Using the Nimble GUI

Nimble has a powerful and simple web GUI built in. At its heart, it is a simple hash table that maps keys to 3D objects. Whenever you change the hash table, any connected web browsers will update in real time.

The boilerplate to use the GUI is the following:

import nimblephysics as nimble

# Create a GUI
gui = nimble.NimbleGUI()

# Serve the GUI on port 8080
gui.serve(8080)

############################
# Do something useful here!
############################

# Do not immediately exit
gui.blockWhileServing()

To access the hash table directly, you can use the gui.nativeAPI() command. Methods like gui.nativeAPI().createBox(...) will create a box in the hash table at the key argument. If the key already exists, it will be overwritten. Higher level methods like gui.nativeAPI().renderSkeleton(...) will create a bunch of objects in the hash table, for each mesh in the skeleton. If the keys already exist (if you have rendered the skeleton before), they will be overwritten.

You can delete objects by key, with gui.nativeAPI().deleteObject(key), or delete groups of objects with gui.nativeAPI().deleteObjectsByPrefix(prefix), or delete everything with gui.nativeAPI().clear(). You can also update individual attributes of objects by key (without entirely recreating them), with for example gui.nativeAPI().setObjectPosition(key, position).

class nimblephysics.server.GUIStateMachine

clear(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine) → None

clearBodyWrench(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, body: nimblephysics_libs._nimblephysics.dynamics.BodyNode, prefix: str = 'wrench') → None

createBox(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, size: numpy.ndarray[numpy.float64[3, 1]] = array([1., 1., 1.]), pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), euler: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', castShadows: bool = True, receiveShadows: bool = False) → None

createButton(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, label: str, fromTopLeft: numpy.ndarray[numpy.int32[2, 1]], size: numpy.ndarray[numpy.int32[2, 1]], onClick: Callable[[], None], layer: str = '') → None

createCapsule(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, radius: float, height: float, pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), euler: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', castShadows: bool = True, receiveShadows: bool = False) → None

createCone(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, radius: float, height: float, pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), euler: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', castShadows: bool = True, receiveShadows: bool = False) → None

createCylinder(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, radius: float, height: float, pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), euler: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', castShadows: bool = True, receiveShadows: bool = False) → None

createLayer(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), defaultShow: bool = True) → None

createLine(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, points: List[numpy.ndarray[numpy.float64[3, 1]]], color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', width: List[float] = []) → None

createMeshFromShape(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, mesh: nimblephysics_libs._nimblephysics.dynamics.MeshShape, pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), euler: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), scale: numpy.ndarray[numpy.float64[3, 1]] = array([1., 1., 1.]), color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', castShadows: bool = True, receiveShadows: bool = False) → None

createPlot(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, fromTopLeft: numpy.ndarray[numpy.int32[2, 1]], size: numpy.ndarray[numpy.int32[2, 1]], xs: List[float], minX: float, maxX: float, ys: List[float], minY: float, maxY: float, plotType: str, layer: str = '') → None

createRichPlot(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, fromTopLeft: numpy.ndarray[numpy.int32[2, 1]], size: numpy.ndarray[numpy.int32[2, 1]], minX: float, maxX: float, minY: float, maxY: float, title: str, xAxisLabel: str, yAxisLabel: str, layer: str = '') → None

createSlider(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, fromTopLeft: numpy.ndarray[numpy.int32[2, 1]], size: numpy.ndarray[numpy.int32[2, 1]], min: float, max: float, value: float, onlyInts: bool, horizontal: bool, onChange: Callable[[float], None], layer: str = '') → None

createSphere(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, radii: numpy.ndarray[numpy.float64[3, 1]] = array([0.5, 0.5, 0.5]), pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), color: numpy.ndarray[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1.]), layer: str = '', castShadows: bool = True, receiveShadows: bool = False) → None

createText(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, contents: str, fromTopLeft: numpy.ndarray[numpy.int32[2, 1]], size: numpy.ndarray[numpy.int32[2, 1]], layer: str = '') → None

deleteObject(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str) → None

deleteObjectWarning(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, warningKey: str) → None

deleteObjectsByPrefix(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, prefix: str) → None

deleteUIElement(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str) → None

getObjectColor(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str) → numpy.ndarray[numpy.float64[4, 1]]

getObjectPosition(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str) → numpy.ndarray[numpy.float64[3, 1]]

getObjectRotation(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str) → numpy.ndarray[numpy.float64[3, 1]]

renderArrow(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, start: numpy.ndarray[numpy.float64[3, 1]], end: numpy.ndarray[numpy.float64[3, 1]], bodyRadius: float, tipRadius: float, color: numpy.ndarray[numpy.float64[4, 1]] = array([1., 0., 0., 0.5]), prefix: str = 'arrow', layer: str = '') → None

renderBasis(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, scale: float = 10.0, prefix: str = 'basis', pos: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), euler: numpy.ndarray[numpy.float64[3, 1]] = array([0., 0., 0.]), layer: str = '') → None

renderBodyWrench(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, body: nimblephysics_libs._nimblephysics.dynamics.BodyNode, wrench: numpy.ndarray[numpy.float64[6, 1]], scaleFactor: float = 0.1, prefix: str = 'wrench', layer: str = '') → None

renderMovingBodyNodeVertices(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, body: nimblephysics_libs._nimblephysics.dynamics.BodyNode, scaleFactor: float = 0.1, prefix: str = 'vert-vel', layer: str = '') → None

renderSkeleton(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, skeleton: nimblephysics_libs._nimblephysics.dynamics.Skeleton, prefix: str = 'world', overrideColor: numpy.ndarray[numpy.float64[4, 1]] = array([-1., -1., -1., -1.]), layer: str = '') → None

renderTrajectoryLines(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, world: nimblephysics_libs._nimblephysics.simulation.World, positions: numpy.ndarray[numpy.float64[m, n]], prefix: str = 'trajectory', layer: str = '') → None

renderWorld(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, world: nimblephysics_libs._nimblephysics.simulation.World, prefix: str = 'world', renderForces: bool = True, renderForceMagnitudes: bool = True, layer: str = '') → None

setButtonLabel(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, label: str) → None

setFramesPerSecond(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, framesPerSecond: int) → None

setObjectColor(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, color: numpy.ndarray[numpy.float64[4, 1]]) → None

setObjectPosition(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, position: numpy.ndarray[numpy.float64[3, 1]]) → None

setObjectRotation(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, euler: numpy.ndarray[numpy.float64[3, 1]]) → None

setObjectScale(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, scale: numpy.ndarray[numpy.float64[3, 1]]) → None

setObjectTooltip(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, tooltip: str) → None

setObjectWarning(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, warningKey: str, warning: str, layer: str) → None

setPlotData(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, xs: List[float], minX: float, maxX: float, ys: List[float], minY: float, maxY: float) → None

setRichPlotBounds(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, minX: float, maxX: float, minY: float, maxY: float) → None

setRichPlotData(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, name: str, color: str, plotType: str, xs: List[float], ys: List[float]) → None

setSliderMax(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, value: float) → None

setSliderMin(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, value: float) → None

setSliderValue(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, value: float) → None

setSpanWarning(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, startTimestep: int, endTimestep: int, warningKey: str, warning: str, layer: str) → None

setTextContents(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, contents: str) → None

setUIElementPosition(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, position: numpy.ndarray[numpy.int32[2, 1]]) → None

setUIElementSize(self: nimblephysics_libs._nimblephysics.server.GUIStateMachine, key: str, size: numpy.ndarray[numpy.int32[2, 1]]) → None