Mess with SCS 2 plots in RDX.

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/simulation/scs2/RDXSCS2Session.java

@@ -68,16 +68,11 @@ public class RDXSCS2Session
    private final StatelessNotification sessionStoppedNotification = new StatelessNotification();
 
    public RDXSCS2Session(RDXBaseUI baseUI)
-   {
-      this(baseUI, null);
-   }
-
-   public RDXSCS2Session(RDXBaseUI baseUI, RDXPanel plotManagerParentPanel)
    {
       baseUI.getImGuiPanelManager().addPanel(controlPanel);
 
       baseUI.getPrimaryScene().addRenderableAdapter(renderables);
-      plotManager.create(baseUI.getLayoutManager(), plotManagerParentPanel == null ? controlPanel : plotManagerParentPanel);
+      plotManager.create(baseUI.getLayoutManager(), controlPanel);
    }
 
    /**

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/simulation/scs2/RDXSCS2SimulationSession.java

@@ -51,7 +51,7 @@ public void startSession(SimulationSession simulationSession)
             bulletPhysicsDebugger.drawBulletDebugDrawings();
 
          // This technically belongs in RDXSCS2Session, but there's no after tick callback for a regular session
-         if (pauseAtEndOfBuffer.get() && yoManager.getCurrentIndex() == yoManager.getBufferSize() - 2)
+         if (pauseAtEndOfBuffer.get() && session.getBufferProperties().getCurrentIndex() == session.getBufferProperties().getSize() - 1)
          {
             session.setSessionMode(SessionMode.PAUSE);
          }

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/simulation/scs2/RDXSCS2YoImPlotManager.java

@@ -208,4 +208,13 @@ public void addVariableWidget(String variableName)
    {
       variableWidgets.add(new RDXLinkedYoBooleanWidget(yoManager, variableName));
    }
+
+   public ImPlotModifiableYoPlotPanel getPlotPanel(String name)
+   {
+      for (ImPlotModifiableYoPlotPanel plotPanel : plotPanels)
+         if (plotPanel.getPanelName().equals(name))
+            return plotPanel;
+
+      return null;
+   }
 }

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/yo/ImPlotModifiableYoPlotPanel.java

@@ -1,19 +1,22 @@
 package us.ihmc.rdx.ui.yo;
 
 import imgui.internal.ImGui;
+import imgui.type.ImInt;
 import us.ihmc.rdx.imgui.RDXPanel;
 import us.ihmc.rdx.imgui.ImGuiUniqueLabelMap;
 import us.ihmc.rdx.simulation.scs2.RDXYoManager;
-import us.ihmc.rdx.imgui.ImPlotPlotPanelLayout;
 
 import java.util.ArrayList;
 import java.util.function.Consumer;
 
 public class ImPlotModifiableYoPlotPanel extends RDXPanel
 {
-   private final ArrayList<ImPlotModifiableYoPlot> yoPlots = new ArrayList<>();
-   private final ImPlotPlotPanelLayout layout = new ImPlotPlotPanelLayout();
    private final ImGuiUniqueLabelMap labels = new ImGuiUniqueLabelMap(getClass());
+   private final ArrayList<ImPlotModifiableYoPlot> yoPlots = new ArrayList<>();
+   private final ImInt numberOfRows = new ImInt(1);
+   private final ImInt numberOfColumns = new ImInt(1);
+   private final ImInt plotHeight = new ImInt(60);
+   private float plotWidth;
    private final ImGuiYoVariableSearchPanel yoVariableSearchPanel;
    private final RDXYoManager yoManager;
    private final Consumer<ImPlotModifiableYoPlotPanel> removeSelf;
@@ -28,21 +31,35 @@ public ImPlotModifiableYoPlotPanel(String panelName,
       this.yoManager = yoManager;
       this.removeSelf = removeSelf;
       setRenderMethod(this::render);
-      layout.setPlotRenderer(this::renderPlot, yoPlots::size);
-   }
-
-   private void renderPlot(int i)
-   {
-      yoPlots.get(i).render(layout.getPlotWidth(), layout.getPlotHeight());
    }
 
    public void render()
    {
       ImGui.beginMenuBar();
-      layout.renderLayoutMenu();
+      if (ImGui.beginMenu(labels.get("Layout")))
+      {
+         ImGui.pushItemWidth(100);
+         if (ImGui.inputInt(labels.get("Number of rows"), numberOfRows))
+         {
+            if (numberOfRows.get() < 1)
+               numberOfRows.set(1);
+         }
+         if (ImGui.inputInt(labels.get("Number of columns"), numberOfColumns))
+         {
+            if (numberOfColumns.get() < 1)
+               numberOfColumns.set(1);
+         }
+         if (ImGui.inputInt(labels.get("Plot height"), plotHeight))
+         {
+            if (plotHeight.get() < 10)
+               plotHeight.set(10);
+         }
+         ImGui.popItemWidth();
+         ImGui.endMenu();
+      }
       if (ImGui.beginMenu(labels.get("Plots")))
       {
-         if (ImGui.menuItem("Add Plot"))
+         if (ImGui.button(labels.get("Add Plot")))
          {
             addPlot();
          }
@@ -55,7 +72,23 @@ public void render()
 
       ImGui.endMenuBar();
 
-      layout.renderPlots();
+      plotWidth = ImGui.getColumnWidth() / numberOfColumns.get();
+
+      for (int i = 0; i < yoPlots.size(); i++)
+      {
+         yoPlots.get(i).render(plotWidth, plotHeight.get());
+
+         if (i % numberOfColumns.get() != numberOfColumns.get() - 1)
+            ImGui.sameLine();
+      }
+   }
+
+   public ImPlotModifiableYoPlot addPlot(String... variables)
+   {
+      ImPlotModifiableYoPlot plot = addPlot();
+      for (String variable : variables)
+         plot.addVariable(yoManager.getRootRegistry().findVariable(variable), false);
+      return plot;
    }
 
    public ImPlotModifiableYoPlot addPlot()
@@ -74,4 +107,14 @@ public ArrayList<ImPlotModifiableYoPlot> getYoPlots()
    {
       return yoPlots;
    }
+
+   public void setNumberOfRows(int numberOfRows)
+   {
+      this.numberOfRows.set(numberOfRows);
+   }
+
+   public void setNumberOfColumns(int numberOfColumns)
+   {
+      this.numberOfColumns.set(numberOfColumns);
+   }
 }

ihmc-high-level-behaviors/src/test/java/us/ihmc/rdx/ui/plotting/RDXSCS2StyleChartDemo.java

@@ -1,11 +1,17 @@
 package us.ihmc.rdx.ui.plotting;
 
 import us.ihmc.rdx.Lwjgl3ApplicationAdapter;
+import us.ihmc.rdx.sceneManager.RDXSceneLevel;
+import us.ihmc.rdx.simulation.scs2.RDXSCS2SimulationSession;
 import us.ihmc.rdx.ui.RDXBaseUI;
+import us.ihmc.rdx.ui.yo.ImPlotModifiableYoPlotPanel;
+import us.ihmc.scs2.examples.simulations.bullet.StackOfBoxesExperimentalBulletSimulation;
+import us.ihmc.scs2.session.SessionMode;
 
 public class RDXSCS2StyleChartDemo
 {
    private final RDXBaseUI baseUI;
+   private RDXSCS2SimulationSession session;
 
    public RDXSCS2StyleChartDemo()
    {
@@ -16,21 +22,36 @@ public RDXSCS2StyleChartDemo()
          @Override
          public void create()
          {
-            baseUI.create();
+            baseUI.create(RDXSceneLevel.values());
 
-            baseUI.getImGuiPanelManager().addPanel("Plot", this::renderImGuiWidgets);
-         }
-
-         private void renderImGuiWidgets()
-         {
+            session = new RDXSCS2SimulationSession(baseUI);
+            session.startSession(StackOfBoxesExperimentalBulletSimulation.createSession());
+            session.changeBufferDuration(1.0);
+            session.getSession().setSessionMode(SessionMode.RUNNING);
 
+            ImPlotModifiableYoPlotPanel plotPanel = session.getPlotManager().getPlotPanel("Poses");
+            plotPanel.setNumberOfRows(7);
+            plotPanel.setNumberOfColumns(5);
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_x".formatted(i, i));
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_y".formatted(i, i));
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_z".formatted(i, i));
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_qx".formatted(i, i));
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_qy".formatted(i, i));
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_qz".formatted(i, i));
+            for (int i = 0; i < 5; i++)
+               plotPanel.addPlot("root.Block%d.q_Block%d_qs".formatted(i, i));
          }
 
          @Override
          public void render()
          {
-
-
+            session.update();
 
             baseUI.renderBeforeOnScreenUI();
             baseUI.renderEnd();
@@ -39,6 +60,7 @@ public void render()
          @Override
          public void dispose()
          {
+            session.destroy(baseUI);
             baseUI.dispose();
          }
       });

ihmc-high-level-behaviors/src/test/resources/configurations/RDXSCS2StyleChartDemo/ImGuiPanels.json

@@ -0,0 +1,9 @@
+{
+  "dockspacePanels" : { },
+  "windows" : {
+    "3D View" : true,
+    "SCS 2 Session" : true,
+    "Poses" : true,
+    "YoVariable Search" : false
+  }
+}

ihmc-high-level-behaviors/src/test/resources/configurations/RDXSCS2StyleChartDemo/ImGuiSettings.ini

@@ -0,0 +1,35 @@
+[Window][DockSpaceViewport_11111111]
+Pos=0,22
+Size=1735,1021
+Collapsed=0
+
+[Window][SCS 2 Session]
+Pos=0,22
+Size=343,1021
+Collapsed=0
+DockId=0x00000001,0
+
+[Window][3D View]
+Pos=345,22
+Size=1390,462
+Collapsed=0
+DockId=0x00000003,0
+
+[Window][Debug##Default]
+Pos=60,60
+Size=400,400
+Collapsed=0
+
+[Window][Poses]
+Pos=345,486
+Size=1390,557
+Collapsed=0
+DockId=0x00000004,0
+
+[Docking][Data]
+DockSpace     ID=0x8B93E3BD Window=0xA787BDB4 Pos=445,193 Size=1735,1021 Split=X Selected=0x2E64DC63
+  DockNode    ID=0x00000001 Parent=0x8B93E3BD SizeRef=343,1031 Selected=0x29EC79FC
+  DockNode    ID=0x00000002 Parent=0x8B93E3BD SizeRef=1390,1031 Split=Y Selected=0x2E64DC63
+    DockNode  ID=0x00000003 Parent=0x00000002 SizeRef=1390,462 CentralNode=1 Selected=0x2E64DC63
+    DockNode  ID=0x00000004 Parent=0x00000002 SizeRef=1390,557 Selected=0x1A45B6EE
+

ihmc-high-level-behaviors/src/test/resources/configurations/RDXSCS2StyleChartDemo/RDXSCS2YoImPlotManager.json

@@ -0,0 +1,6 @@
+{
+  "panels" : [ {
+    "name" : "Poses",
+    "plots" : [ ]
+  } ]
+}