175号资源-源程序：附带文档-MPC模型预测控制从原理到代码实现-本人博客有解读

Dear ImGui ===== [](https://github.com/ocornut/imgui/actions?workflow=build) [](https://github.com/ocornut/imgui/actions?workflow=static-analysis) _{(This library is available under a free and permissive license, but needs financial support to sustain its continued improvements. In addition to maintenance and stability there are many desirable features yet to be added. If your company is using Dear ImGui, please consider reaching out.)} Businesses: support continued development and maintenance via invoiced technical support, maintenance, sponsoring contracts: <br>&nbsp;&nbsp;_E-mail: contact @ dearimgui dot com_ Individuals: support continued development and maintenance [here](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=WGHNC6MBFLZ2S). Also see [Sponsors](https://github.com/ocornut/imgui/wiki/Sponsors) page. ---- Dear ImGui is a **bloat-free graphical user interface library for C++**. It outputs optimized vertex buffers that you can render anytime in your 3D-pipeline enabled application. It is fast, portable, renderer agnostic and self-contained (no external dependencies). Dear ImGui is designed to **enable fast iterations** and to **empower programmers** to create **content creation tools and visualization / debug tools** (as opposed to UI for the average end-user). It favors simplicity and productivity toward this goal, and lacks certain features normally found in more high-level libraries. Dear ImGui is particularly suited to integration in games engine (for tooling), real-time 3D applications, fullscreen applications, embedded applications, or any applications on consoles platforms where operating system features are non-standard. | [Usage](#usage) - [How it works](#how-it-works) - [Releases & Changelogs](#releases--changelogs) - [Demo](#demo) - [Integration](#integration) | :----------------------------------------------------------: | | [Upcoming changes](#upcoming-changes) - [Gallery](#gallery) - [Support, FAQ](#support-frequently-asked-questions-faq) - [How to help](#how-to-help) - [Sponsors](#sponsors) - [Credits](#credits) - [License](#license) | | [Wiki](https://github.com/ocornut/imgui/wiki) - [Languages & frameworks backends/bindings](https://github.com/ocornut/imgui/wiki/Bindings) - [Software using Dear ImGui](https://github.com/ocornut/imgui/wiki/Software-using-dear-imgui) - [User quotes](https://github.com/ocornut/imgui/wiki/Quotes) | ### Usage **The core of Dear ImGui is self-contained within a few platform-agnostic files** which you can easily compile in your application/engine. They are all the files in the root folder of the repository (imgui.cpp, imgui.h, imgui_demo.cpp, imgui_draw.cpp etc.). **No specific build process is required**. You can add the .cpp files to your existing project. You will need a backend to integrate Dear ImGui in your app. The backend passes mouse/keyboard/gamepad inputs and variety of settings to Dear ImGui, and is in charge of rendering the resulting vertices. **Backends for a variety of graphics api and rendering platforms** are provided in the [backends/](https://github.com/ocornut/imgui/tree/master/backends) folder, along with example applications in the [examples/](https://github.com/ocornut/imgui/tree/master/examples) folder. See the [Integration](#integration) section of this document for details. You may also create your own backend. Anywhere where you can render textured triangles, you can render Dear ImGui. After Dear ImGui is setup in your application, you can use it from \_anywhere\_ in your program loop: Code: ```cpp ImGui::Text("Hello, world %d", 123); if (ImGui::Button("Save")) MySaveFunction(); ImGui::InputText("string", buf, IM_ARRAYSIZE(buf)); ImGui::SliderFloat("float", &f, 0.0f, 1.0f); ``` Result: <br>  <br>_(settings: Dark style (left), Light style (right) / Font: Roboto-Medium, 16px)_ Code: ```cpp // Create a window called "My First Tool", with a menu bar. ImGui::Begin("My First Tool", &my_tool_active, ImGuiWindowFlags_MenuBar); if (ImGui::BeginMenuBar()) { if (ImGui::BeginMenu("File")) { if (ImGui::MenuItem("Open..", "Ctrl+O")) { /* Do stuff */ } if (ImGui::MenuItem("Save", "Ctrl+S")) { /* Do stuff */ } if (ImGui::MenuItem("Close", "Ctrl+W")) { my_tool_active = false; } ImGui::EndMenu(); } ImGui::EndMenuBar(); } // Edit a color (stored as ~4 floats) ImGui::ColorEdit4("Color", my_color); // Plot some values const float my_values[] = { 0.2f, 0.1f, 1.0f, 0.5f, 0.9f, 2.2f }; ImGui::PlotLines("Frame Times", my_values, IM_ARRAYSIZE(my_values)); // Display contents in a scrolling region ImGui::TextColored(ImVec4(1,1,0,1), "Important Stuff"); ImGui::BeginChild("Scrolling"); for (int n = 0; n < 50; n++) ImGui::Text("%04d: Some text", n); ImGui::EndChild(); ImGui::End(); ``` Result: <br> Dear ImGui allows you to **create elaborate tools** as well as very short-lived ones. On the extreme side of short-livedness: using the Edit&Continue (hot code reload) feature of modern compilers you can add a few widgets to tweaks variables while your application is running, and remove the code a minute later! Dear ImGui is not just for tweaking values. You can use it to trace a running algorithm by just emitting text commands. You can use it along with your own reflection data to browse your dataset live. You can use it to expose the internals of a subsystem in your engine, to create a logger, an inspection tool, a profiler, a debugger, an entire game making editor/framework, etc. ### How it works Check out the Wiki's [About the IMGUI paradigm](https://github.com/ocornut/imgui/wiki#about-the-imgui-paradigm) section if you want to understand the core principles behind the IMGUI paradigm. An IMGUI tries to minimize superfluous state duplication, state synchronization and state retention from the user's point of view. It is less error prone (less code and less bugs) than traditional retained-mode interfaces, and lends itself to create dynamic user interfaces. Dear ImGui outputs vertex buffers and command lists that you can easily render in your application. The number of draw calls and state changes required to render them is fairly small. Because Dear ImGui doesn't know or touch graphics state directly, you can call its functions anywhere in your code (e.g. in the middle of a running algorithm, or in the middle of your own rendering process). Refer to the sample applications in the examples/ folder for instructions on how to integrate Dear ImGui with your existing codebase. _A common misunderstanding is to mistake immediate mode gui for immediate mode rendering, which usually implies hammering your driver/GPU with a bunch of inefficient draw calls and state changes as the gui functions are called. This is NOT what Dear ImGui does. Dear ImGui outputs vertex buffers and a small list of draw calls batches. It never touches your GPU directly. The draw call batches are decently optimal and you can render them later, in your app or even remotely._ ### Releases & Changelogs See [Releases](https://github.com/ocornut/imgui/releases) page. Reading the changelogs is a good way to keep up to date with the things Dear ImGui has to offer, and maybe will give you ideas of some features that you've been ignoring until now! ### Demo Calling the `ImGui::ShowDemoWindow()` function will create a demo window showcasing variety of features and examples. The code is always available for referenc