Update imgui to 1.69 (#1274)

CHANGELOG.md

@@ -35,6 +35,10 @@
 
   * Changed urdf parser to warn if robot model has multi-tree: [#1270](https://github.com/dartsim/dart/pull/1270)
 
+* GUI
+
+  * Updated ImGui to 1.69: [#1274](https://github.com/dartsim/dart/pull/1274)
+
 * Build System
 
   * Changed to use GNUInstallDirs for install paths: [#1241](https://github.com/dartsim/dart/pull/1241)

dart/external/imgui/CMakeLists.txt

@@ -1,3 +1,6 @@
+dart_find_package(OpenGL)
+dart_check_optional_package(OPENGL "dart-external-imgui" "OpenGL")
+
 # Search all header and source files
 file(GLOB hdrs "*.h")
 file(GLOB srcs "*.cpp")
@@ -10,6 +13,7 @@ dart_add_library(${target_name} ${hdrs} ${srcs})
 target_include_directories(${target_name}
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
 )
+target_link_libraries(${target_name} PUBLIC OpenGL::GL)
 
 if(CMAKE_COMPILER_IS_GNUCXX)
   target_compile_options(${target_name} PRIVATE -w)

dart/external/imgui/imconfig.h

@@ -31,6 +31,7 @@
 //---- Don't implement some functions to reduce linkage requirements.
 //#define IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS   // [Win32] Don't implement default clipboard handler. Won't use and link with OpenClipboard/GetClipboardData/CloseClipboard etc.
 //#define IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS         // [Win32] Don't implement default IME handler. Won't use and link with ImmGetContext/ImmSetCompositionWindow.
+//#define IMGUI_DISABLE_WIN32_FUNCTIONS                     // [Win32] Won't use and link with any Win32 function.
 //#define IMGUI_DISABLE_FORMAT_STRING_FUNCTIONS             // Don't implement ImFormatString/ImFormatStringV so you can implement them yourself if you don't want to link with vsnprintf.
 //#define IMGUI_DISABLE_MATH_FUNCTIONS                      // Don't implement ImFabs/ImSqrt/ImPow/ImFmod/ImCos/ImSin/ImAcos/ImAtan2 wrapper so you can implement them yourself. Declare your prototypes in imconfig.h.
 //#define IMGUI_DISABLE_DEFAULT_ALLOCATORS                  // Don't implement default allocators calling malloc()/free() to avoid linking with them. You will need to call ImGui::SetAllocatorFunctions().

dart/external/imgui/imgui_impl_opengl2.cpp

@@ -0,0 +1,246 @@
+// dear imgui: Renderer for OpenGL2 (legacy OpenGL, fixed pipeline)
+// This needs to be used along with a Platform Binding (e.g. GLFW, SDL, Win32, custom..)
+
+// Implemented features:
+//  [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID in imgui.cpp.
+
+// You can copy and use unmodified imgui_impl_* files in your project. See main.cpp for an example of using this.
+// If you are new to dear imgui, read examples/README.txt and read the documentation at the top of imgui.cpp.
+// https://github.com/ocornut/imgui
+
+// **DO NOT USE THIS CODE IF YOUR CODE/ENGINE IS USING MODERN OPENGL (SHADERS, VBO, VAO, etc.)**
+// **Prefer using the code in imgui_impl_opengl3.cpp**
+// This code is mostly provided as a reference to learn how ImGui integration works, because it is shorter to read.
+// If your code is using GL3+ context or any semi modern OpenGL calls, using this is likely to make everything more
+// complicated, will require your code to reset every single OpenGL attributes to their initial state, and might
+// confuse your GPU driver.
+// The GL2 code is unable to reset attributes or even call e.g. "glUseProgram(0)" because they don't exist in that API.
+
+// CHANGELOG
+// (minor and older changes stripped away, please see git history for details)
+//  2019-02-11: OpenGL: Projecting clipping rectangles correctly using draw_data->FramebufferScale to allow multi-viewports for retina display.
+//  2018-11-30: Misc: Setting up io.BackendRendererName so it can be displayed in the About Window.
+//  2018-08-03: OpenGL: Disabling/restoring GL_LIGHTING and GL_COLOR_MATERIAL to increase compatibility with legacy OpenGL applications.
+//  2018-06-08: Misc: Extracted imgui_impl_opengl2.cpp/.h away from the old combined GLFW/SDL+OpenGL2 examples.
+//  2018-06-08: OpenGL: Use draw_data->DisplayPos and draw_data->DisplaySize to setup projection matrix and clipping rectangle.
+//  2018-02-16: Misc: Obsoleted the io.RenderDrawListsFn callback and exposed ImGui_ImplGlfwGL2_RenderDrawData() in the .h file so you can call it yourself.
+//  2017-09-01: OpenGL: Save and restore current polygon mode.
+//  2016-09-10: OpenGL: Uploading font texture as RGBA32 to increase compatibility with users shaders (not ideal).
+//  2016-09-05: OpenGL: Fixed save and restore of current scissor rectangle.
+
+#include "imgui.h"
+#include "imgui_impl_opengl2.h"
+#if defined(_MSC_VER) && _MSC_VER <= 1500 // MSVC 2008 or earlier
+#include <stddef.h>     // intptr_t
+#else
+#include <stdint.h>     // intptr_t
+#endif
+
+// Include OpenGL header (without an OpenGL loader) requires a bit of fiddling
+#if defined(_WIN32) && !defined(APIENTRY)
+#define APIENTRY __stdcall                  // It is customary to use APIENTRY for OpenGL function pointer declarations on all platforms.  Additionally, the Windows OpenGL header needs APIENTRY.
+#endif
+#if defined(_WIN32) && !defined(WINGDIAPI)
+#define WINGDIAPI __declspec(dllimport)     // Some Windows OpenGL headers need this
+#endif
+#if defined(__APPLE__)
+#define GL_SILENCE_DEPRECATION
+#include <OpenGL/gl.h>
+#else
+#include <GL/gl.h>
+#endif
+
+// OpenGL Data
+static GLuint       g_FontTexture = 0;
+
+// Functions
+bool    ImGui_ImplOpenGL2_Init()
+{
+    ImGuiIO& io = ImGui::GetIO();
+    io.BackendRendererName = "imgui_impl_opengl2";
+    return true;
+}
+
+void    ImGui_ImplOpenGL2_Shutdown()
+{
+    ImGui_ImplOpenGL2_DestroyDeviceObjects();
+}
+
+void    ImGui_ImplOpenGL2_NewFrame()
+{
+    if (!g_FontTexture)
+        ImGui_ImplOpenGL2_CreateDeviceObjects();
+}
+
+// OpenGL2 Render function.
+// (this used to be set in io.RenderDrawListsFn and called by ImGui::Render(), but you can now call this directly from your main loop)
+// Note that this implementation is little overcomplicated because we are saving/setting up/restoring every OpenGL state explicitly, in order to be able to run within any OpenGL engine that doesn't do so.
+void ImGui_ImplOpenGL2_RenderDrawData(ImDrawData* draw_data)
+{
+    // Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
+    int fb_width = (int)(draw_data->DisplaySize.x * draw_data->FramebufferScale.x);
+    int fb_height = (int)(draw_data->DisplaySize.y * draw_data->FramebufferScale.y);
+    if (fb_width == 0 || fb_height == 0)
+        return;
+
+    // We are using the OpenGL fixed pipeline to make the example code simpler to read!
+    // Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, vertex/texcoord/color pointers, polygon fill.
+    GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
+    GLint last_polygon_mode[2]; glGetIntegerv(GL_POLYGON_MODE, last_polygon_mode);
+    GLint last_viewport[4]; glGetIntegerv(GL_VIEWPORT, last_viewport);
+    GLint last_scissor_box[4]; glGetIntegerv(GL_SCISSOR_BOX, last_scissor_box);
+    glPushAttrib(GL_ENABLE_BIT | GL_COLOR_BUFFER_BIT | GL_TRANSFORM_BIT);
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+    glDisable(GL_CULL_FACE);
+    glDisable(GL_DEPTH_TEST);
+    glDisable(GL_LIGHTING);
+    glDisable(GL_COLOR_MATERIAL);
+    glEnable(GL_SCISSOR_TEST);
+    //---------------------------
+    // [BEGIN] Modified for DART
+    //---------------------------
+    glPushClientAttrib(GL_VERTEX_ARRAY | GL_TEXTURE_COORD_ARRAY | GL_COLOR_ARRAY);
+    //---------------------------
+    // [END] Modified for DART
+    //---------------------------
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    glEnableClientState(GL_COLOR_ARRAY);
+    glEnable(GL_TEXTURE_2D);
+    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+
+    // If you are using this code with non-legacy OpenGL header/contexts (which you should not, prefer using imgui_impl_opengl3.cpp!!), 
+    // you may need to backup/reset/restore current shader using the lines below. DO NOT MODIFY THIS FILE! Add the code in your calling function:
+    //  GLint last_program; 
+    //  glGetIntegerv(GL_CURRENT_PROGRAM, &last_program);
+    //  glUseProgram(0);
+    //  ImGui_ImplOpenGL2_RenderDrawData(...);
+    //  glUseProgram(last_program)
+
+    // Setup viewport, orthographic projection matrix
+    // Our visible imgui space lies from draw_data->DisplayPos (top left) to draw_data->DisplayPos+data_data->DisplaySize (bottom right). DisplayMin is typically (0,0) for single viewport apps.
+    glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
+    glMatrixMode(GL_PROJECTION);
+    glPushMatrix();
+    glLoadIdentity();
+    glOrtho(draw_data->DisplayPos.x, draw_data->DisplayPos.x + draw_data->DisplaySize.x, draw_data->DisplayPos.y + draw_data->DisplaySize.y, draw_data->DisplayPos.y, -1.0f, +1.0f);
+    glMatrixMode(GL_MODELVIEW);
+    glPushMatrix();
+    glLoadIdentity();
+
+    // Will project scissor/clipping rectangles into framebuffer space
+    ImVec2 clip_off = draw_data->DisplayPos;         // (0,0) unless using multi-viewports
+    ImVec2 clip_scale = draw_data->FramebufferScale; // (1,1) unless using retina display which are often (2,2)
+
+    // Render command lists
+    for (int n = 0; n < draw_data->CmdListsCount; n++)
+    {
+        const ImDrawList* cmd_list = draw_data->CmdLists[n];
+        const ImDrawVert* vtx_buffer = cmd_list->VtxBuffer.Data;
+        const ImDrawIdx* idx_buffer = cmd_list->IdxBuffer.Data;
+        glVertexPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + IM_OFFSETOF(ImDrawVert, pos)));
+        glTexCoordPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + IM_OFFSETOF(ImDrawVert, uv)));
+        glColorPointer(4, GL_UNSIGNED_BYTE, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + IM_OFFSETOF(ImDrawVert, col)));
+
+        for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++)
+        {
+            const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i];
+            if (pcmd->UserCallback)
+            {
+                // User callback (registered via ImDrawList::AddCallback)
+                pcmd->UserCallback(cmd_list, pcmd);
+            }
+            else
+            {
+                // Project scissor/clipping rectangles into framebuffer space
+                ImVec4 clip_rect;
+                clip_rect.x = (pcmd->ClipRect.x - clip_off.x) * clip_scale.x;
+                clip_rect.y = (pcmd->ClipRect.y - clip_off.y) * clip_scale.y;
+                clip_rect.z = (pcmd->ClipRect.z - clip_off.x) * clip_scale.x;
+                clip_rect.w = (pcmd->ClipRect.w - clip_off.y) * clip_scale.y;
+
+                if (clip_rect.x < fb_width && clip_rect.y < fb_height && clip_rect.z >= 0.0f && clip_rect.w >= 0.0f)
+                {
+                    // Apply scissor/clipping rectangle
+                    glScissor((int)clip_rect.x, (int)(fb_height - clip_rect.w), (int)(clip_rect.z - clip_rect.x), (int)(clip_rect.w - clip_rect.y));
+
+                    // Bind texture, Draw
+                    glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->TextureId);
+                    glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer);
+                }
+            }
+            idx_buffer += pcmd->ElemCount;
+        }
+    }
+
+    // Restore modified state
+
+    glDisableClientState(GL_COLOR_ARRAY);
+    glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    //---------------------------
+    // [BEGIN] Modified for DART
+    //---------------------------
+    glPopClientAttrib();
+    //---------------------------
+    // [END] Modified for DART
+    //---------------------------
+    glBindTexture(GL_TEXTURE_2D, (GLuint)last_texture);
+    glMatrixMode(GL_MODELVIEW);
+    glPopMatrix();
+    glMatrixMode(GL_PROJECTION);
+    glPopMatrix();
+    glPopAttrib();
+    glPolygonMode(GL_FRONT, (GLenum)last_polygon_mode[0]); glPolygonMode(GL_BACK, (GLenum)last_polygon_mode[1]);
+    glViewport(last_viewport[0], last_viewport[1], (GLsizei)last_viewport[2], (GLsizei)last_viewport[3]);
+    glScissor(last_scissor_box[0], last_scissor_box[1], (GLsizei)last_scissor_box[2], (GLsizei)last_scissor_box[3]);
+}
+
+bool ImGui_ImplOpenGL2_CreateFontsTexture()
+{
+    // Build texture atlas
+    ImGuiIO& io = ImGui::GetIO();
+    unsigned char* pixels;
+    int width, height;
+    io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height);   // Load as RGBA 32-bits (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
+
+    // Upload texture to graphics system
+    GLint last_texture;
+    glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
+    glGenTextures(1, &g_FontTexture);
+    glBindTexture(GL_TEXTURE_2D, g_FontTexture);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
+
+    // Store our identifier
+    io.Fonts->TexID = (ImTextureID)(intptr_t)g_FontTexture;
+
+    // Restore state
+    glBindTexture(GL_TEXTURE_2D, last_texture);
+
+    return true;
+}
+
+void ImGui_ImplOpenGL2_DestroyFontsTexture()
+{
+    if (g_FontTexture)
+    {
+        ImGuiIO& io = ImGui::GetIO();
+        glDeleteTextures(1, &g_FontTexture);
+        io.Fonts->TexID = 0;
+        g_FontTexture = 0;
+    }
+}
+
+bool    ImGui_ImplOpenGL2_CreateDeviceObjects()
+{
+    return ImGui_ImplOpenGL2_CreateFontsTexture();
+}
+
+void    ImGui_ImplOpenGL2_DestroyDeviceObjects()
+{
+    ImGui_ImplOpenGL2_DestroyFontsTexture();
+}

dart/external/imgui/imgui_impl_opengl2.h

@@ -0,0 +1,30 @@
+// dear imgui: Renderer for OpenGL2 (legacy OpenGL, fixed pipeline)
+// This needs to be used along with a Platform Binding (e.g. GLFW, SDL, Win32, custom..)
+
+// Implemented features:
+//  [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID in imgui.cpp.
+
+// You can copy and use unmodified imgui_impl_* files in your project. See main.cpp for an example of using this.
+// If you are new to dear imgui, read examples/README.txt and read the documentation at the top of imgui.cpp.
+// https://github.com/ocornut/imgui
+
+// **DO NOT USE THIS CODE IF YOUR CODE/ENGINE IS USING MODERN OPENGL (SHADERS, VBO, VAO, etc.)**
+// **Prefer using the code in imgui_impl_opengl3.cpp**
+// This code is mostly provided as a reference to learn how ImGui integration works, because it is shorter to read.
+// If your code is using GL3+ context or any semi modern OpenGL calls, using this is likely to make everything more
+// complicated, will require your code to reset every single OpenGL attributes to their initial state, and might
+// confuse your GPU driver.
+// The GL2 code is unable to reset attributes or even call e.g. "glUseProgram(0)" because they don't exist in that API.
+
+#pragma once
+
+IMGUI_IMPL_API bool     ImGui_ImplOpenGL2_Init();
+IMGUI_IMPL_API void     ImGui_ImplOpenGL2_Shutdown();
+IMGUI_IMPL_API void     ImGui_ImplOpenGL2_NewFrame();
+IMGUI_IMPL_API void     ImGui_ImplOpenGL2_RenderDrawData(ImDrawData* draw_data);
+
+// Called by Init/NewFrame/Shutdown
+IMGUI_IMPL_API bool     ImGui_ImplOpenGL2_CreateFontsTexture();
+IMGUI_IMPL_API void     ImGui_ImplOpenGL2_DestroyFontsTexture();
+IMGUI_IMPL_API bool     ImGui_ImplOpenGL2_CreateDeviceObjects();
+IMGUI_IMPL_API void     ImGui_ImplOpenGL2_DestroyDeviceObjects();