[multibody] Expose Visualizer::toggleGui() for synchronous visualizer

Author: ManifoldFR

bindings/python/src/expose-visualizer.cpp

@@ -30,6 +30,7 @@ void exposeVisualizer() {
   eigenpy::OptionalConverter<ConstVectorRef, std::optional>::registration();
   eigenpy::OptionalConverter<Vector3, std::optional>::registration();
   eigenpy::OptionalConverter<float, std::optional>::registration();
+  eigenpy::OptionalConverter<bool, std::optional>::registration();
   eigenpy::detail::NoneToPython<std::nullopt_t>::registration();
 
   bp::class_<Visualizer::Config>("VisualizerConfig", bp::no_init)
@@ -50,6 +51,10 @@ void exposeVisualizer() {
       .def_readonly("renderer", &Visualizer::renderer)
       .def_readwrite("worldSceneBounds", &Visualizer::worldSceneBounds)
       .def("resetCamera", &Visualizer::resetCamera, ("self"_a))
+      .def("toggleGui", &Visualizer::toggleGui,
+           ("self"_a, "value"_a = std::nullopt),
+           "Toggle the GUI on and off. Passing no value will toggle. Passing a "
+           "value will override.")
       .DEF_PROP_PROXY(device)
       .def(
           "takeScreenshot",

src/candlewick/multibody/Visualizer.h

@@ -132,6 +132,10 @@ class Visualizer final : public BaseVisualizer {
 
   void processEvents();
 
+  void toggleGui(std::optional<bool> value = std::nullopt) noexcept {
+    m_showGui = value.value_or(!m_showGui);
+  }
+
   [[nodiscard]] bool shouldExit() const noexcept { return m_shouldExit; }
 
   void takeScreenshot(std::string_view filename);