26 | sources 27 | 28 | 29 | sources 30 | 31 | 32 | imgui 33 | 34 | 35 | imgui 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glfw_opengl2/example_glfw_opengl2.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {c336cfe3-f0c4-464c-9ef0-a9e17a7ff222} 6 | 7 | 8 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | sources 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | imgui 24 | 25 | 26 | imgui 27 | 28 | 29 | imgui 30 | 31 | 32 | sources 33 | 34 | 35 | sources 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_glut_opengl2/example_glut_opengl2.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {c336cfe3-f0c4-464c-9ef0-a9e17a7ff222} 6 | 7 | 8 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | sources 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | imgui 24 | 25 | 26 | imgui 27 | 28 | 29 | imgui 30 | 31 | 32 | sources 33 | 34 | 35 | sources 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_opengl2/example_sdl2_opengl2.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {20b90ce4-7fcb-4731-b9a0-075f875de82d} 6 | 7 | 8 | {f18ab499-84e1-499f-8eff-9754361e0e52} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | imgui 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | sources 24 | 25 | 26 | imgui 27 | 28 | 29 | imgui 30 | 31 | 32 | sources 33 | 34 | 35 | sources 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_win32_directx9/example_win32_directx9.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {a82cba23-9de0-45c2-b1e3-2eb1666702de} 10 | 11 | 12 | 13 | 14 | sources 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | imgui 24 | 25 | 26 | sources 27 | 28 | 29 | sources 30 | 31 | 32 | imgui 33 | 34 | 35 | imgui 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_sdl3.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Platform Backend for SDL3 (*EXPERIMENTAL*) 2 | // This needs to be used along with a Renderer (e.g. DirectX11, OpenGL3, Vulkan..) 3 | // (Info: SDL3 is a cross-platform general purpose library for handling windows, inputs, graphics context creation, etc.) 4 | // (IMPORTANT: SDL 3.0.0 is NOT YET RELEASED. IT IS POSSIBLE THAT ITS SPECS/API WILL CHANGE BEFORE RELEASE) 5 | 6 | // Implemented features: 7 | // [X] Platform: Clipboard support. 8 | // [X] Platform: Mouse support. Can discriminate Mouse/TouchScreen. 9 | // [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy SDL_SCANCODE_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set] 10 | // [X] Platform: Gamepad support. Enabled with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'. 11 | // [X] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. 12 | // Missing features: 13 | // [x] Platform: Basic IME support. Position somehow broken in SDL3 + app needs to call 'SDL_SetHint(SDL_HINT_IME_SHOW_UI, "1");' before SDL_CreateWindow()!. 14 | 15 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 16 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 17 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 18 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 19 | 20 | #pragma once 21 | #include "imgui.h" // IMGUI_IMPL_API 22 | 23 | struct SDL_Window; 24 | struct SDL_Renderer; 25 | typedef union SDL_Event SDL_Event; 26 | 27 | IMGUI_IMPL_API bool ImGui_ImplSDL3_InitForOpenGL(SDL_Window* window, void* sdl_gl_context); 28 | IMGUI_IMPL_API bool ImGui_ImplSDL3_InitForVulkan(SDL_Window* window); 29 | IMGUI_IMPL_API bool ImGui_ImplSDL3_InitForD3D(SDL_Window* window); 30 | IMGUI_IMPL_API bool ImGui_ImplSDL3_InitForMetal(SDL_Window* window); 31 | IMGUI_IMPL_API bool ImGui_ImplSDL3_InitForSDLRenderer(SDL_Window* window, SDL_Renderer* renderer); 32 | IMGUI_IMPL_API void ImGui_ImplSDL3_Shutdown(); 33 | IMGUI_IMPL_API void ImGui_ImplSDL3_NewFrame(); 34 | IMGUI_IMPL_API bool ImGui_ImplSDL3_ProcessEvent(const SDL_Event* event); 35 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_opengl2/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # Cross Platform Makefile 3 | # Compatible with MSYS2/MINGW, Ubuntu 14.04.1 and Mac OS X 4 | # 5 | # You will need SDL2 (http://www.libsdl.org): 6 | # Linux: 7 | # apt-get install libsdl2-dev 8 | # Mac OS X: 9 | # brew install sdl2 10 | # MSYS2: 11 | # pacman -S mingw-w64-i686-SDL2 12 | # 13 | 14 | #CXX = g++ 15 | #CXX = clang++ 16 | 17 | EXE = example_sdl2_opengl2 18 | IMGUI_DIR = ../.. 19 | SOURCES = main.cpp 20 | SOURCES += $(IMGUI_DIR)/imgui.cpp $(IMGUI_DIR)/imgui_demo.cpp $(IMGUI_DIR)/imgui_draw.cpp $(IMGUI_DIR)/imgui_tables.cpp $(IMGUI_DIR)/imgui_widgets.cpp 21 | SOURCES += $(IMGUI_DIR)/backends/imgui_impl_sdl2.cpp $(IMGUI_DIR)/backends/imgui_impl_opengl2.cpp 22 | OBJS = $(addsuffix .o, $(basename $(notdir $(SOURCES)))) 23 | UNAME_S := $(shell uname -s) 24 | 25 | CXXFLAGS = -std=c++11 -I$(IMGUI_DIR) -I$(IMGUI_DIR)/backends 26 | CXXFLAGS += -g -Wall -Wformat 27 | LIBS = 28 | 29 | ##--------------------------------------------------------------------- 30 | ## BUILD FLAGS PER PLATFORM 31 | ##--------------------------------------------------------------------- 32 | 33 | ifeq ($(UNAME_S), Linux) #LINUX 34 | ECHO_MESSAGE = "Linux" 35 | LIBS += -lGL -ldl `sdl2-config --libs` 36 | 37 | CXXFLAGS += `sdl2-config --cflags` 38 | CFLAGS = $(CXXFLAGS) 39 | endif 40 | 41 | ifeq ($(UNAME_S), Darwin) #APPLE 42 | ECHO_MESSAGE = "Mac OS X" 43 | LIBS += -framework OpenGL -framework Cocoa -framework IOKit -framework CoreVideo `sdl2-config --libs` 44 | LIBS += -L/usr/local/lib -L/opt/local/lib 45 | 46 | CXXFLAGS += `sdl2-config --cflags` 47 | CXXFLAGS += -I/usr/local/include -I/opt/local/include 48 | CFLAGS = $(CXXFLAGS) 49 | endif 50 | 51 | ifeq ($(OS), Windows_NT) 52 | ECHO_MESSAGE = "MinGW" 53 | LIBS += -lgdi32 -lopengl32 -limm32 `pkg-config --static --libs sdl2` 54 | 55 | CXXFLAGS += `pkg-config --cflags sdl2` 56 | CFLAGS = $(CXXFLAGS) 57 | endif 58 | 59 | ##--------------------------------------------------------------------- 60 | ## BUILD RULES 61 | ##--------------------------------------------------------------------- 62 | 63 | %.o:%.cpp 64 | $(CXX) $(CXXFLAGS) -c -o $@ $< 65 | 66 | %.o:$(IMGUI_DIR)/%.cpp 67 | $(CXX) $(CXXFLAGS) -c -o $@ $< 68 | 69 | %.o:$(IMGUI_DIR)/backends/%.cpp 70 | $(CXX) $(CXXFLAGS) -c -o $@ $< 71 | 72 | all: $(EXE) 73 | @echo Build complete for $(ECHO_MESSAGE) 74 | 75 | $(EXE): $(OBJS) 76 | $(CXX) -o $@ $^ $(CXXFLAGS) $(LIBS) 77 | 78 | clean: 79 | rm -f $(EXE) $(OBJS) 80 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_sdlrenderer/example_sdl2_sdlrenderer.vcxproj.filters: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | {20b90ce4-7fcb-4731-b9a0-075f875de82d} 6 | 7 | 8 | {f18ab499-84e1-499f-8eff-9754361e0e52} 9 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 10 | 11 | 12 | 13 | 14 | imgui 15 | 16 | 17 | imgui 18 | 19 | 20 | imgui 21 | 22 | 23 | sources 24 | 25 | 26 | imgui 27 | 28 | 29 | imgui 30 | 31 | 32 | sources 33 | 34 | 35 | sources 36 | 37 | 38 | 39 | 40 | imgui 41 | 42 | 43 | imgui 44 | 45 | 46 | imgui 47 | 48 | 49 | sources 50 | 51 | 52 | sources 53 | 54 | 55 | 56 | 57 | 58 | imgui 59 | 60 | 61 | imgui 62 | 63 | 64 | -------------------------------------------------------------------------------- /ext/glfw/src/cocoa_time.c: -------------------------------------------------------------------------------- 1 | //======================================================================== 2 | // GLFW 3.3 macOS - www.glfw.org 3 | //------------------------------------------------------------------------ 4 | // Copyright (c) 2009-2016 Camilla Löwy 5 | // 6 | // This software is provided 'as-is', without any express or implied 7 | // warranty. In no event will the authors be held liable for any damages 8 | // arising from the use of this software. 9 | // 10 | // Permission is granted to anyone to use this software for any purpose, 11 | // including commercial applications, and to alter it and redistribute it 12 | // freely, subject to the following restrictions: 13 | // 14 | // 1. The origin of this software must not be misrepresented; you must not 15 | // claim that you wrote the original software. If you use this software 16 | // in a product, an acknowledgment in the product documentation would 17 | // be appreciated but is not required. 18 | // 19 | // 2. Altered source versions must be plainly marked as such, and must not 20 | // be misrepresented as being the original software. 21 | // 22 | // 3. This notice may not be removed or altered from any source 23 | // distribution. 24 | // 25 | //======================================================================== 26 | // It is fine to use C99 in this file because it will not be built with VS 27 | //======================================================================== 28 | 29 | #include "internal.h" 30 | 31 | #include 32 | 33 | 34 | ////////////////////////////////////////////////////////////////////////// 35 | ////// GLFW internal API ////// 36 | ////////////////////////////////////////////////////////////////////////// 37 | 38 | // Initialise timer 39 | // 40 | void _glfwInitTimerNS(void) 41 | { 42 | mach_timebase_info_data_t info; 43 | mach_timebase_info(&info); 44 | 45 | _glfw.timer.ns.frequency = (info.denom * 1e9) / info.numer; 46 | } 47 | 48 | 49 | ////////////////////////////////////////////////////////////////////////// 50 | ////// GLFW platform API ////// 51 | ////////////////////////////////////////////////////////////////////////// 52 | 53 | uint64_t _glfwPlatformGetTimerValue(void) 54 | { 55 | return mach_absolute_time(); 56 | } 57 | 58 | uint64_t _glfwPlatformGetTimerFrequency(void) 59 | { 60 | return _glfw.timer.ns.frequency; 61 | } 62 | 63 | -------------------------------------------------------------------------------- /ext/imgui/backends/imgui_impl_sdl2.h: -------------------------------------------------------------------------------- 1 | // dear imgui: Platform Backend for SDL2 2 | // This needs to be used along with a Renderer (e.g. DirectX11, OpenGL3, Vulkan..) 3 | // (Info: SDL2 is a cross-platform general purpose library for handling windows, inputs, graphics context creation, etc.) 4 | 5 | // Implemented features: 6 | // [X] Platform: Clipboard support. 7 | // [X] Platform: Mouse support. Can discriminate Mouse/TouchScreen. 8 | // [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy SDL_SCANCODE_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set] 9 | // [X] Platform: Gamepad support. Enabled with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'. 10 | // [X] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. 11 | // [X] Platform: Basic IME support. App needs to call 'SDL_SetHint(SDL_HINT_IME_SHOW_UI, "1");' before SDL_CreateWindow()!. 12 | 13 | // You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this. 14 | // Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need. 15 | // If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp. 16 | // Read online: https://github.com/ocornut/imgui/tree/master/docs 17 | 18 | #pragma once 19 | #include "imgui.h" // IMGUI_IMPL_API 20 | 21 | struct SDL_Window; 22 | struct SDL_Renderer; 23 | typedef union SDL_Event SDL_Event; 24 | 25 | IMGUI_IMPL_API bool ImGui_ImplSDL2_InitForOpenGL(SDL_Window* window, void* sdl_gl_context); 26 | IMGUI_IMPL_API bool ImGui_ImplSDL2_InitForVulkan(SDL_Window* window); 27 | IMGUI_IMPL_API bool ImGui_ImplSDL2_InitForD3D(SDL_Window* window); 28 | IMGUI_IMPL_API bool ImGui_ImplSDL2_InitForMetal(SDL_Window* window); 29 | IMGUI_IMPL_API bool ImGui_ImplSDL2_InitForSDLRenderer(SDL_Window* window, SDL_Renderer* renderer); 30 | IMGUI_IMPL_API void ImGui_ImplSDL2_Shutdown(); 31 | IMGUI_IMPL_API void ImGui_ImplSDL2_NewFrame(); 32 | IMGUI_IMPL_API bool ImGui_ImplSDL2_ProcessEvent(const SDL_Event* event); 33 | 34 | #ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS 35 | static inline void ImGui_ImplSDL2_NewFrame(SDL_Window*) { ImGui_ImplSDL2_NewFrame(); } // 1.84: removed unnecessary parameter 36 | #endif 37 | -------------------------------------------------------------------------------- /ext/imgui/examples/example_sdl2_sdlrenderer/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # Cross Platform Makefile 3 | # Compatible with MSYS2/MINGW, Ubuntu 14.04.1 and Mac OS X 4 | # 5 | # You will need SDL2 (http://www.libsdl.org): 6 | # Linux: 7 | # apt-get install libsdl2-dev 8 | # Mac OS X: 9 | # brew install sdl2 10 | # MSYS2: 11 | # pacman -S mingw-w64-i686-SDL2 12 | # 13 | 14 | #CXX = g++ 15 | #CXX = clang++ 16 | 17 | EXE = example_sdl2_sdlrenderer 18 | IMGUI_DIR = ../.. 19 | SOURCES = main.cpp 20 | SOURCES += $(IMGUI_DIR)/imgui.cpp $(IMGUI_DIR)/imgui_demo.cpp $(IMGUI_DIR)/imgui_draw.cpp $(IMGUI_DIR)/imgui_tables.cpp $(IMGUI_DIR)/imgui_widgets.cpp 21 | SOURCES += $(IMGUI_DIR)/backends/imgui_impl_sdl2.cpp $(IMGUI_DIR)/backends/imgui_impl_sdlrenderer.cpp 22 | OBJS = $(addsuffix .o, $(basename $(notdir $(SOURCES)))) 23 | UNAME_S := $(shell uname -s) 24 | 25 | CXXFLAGS = -std=c++11 -I$(IMGUI_DIR) -I$(IMGUI_DIR)/backends 26 | CXXFLAGS += -g -Wall -Wformat 27 | LIBS = 28 | 29 | ##--------------------------------------------------------------------- 30 | ## BUILD FLAGS PER PLATFORM 31 | ##--------------------------------------------------------------------- 32 | 33 | ifeq ($(UNAME_S), Linux) #LINUX 34 | ECHO_MESSAGE = "Linux" 35 | LIBS += -lGL -ldl `sdl2-config --libs` 36 | 37 | CXXFLAGS += `sdl2-config --cflags` 38 | CFLAGS = $(CXXFLAGS) 39 | endif 40 | 41 | ifeq ($(UNAME_S), Darwin) #APPLE 42 | ECHO_MESSAGE = "Mac OS X" 43 | LIBS += -framework OpenGL -framework Cocoa -framework IOKit -framework CoreVideo `sdl2-config --libs` 44 | LIBS += -L/usr/local/lib -L/opt/local/lib 45 | 46 | CXXFLAGS += `sdl2-config --cflags` 47 | CXXFLAGS += -I/usr/local/include -I/opt/local/include 48 | CFLAGS = $(CXXFLAGS) 49 | endif 50 | 51 | ifeq ($(OS), Windows_NT) 52 | ECHO_MESSAGE = "MinGW" 53 | LIBS += -lgdi32 -lopengl32 -limm32 `pkg-config --static --libs sdl2` 54 | 55 | CXXFLAGS += `pkg-config --cflags sdl2` 56 | CFLAGS = $(CXXFLAGS) 57 | endif 58 | 59 | ##--------------------------------------------------------------------- 60 | ## BUILD RULES 61 | ##--------------------------------------------------------------------- 62 | 63 | %.o:%.cpp 64 | $(CXX) $(CXXFLAGS) -c -o $@ $< 65 | 66 | %.o:$(IMGUI_DIR)/%.cpp 67 | $(CXX) $(CXXFLAGS) -c -o $@ $< 68 | 69 | %.o:$(IMGUI_DIR)/backends/%.cpp 70 | $(CXX) $(CXXFLAGS) -c -o $@ $< 71 | 72 | all: $(EXE) 73 | @echo Build complete for $(ECHO_MESSAGE) 74 | 75 | $(EXE): $(OBJS) 76 | $(CXX) -o $@ $^ $(CXXFLAGS) $(LIBS) 77 | 78 | clean: 79 | rm -f $(EXE) $(OBJS) 80 | --------------------------------------------------------------------------------