From 4b5b6a84b4e157835f6e6507afa0d03b9dae8fcb Mon Sep 17 00:00:00 2001 From: "Jeongseok (JS) Lee" Date: Sun, 10 Nov 2024 13:29:27 -0800 Subject: [PATCH] Support ImGui 1.91.5 and greater (#1872) --- dart/gui/osg/ImGuiHandler.cpp | 146 ++++- pixi.lock | 1034 +++++++++++++++++---------------- pixi.toml | 105 ++-- 3 files changed, 696 insertions(+), 589 deletions(-) diff --git a/dart/gui/osg/ImGuiHandler.cpp b/dart/gui/osg/ImGuiHandler.cpp index 2d6e247302b56..39b1005144b31 100644 --- a/dart/gui/osg/ImGuiHandler.cpp +++ b/dart/gui/osg/ImGuiHandler.cpp @@ -51,15 +51,17 @@ namespace dart { namespace gui { namespace osg { -//============================================================================== +#if IMGUI_VERSION_NUM < 19150 + // Special keys that are usually greater than 512 in osgGA // -// Imporant Note: Dear ImGui expects the control Keys indices not to be greater +// Important Note: Dear ImGui expects the control Keys indices not to be greater // thant 511. It actually uses an array of 512 elements. However, OSG has // indices greater than that. So here I do a conversion for special keys between // ImGui and OSG. enum ConvertedKey : int { + ConvertedKey_None = -1, ConvertedKey_Tab = 257, ConvertedKey_Left, ConvertedKey_Right, @@ -83,14 +85,74 @@ enum ConvertedKey : int ConvertedKey_RightSuper, }; +#endif + //============================================================================== // Check for a special key and return the converted code (range [257, 511]) if // so. Otherwise returns -1 -int convertFromOSGKey(int key) +#if IMGUI_VERSION_NUM >= 19150 +ImGuiKey convertFromOSGKey(int key) +#else +ConvertedKey convertFromOSGKey(int key) +#endif { using KeySymbol = osgGA::GUIEventAdapter::KeySymbol; switch (key) { +#if IMGUI_VERSION_NUM >= 19150 + case KeySymbol::KEY_Tab: + return ImGuiKey_Tab; + case KeySymbol::KEY_Left: + return ImGuiKey_LeftArrow; + case KeySymbol::KEY_Right: + return ImGuiKey_RightArrow; + case KeySymbol::KEY_Up: + return ImGuiKey_UpArrow; + case KeySymbol::KEY_Down: + return ImGuiKey_DownArrow; + case KeySymbol::KEY_Page_Up: + return ImGuiKey_PageUp; + case KeySymbol::KEY_Page_Down: + return ImGuiKey_PageDown; + case KeySymbol::KEY_Home: + return ImGuiKey_Home; + case KeySymbol::KEY_End: + return ImGuiKey_End; + case KeySymbol::KEY_Delete: + return ImGuiKey_Delete; + case KeySymbol::KEY_BackSpace: + return ImGuiKey_Backspace; + case KeySymbol::KEY_Return: + return ImGuiKey_Enter; + case KeySymbol::KEY_Escape: + return ImGuiKey_Escape; + case KeySymbol::KEY_Control_L: + case KeySymbol::KEY_Control_R: + return ImGuiKey_ModCtrl; + case KeySymbol::KEY_Shift_L: + case KeySymbol::KEY_Shift_R: + return ImGuiKey_ModShift; + case KeySymbol::KEY_Alt_L: + case KeySymbol::KEY_Alt_R: + return ImGuiKey_ModAlt; + case KeySymbol::KEY_Super_L: + case KeySymbol::KEY_Super_R: + return ImGuiKey_ModSuper; + case KeySymbol::KEY_A: + return ImGuiKey_A; + case KeySymbol::KEY_C: + return ImGuiKey_C; + case KeySymbol::KEY_V: + return ImGuiKey_V; + case KeySymbol::KEY_X: + return ImGuiKey_X; + case KeySymbol::KEY_Y: + return ImGuiKey_Y; + case KeySymbol::KEY_Z: + return ImGuiKey_Z; + default: + return ImGuiKey_None; +#else case KeySymbol::KEY_Tab: return ConvertedKey_Tab; case KeySymbol::KEY_Left: @@ -134,7 +196,8 @@ int convertFromOSGKey(int key) case KeySymbol::KEY_Super_R: return ConvertedKey_RightSuper; default: - return -1; + return ConvertedKey_None; +#endif } } @@ -182,6 +245,7 @@ ImGuiHandler::ImGuiHandler() ImGui_ImplOpenGL2_Init(); +#if IMGUI_VERSION_NUM < 19150 // Keyboard mapping. ImGui will use those indices to peek into the // io.KeyDown[] array. ImGuiIO& io = ImGui::GetIO(); @@ -204,6 +268,7 @@ ImGuiHandler::ImGuiHandler() io.KeyMap[ImGuiKey_X] = osgGA::GUIEventAdapter::KeySymbol::KEY_X; io.KeyMap[ImGuiKey_Y] = osgGA::GUIEventAdapter::KeySymbol::KEY_Y; io.KeyMap[ImGuiKey_Z] = osgGA::GUIEventAdapter::KeySymbol::KEY_Z; +#endif } //============================================================================== @@ -272,22 +337,31 @@ bool ImGuiHandler::handle( ::osg::Object* /*object*/, ::osg::NodeVisitor* /*nodeVisitor*/) { - auto& io = ImGui::GetIO(); - const auto wantCapureMouse = io.WantCaptureMouse; - const auto wantCapureKeyboard = io.WantCaptureKeyboard; + ImGuiIO& io = ImGui::GetIO(); + const bool wantCaptureMouse = io.WantCaptureMouse; + const bool wantCaptureKeyboard = io.WantCaptureKeyboard; switch (eventAdapter.getEventType()) { case osgGA::GUIEventAdapter::KEYDOWN: { - const auto c = eventAdapter.getUnmodifiedKey(); - const auto special_key = convertFromOSGKey(c); - - if (special_key > 0) { - assert(special_key < 512 && "ImGui KeysDown is an array of 512"); + const int key = eventAdapter.getUnmodifiedKey(); + +#if IMGUI_VERSION_NUM >= 19150 + const ImGuiKey specialKey = convertFromOSGKey(key); + if (specialKey != ImGuiKey_None) { + io.AddKeyEvent(specialKey, true); + } else if (key != 0 && key < 0x10000) { + const ImWchar c = static_cast(eventAdapter.getKey()); + io.AddInputCharacter(c); + } +#else + const ConvertedKey specialKey = convertFromOSGKey(key); + if (specialKey != ConvertedKey_None) { + assert(specialKey < 512 && "ImGui KeysDown is an array of 512"); assert( - special_key > 256 + specialKey > 256 && "ASCII stop at 127, but we use the range [257, 511]"); - io.KeysDown[special_key] = true; + io.KeysDown[specialKey] = true; io.KeyCtrl = io.KeysDown[ConvertedKey_LeftControl] || io.KeysDown[ConvertedKey_RightControl]; @@ -297,24 +371,31 @@ bool ImGuiHandler::handle( || io.KeysDown[ConvertedKey_RightAlt]; io.KeySuper = io.KeysDown[ConvertedKey_LeftSuper] || io.KeysDown[ConvertedKey_RightSuper]; - } else if (0 < c && c < 0x10000) { - io.KeysDown[c] = true; - io.AddInputCharacter(static_cast(c)); + } else if (0 < key && key < 0x10000) { + io.KeysDown[key] = true; + io.AddInputCharacter(static_cast(key)); } +#endif - return wantCapureKeyboard; + return wantCaptureKeyboard; } case osgGA::GUIEventAdapter::KEYUP: { - const auto c = eventAdapter.getUnmodifiedKey(); - const auto special_key = convertFromOSGKey(c); + const int key = eventAdapter.getUnmodifiedKey(); - if (special_key > 0) { - assert(special_key < 512 && "ImGui KeysDown is an array of 512"); +#if IMGUI_VERSION_NUM >= 19150 + const ImGuiKey specialKey = convertFromOSGKey(key); + if (specialKey != ImGuiKey_None) { + io.AddKeyEvent(specialKey, false); + } +#else + const ConvertedKey specialKey = convertFromOSGKey(key); + if (specialKey != ConvertedKey_None) { + assert(specialKey < 512 && "ImGui KeysDown is an array of 512"); assert( - special_key > 256 + specialKey > 256 && "ASCII stop at 127, but we use the range [257, 511]"); - io.KeysDown[special_key] = false; + io.KeysDown[specialKey] = false; io.KeyCtrl = io.KeysDown[ConvertedKey_LeftControl] || io.KeysDown[ConvertedKey_RightControl]; @@ -324,12 +405,13 @@ bool ImGuiHandler::handle( || io.KeysDown[ConvertedKey_RightAlt]; io.KeySuper = io.KeysDown[ConvertedKey_LeftSuper] || io.KeysDown[ConvertedKey_RightSuper]; - } else if (0 < c && c < 0x10000) { - io.KeysDown[c] = false; - io.AddInputCharacter(static_cast(c)); + } else if (0 < key && key < 0x10000) { + io.KeysDown[key] = false; + io.AddInputCharacter(static_cast(key)); } +#endif - return wantCapureKeyboard; + return wantCaptureKeyboard; } case osgGA::GUIEventAdapter::PUSH: { io.MousePos @@ -351,14 +433,14 @@ bool ImGuiHandler::handle( mMousePressed[0] = true; } - return wantCapureMouse; + return wantCaptureMouse; } case osgGA::GUIEventAdapter::DRAG: case osgGA::GUIEventAdapter::MOVE: { io.MousePos = ImVec2(eventAdapter.getX(), io.DisplaySize.y - eventAdapter.getY()); - return wantCapureMouse; + return wantCaptureMouse; } case osgGA::GUIEventAdapter::RELEASE: { // When a mouse button is released no button mask is set. So we mark all @@ -367,7 +449,7 @@ bool ImGuiHandler::handle( mMousePressed[1] = false; mMousePressed[2] = false; - return wantCapureMouse; + return wantCaptureMouse; } case osgGA::GUIEventAdapter::SCROLL: { constexpr float increment = 0.1f; @@ -390,7 +472,7 @@ bool ImGuiHandler::handle( break; } - return wantCapureMouse; + return wantCaptureMouse; } default: { return false; diff --git a/pixi.lock b/pixi.lock index 20305b574955c..1ee38d06924a7 100644 --- a/pixi.lock +++ b/pixi.lock @@ -11,10 +11,10 @@ environments: - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.10.0-py312h7900ff3_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h25a0e75_3.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.10.0-py313h78bf25f_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-ha87cce1_3.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.2-heb4867d_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.3-heb4867d_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-14-14.0.6-default_h7634d5b_1.conda - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.1.7-unix_pyh707e725_0.conda @@ -27,7 +27,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.4-h5888daf_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/fcl-0.7.0-ha5cdbd8_5.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/fcl-0.7.0-h543440a_6.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/flann-1.9.2-h3ef53d8_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.0.2-h434a139_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 @@ -84,9 +84,9 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.0.0-hd590300_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-25_linux64_openblas.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm14-14.0.6-hcd5def8_4.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-h4bc722e_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.64.0-h161d5f1_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/libode-0.16.2-h30efb56_14.conda + - 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name: spdlog - version: 1.14.1 - build: hed91bc2_1 - build_number: 1 - subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.14.1-hed91bc2_1.conda - sha256: 0c604fe3f78ddb2b612841722bd9b5db24d0484e30ced89fac78c0a3f524dfd6 - md5: 909188c8979846bac8e586908cf1ca6a - depends: - - __glibc >=2.17,<3.0.a0 - - fmt >=11.0.1,<12.0a0 - - libgcc-ng >=12 - - libstdcxx-ng >=12 - license: MIT - license_family: MIT - size: 195665 - timestamp: 1722238295031 + size: 167708 + timestamp: 1731185043282 - kind: conda name: tbb version: 2021.13.0 @@ -7446,20 +7468,6 @@ packages: license_family: MIT size: 321561 timestamp: 1724530461598 -- kind: conda - name: wheel - version: 0.45.0 - build: pyhd8ed1ab_0 - subdir: noarch - noarch: python - url: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda - sha256: 8a51067f8e1a2cb0b5e89672dbcc0369e344a92e869c38b2946584aa09ab7088 - md5: f9751d7c71df27b2d29f5cab3378982e - depends: - - python >=3.8 - license: MIT - size: 62755 - timestamp: 1731120002488 - kind: conda name: xcb-util version: 0.4.1 diff --git a/pixi.toml b/pixi.toml index 879f7bf8357c1..67bf879e15c20 100644 --- a/pixi.toml +++ b/pixi.toml @@ -41,92 +41,99 @@ urdfdom = ">=4.0.0" [tasks] clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" } -configure-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" } +config-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" } install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_on = [ - "configure_local", + "config_local", "build", ] } -configure = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" } +config = { cmd = """ + cmake \ + -G Ninja \ + -S . \ + -B build \ + -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DDART_VERBOSE=ON \ + -DDART_USE_SYSTEM_IMGUI=ON +""" } lint-cpp = { cmd = "cmake --build build --target format", depends_on = [ - "configure", + "config", ] } lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [ - "configure", + "config", ] } lint = { depends_on = ["lint-cpp", "lint-py"] } check-lint-cpp = { cmd = "cmake --build build --target check-format", depends_on = [ - "configure", + "config", ] } check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [ - "configure", + "config", ] } check-lint = { depends_on = ["check-lint-cpp", "check-lint-py"] } -build = { cmd = "cmake --build build -j --target all", depends_on = [ - "configure", -] } +build = { cmd = "cmake --build build -j --target all", depends_on = ["config"] } build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [ - "configure", + "config", ] } build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ - "configure", + "config", ] } test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [ "build-tests", ] } test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ - "configure", + "config", ] } test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [ - "configure", + "config", ] } ex-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [ - "configure", + "config", ] } ex-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [ - "configure", + "config", ] } ex-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [ - "configure", + "config", ] } bm-boxes = { cmd = "cmake --build build --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [ - "configure", + "config", ] } bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [ - "configure", + "config", ] } bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [ - "configure", + "config", ] } tu-biped = { cmd = "cmake --build build --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [ - "configure", + "config", ] } tu-biped-fi = { cmd = "cmake --build build --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [ - "configure", + "config", ] } tu-collisions = { cmd = "cmake --build build --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [ - "configure", + "config", ] } tu-collisions-fi = { cmd = "cmake --build build --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [ - "configure", + "config", ] } tu-dominoes = { cmd = "cmake --build build --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [ - "configure", + "config", ] } tu-dominoes-fi = { cmd = "cmake --build build --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [ - "configure", + "config", ] } tu-multi-pendulum = { cmd = "cmake --build build --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [ - "configure", + "config", ] } tu-multi-pendulum-fi = { cmd = "cmake --build build --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [ - "configure", + "config", ] } install = { cmd = "cmake --build build --target install --parallel", depends_on = [ @@ -179,59 +186,69 @@ clang-format-14 = ">=14.0.6,<15" freeglut = ">=3.2.2" [target.win-64.tasks] -configure = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=ON" } +config = { cmd = """ + cmake \ + -S . \ + -B build \ + -G 'Visual Studio 17 2022' \ + -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ + -DDART_VERBOSE=ON \ + -DDART_MSVC_DEFAULT_OPTIONS=ON \ + -DBUILD_SHARED_LIBS=OFF \ + -DDART_USE_SYSTEM_IMGUI=ON +""" } lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [ - "configure", + "config", ] } lint = { depends_on = ["lint-py"] } check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [ - "configure", + "config", ] } check-lint = { depends_on = ["check-lint-py"] } build = { cmd = "cmake --build build --config Release -j", depends_on = [ - "configure", + "config", ] } build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [ - "configure", + "config", ] } build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ - "configure", + "config", ] } test = { cmd = "ctest --test-dir build --build-config Release --output-on-failure", depends_on = [ "build-tests", ] } test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [ - "configure", + "config", ] } test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [ - "configure", + "config", ] } tu-biped = { cmd = "cmake --build build --config Release --target tutorial_biped --parallel && build/Release/tutorial_biped.exe", depends_on = [ - "configure", + "config", ] } tu-biped-fi = { cmd = "cmake --build build --config Release --target tutorial_biped_finished --parallel && build/Release/tutorial_biped_finished.exe", depends_on = [ - "configure", + "config", ] } tu-collisions = { cmd = "cmake --build build --config Release --target tutorial_collisions --parallel && build/Release/tutorial_collisions.exe", depends_on = [ - "configure", + "config", ] } tu-collisions-fi = { cmd = "cmake --build build --config Release --target tutorial_collisions_finished --parallel && build/Release/tutorial_collisions_finished.exe", depends_on = [ - "configure", + "config", ] } tu-dominoes = { cmd = "cmake --build build --config Release --target tutorial_dominoes --parallel && build/Release/tutorial_dominoes.exe", depends_on = [ - "configure", + "config", ] } tu-dominoes-fi = { cmd = "cmake --build build --config Release --target tutorial_dominoes_finished --parallel && build/Release/tutorial_dominoes_finished.exe", depends_on = [ - "configure", + "config", ] } tu-multi-pendulum = { cmd = "cmake --build build --config Release --target tutorial_multi_pendulum --parallel && build/Release/tutorial_multi_pendulum.exe", depends_on = [ - "configure", + "config", ] } tu-multi-pendulum-fi = { cmd = "cmake --build build --config Release --target tutorial_multi_pendulum_finished --parallel && build/Release/tutorial_multi_pendulum_finished.exe", depends_on = [ - "configure", + "config", ] } install = { cmd = "cmake --build build --config Release -j --target install", depends_on = [