Make mjrf types opaque in header.

PiperOrigin-RevId: 938409081
Change-Id: I8b9680dcb04f56aadf9ffd601b08025fc624c656

include/mujoco/mjrfilament.h

@@ -52,13 +52,13 @@ extern "C" {
 // values are assumed to be 0/NULL unless otherwise specified.
 //
 // For now, we'll just define opaque handles for each of our components.
-typedef struct mjrfContext_ {} mjrfContext;
-typedef struct mjrfTexture_ {} mjrfTexture;
-typedef struct mjrfMesh_ {} mjrfMesh;
-typedef struct mjrfScene_ {} mjrfScene;
-typedef struct mjrfLight_ {} mjrfLight;
-typedef struct mjrfRenderable_ {} mjrfRenderable;
-typedef struct mjrfRenderTarget_ {} mjrfRenderTarget;
+typedef struct mjrfContext_ mjrfContext;
+typedef struct mjrfTexture_ mjrfTexture;
+typedef struct mjrfMesh_ mjrfMesh;
+typedef struct mjrfScene_ mjrfScene;
+typedef struct mjrfLight_ mjrfLight;
+typedef struct mjrfRenderable_ mjrfRenderable;
+typedef struct mjrfRenderTarget_ mjrfRenderTarget;
 
 // ## Rendering Context (mjrfContext)
 //

src/render/filament/CMakeLists.txt

@@ -52,6 +52,7 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         core/scene_view.h
         core/texture.cc
         core/texture.h
+        core/types.h
         support/filament_util.h
         support/filament_util.cc
         support/light_manager.h

src/render/filament/core/light.h

@@ -21,6 +21,7 @@
 #include <utils/Entity.h>
 #include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
+#include "render/filament/core/types.h"
 
 namespace mujoco {
 

src/render/filament/core/mesh.h

@@ -29,6 +29,7 @@
 #include <filament/VertexBuffer.h>
 #include <math/vec4.h>
 #include <mujoco/mjrfilament.h>
+#include "render/filament/core/types.h"
 
 namespace mujoco {
 

src/render/filament/core/render_target.h

@@ -23,6 +23,7 @@
 #include <filament/Texture.h>
 #include <mujoco/mjrfilament.h>
 #include "render/filament/core/texture.h"
+#include "render/filament/core/types.h"
 
 namespace mujoco {
 

src/render/filament/core/renderable.h

@@ -32,6 +32,7 @@
 #include "render/filament/core/material_manager.h"
 #include "render/filament/core/mesh.h"
 #include "render/filament/core/reflection_manager.h"
+#include "render/filament/core/types.h"
 
 namespace mujoco {
 

src/render/filament/core/scene_view.h

@@ -34,6 +34,7 @@
 #include "render/filament/core/reflection_manager.h"
 #include "render/filament/core/renderable.h"
 #include "render/filament/core/texture.h"
+#include "render/filament/core/types.h"
 
 namespace mujoco {
 

src/render/filament/core/texture.h

@@ -20,6 +20,7 @@
 #include <filament/Texture.h>
 #include <math/vec3.h>
 #include <mujoco/mjrfilament.h>
+#include "render/filament/core/types.h"
 
 // Functions for creating filament textures.
 namespace mujoco {

src/render/filament/core/types.h

@@ -0,0 +1,36 @@
+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_TYPES_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_TYPES_H_
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+// These types are only forward declared in the API. We define them concretely
+// here to allow us to use them in the core classes.
+struct mjrfContext_ {};
+struct mjrfTexture_ {};
+struct mjrfMesh_ {};
+struct mjrfScene_ {};
+struct mjrfLight_ {};
+struct mjrfRenderable_ {};
+struct mjrfRenderTarget_ {};
+
+#if defined(__cplusplus)
+}  // extern "C"
+#endif
+
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_TYPES_H_