improve viewer

fbxiang · fbxiang · commit 38582e000eaf · 2024-03-07T10:09:09.000-08:00
diff --git a/python/py_package/__init__.pyi b/python/py_package/__init__.pyi
@@ -33,5 +33,5 @@ from . import render
 from . import utils
 from . import version
 from . import wrapper
-__all__ = ['ActorBuilder', 'ArticulationBuilder', 'Component', 'CudaArray', 'Device', 'Engine', 'Entity', 'Path', 'PinocchioModel', 'Pose', 'Scene', 'SceneConfig', 'System', 'Widget', 'asset', 'internal_renderer', 'math', 'os', 'physx', 'pkg_resources', 'platform', 'profile', 'pysapien', 'pysapien_pinocchio', 'render', 'render_server', 'set_log_level', 'simsense', 'utils', 'version', 'warn', 'wrapper']
-__version__: str = '3.0.0.dev20240301+c7f6bb27'
+__all__ = ['ActorBuilder', 'ArticulationBuilder', 'Component', 'CudaArray', 'Device', 'Engine', 'Entity', 'Path', 'PinocchioModel', 'Pose', 'SapienRenderer', 'Scene', 'SceneConfig', 'System', 'Widget', 'asset', 'internal_renderer', 'math', 'os', 'physx', 'pkg_resources', 'platform', 'profile', 'pysapien', 'pysapien_pinocchio', 'render', 'set_log_level', 'simsense', 'utils', 'version', 'warn', 'wrapper']
+__version__: str = '3.0.0.dev20240306+5d849890'
diff --git a/python/py_package/pysapien/__init__.pyi b/python/py_package/pysapien/__init__.pyi
@@ -8,7 +8,7 @@ from . import math
 from . import physx
 from . import render
 from . import simsense
-__all__ = ['Component', 'CudaArray', 'Device', 'Entity', 'Pose', 'Profiler', 'Scene', 'System', 'internal_renderer', 'math', 'physx', 'profile', 'render', 'set_log_level', 'simsense']
+__all__ = ['Component', 'CudaArray', 'Device', 'Entity', 'Pose', 'Profiler', 'Scene', 'System', 'abi_version', 'compiled_with_cxx11_abi', 'internal_renderer', 'math', 'physx', 'profile', 'pybind11_internals_id', 'pybind11_use_smart_holder', 'render', 'set_log_level', 'simsense']
 _T = typing.TypeVar("_T", Component)
 class Component:
     entity_pose: Pose
@@ -227,11 +227,19 @@ class System:
         ...
     def step(self) -> None:
         ...
+def abi_version() -> int:
+    ...
+def compiled_with_cxx11_abi() -> bool:
+    ...
 @typing.overload
 def profile(name: str) -> Profiler:
     ...
 @typing.overload
 def profile(func: typing.Callable) -> typing.Callable:
     ...
+def pybind11_internals_id() -> str:
+    ...
+def pybind11_use_smart_holder() -> bool:
+    ...
 def set_log_level(level: str) -> None:
     ...
diff --git a/python/py_package/utils/viewer/articulation_window.py b/python/py_package/utils/viewer/articulation_window.py
@@ -94,13 +94,21 @@ def callback(slider):
 
                 uijoints.append(
                     R.UISliderFloat()
-                    .Label("Drive Target")
+                    .Label("Position Target")
                     .Id(str(i))
                     .WidthRatio(0.5)
                     .Min(max(j.limit[0, 0], -20))
                     .Max(min(j.limit[0, 1], 20))
                     .Value(j.drive_target)
                     .Callback((lambda j: lambda p: j.set_drive_target(p.value))(j)),
+                    R.UISliderFloat()
+                    .Label("Velocity Target")
+                    .Id(str(i))
+                    .WidthRatio(0.5)
+                    .Min(-1)
+                    .Max(1)
+                    .Value(j.drive_velocity_target)
+                    .Callback((lambda j: lambda p: j.set_drive_velocity_target(p.value))(j)),
                     R.UIInputFloat()
                     .Label("Damping")
                     .Id(str(i))
diff --git a/python/py_package/utils/viewer/viewer.py b/python/py_package/utils/viewer/viewer.py
@@ -22,6 +22,7 @@
 from .render_window import RenderOptionsWindow
 from .scene_window import SceneWindow
 from .transform_window import TransformWindow
+from .setting_window import SettingWindow
 
 
 class Viewer:
@@ -31,6 +32,7 @@ def __init__(
         shader_dir="",
         resolutions=(1920, 1080),
         plugins=[
+            SettingWindow(),
             TransformWindow(),
             RenderOptionsWindow(),
             ControlWindow(),
