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Modernize struct and enum style in MuJoCo headers.

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PiperOrigin-RevId: 936485706
Change-Id: I31864acc4bd44573127d3d04c6b1a23f9d9c4cbc
This commit is contained in:
Kyle Bayes
2026-06-23 00:47:13 -07:00
committed by Copybara-Service
parent afccd36dd4
commit 0fd7bea973
12 changed files with 463 additions and 548 deletions
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include/mujoco/mjrfilament.h
+90 -102
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@@ -89,12 +89,11 @@ typedef enum mjrGraphicsApi_ { // underlying graphics API to use for rendering
mjGRAPHICS_API_VULKAN, // vulkan
} mjrGraphicsApi;
struct mjrfContextConfig_ { // parameters for creating filament context (mjrfContext)
typedef struct mjrfContextConfig_ { // parameters for creating filament context (mjrfContext)
int graphics_api; // mjrGraphicsApi; rendering graphics API
mjtBool force_software_rendering; // force backend to use software rendering
void* native_window; // platform-dependent window handle (or nullptr for windowless)
};
typedef struct mjrfContextConfig_ mjrfContextConfig;
} mjrfContextConfig;
// Initializes the mjrfContextConfig to default values.
void mjrf_defaultContextConfig(mjrfContextConfig* config);
@@ -115,29 +114,27 @@ typedef enum mjrDrawMode_ { // how to draw objects in the scene
mjDRAW_MODE_SEGMENTATION_BY_COLOR, // generate visually distinct colors using segmentation id
} mjrDrawMode;
struct mjrfRenderRequest_ { // a single rendering operation
mjrfScene* scene; // scene to render
mjrCamera camera; // camera (viewpoint) from which to render scene
mjrRect viewport; // viewport (rect area) into which to render
mjrfRenderTarget* target; // target used for rendering (or nullptr for window rendering)
int draw_mode; // mjrDrawMode; method to use for drawing objects
mjtBool enable_post_processing; // enable post processing, enabled by default
mjtBool enable_reflections; // enable reflections, enabled by default
mjtBool enable_shadows; // enable shadows, enabled by default
};
typedef struct mjrfRenderRequest_ mjrfRenderRequest;
typedef struct mjrfRenderRequest_ { // a single rendering operation
mjrfScene* scene; // scene to render
mjrCamera camera; // camera (viewpoint) from which to render scene
mjrRect viewport; // viewport (rect area) into which to render
mjrfRenderTarget* target; // target used for rendering (or nullptr for window rendering)
int draw_mode; // mjrDrawMode; method to use for drawing objects
mjtBool enable_post_processing; // enable post processing, enabled by default
mjtBool enable_reflections; // enable reflections, enabled by default
mjtBool enable_shadows; // enable shadows, enabled by default
} mjrfRenderRequest;
// Initializes the mjrfRenderRequest to default values.
void mjrf_defaultRenderRequest(mjrfRenderRequest* request);
struct mjrfReadPixelsRequest_ { // a single read operation
mjrfRenderTarget* target; // render target from which to read the image pixels
void* output; // buffer into which the pixels will be stored
mjtSize num_bytes; // size of output buffer
mjrfCallback read_completed; // callback when read is complete; can use to free output
void* user_data; // user data for read_completed_callback
};
typedef struct mjrfReadPixelsRequest_ mjrfReadPixelsRequest;
typedef struct mjrfReadPixelsRequest_ { // a single read operation
mjrfRenderTarget* target; // render target from which to read the image pixels
void* output; // buffer into which the pixels will be stored
mjtSize num_bytes; // size of output buffer
mjrfCallback read_completed; // callback when read is complete; can use to free output
void* user_data; // user data for read_completed_callback
} mjrfReadPixelsRequest;
// Initializes the mjrfReadPixelsRequest to default values.
void mjrf_defaultReadPixelsRequest(mjrfReadPixelsRequest* request);
@@ -164,10 +161,9 @@ void mjrf_waitForFrame(mjrfContext* ctx, mjrfFrameHandle frame);
// Sets the clear color for the renderer.
void mjrf_setClearColor(mjrfContext* ctx, const float color[3]);
struct mjrfFrameStats_ { // stats for a single frame of rendering
double frame_rate; // frame rate, in frames per second
};
typedef struct mjrfFrameStats_ mjrfFrameStats;
typedef struct mjrfFrameStats_ { // stats for a single frame of rendering
double frame_rate; // frame rate, in frames per second
} mjrfFrameStats;
// Initializes the mjrFrameStats to default values.
void mjrf_defaultFrameStats(mjrfFrameStats* stats);
@@ -184,14 +180,13 @@ void mjrf_getFrameStats(mjrfContext* ctx, mjrfFrameHandle frame, mjrfFrameStats*
// filament's `cmgen` tool to generate a KTX image from your source image. This tool will calculate
// additional data (i.e. the spherical harmonics) and encode that information into the KTX file.
struct mjrfTextureConfig_ { // parameters for creating a texture (mjrfTexture)
int width; // texture width; or number of bytes for compressed data (e.g. KTX)
int height; // texture height; or 0 for compressed data (e.g. KTX)
int format; // mjrPixelFormat; (e.g. RGB8, RGBA8, KTX, etc.)
int color_space; // mjrColorSpace; (e.g. LINEAR, sRGB, etc.)
int sampler_type; // mjrSamplerType; texture sampler (e.g. 2D, cube, etc.)
};
typedef struct mjrfTextureConfig_ mjrfTextureConfig;
typedef struct mjrfTextureConfig_ { // parameters for creating a texture (mjrfTexture)
int width; // width; or number of bytes for compressed data (e.g. KTX)
int height; // height; or 0 for compressed data (e.g. KTX)
int format; // mjrPixelFormat; (e.g. RGB8, RGBA8, KTX, etc.)
int color_space; // mjrColorSpace; (e.g. LINEAR, sRGB, etc.)
int sampler_type; // mjrSamplerType; texture sampler (e.g. 2D, cube, etc.)
} mjrfTextureConfig;
// Initializes the mjrfTextureConfig to default values.
void mjrf_defaultTextureConfig(mjrfTextureConfig* config);
@@ -204,13 +199,12 @@ mjrfTexture* mjrf_createTexture(mjrfContext* ctx,
// Destroys the texture.
void mjrf_destroyTexture(mjrfTexture* texture);
struct mjrfTextureData_ { // binary data for a texture (mjrfTexture)
const void* bytes; // pointer to image data, or nullptr for empty texture
mjtSize num_bytes; // number of bytes in the image data
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
};
typedef struct mjrfTextureData_ mjrfTextureData;
typedef struct mjrfTextureData_ { // binary data for a texture (mjrfTexture)
const void* bytes; // pointer to image data, or nullptr for empty texture
mjtSize num_bytes; // number of bytes in the image data
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
} mjrfTextureData;
// Initializes the mjrfTextureData to default values.
void mjrf_defaultTextureData(mjrfTextureData* data);
@@ -252,22 +246,21 @@ int mjrf_getSamplerType(const mjrfTexture* texture);
// Maximum number of vertex attributes in a mesh.
enum { mjMAX_VERTEX_ATTRIBUTES = 16 };
struct mjrfMeshData_ { // binary data for a mesh (mjrfMesh)
mjtSize num_vertices; // number of vertices; all vertex attributes share this size
int num_attributes; // number of attributes defined
typedef struct mjrfMeshData_ { // binary data for a mesh (mjrfMesh)
mjtSize num_vertices; // number of vertices; all vertex attributes share this size
int num_attributes; // number of attributes defined
mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES]; // per-vertex attribute information
mjtBool interleaved; // true if vertex attributes are interleaved
mjtSize num_indices; // number of indices
const void* indices; // indices data array
int index_type; // mjrIndexType; (e.g. UINT16 or UINT32)
int primitive_type; // mjrMeshPrimitiveType; (e.g. TRIANGLES, etc.)
mjtBool compute_bounds; // if true, compute bounds from vertex positions
float bounds_min[3]; // min/max bounds; assume unset if bounds_min == bounds_max
mjtBool interleaved; // true if vertex attributes are interleaved
mjtSize num_indices; // number of indices
const void* indices; // indices data array
int index_type; // mjrIndexType; (e.g. UINT16 or UINT32)
int primitive_type; // mjrMeshPrimitiveType; (e.g. TRIANGLES, etc.)
mjtBool compute_bounds; // if true, compute bounds from vertex positions
float bounds_min[3]; // min/max bounds; assume unset if bounds_min == bounds_max
float bounds_max[3];
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
};
typedef struct mjrfMeshData_ mjrfMeshData;
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
} mjrfMeshData;
// Initializes the mjrfMeshData to default values.
void mjrf_defaultMeshData(mjrfMeshData* data);
@@ -283,9 +276,8 @@ void mjrf_destroyMesh(mjrfMesh* mesh);
// A scene is a collection of entities (Lights and Renderables) that describes what is to be
// rendered.
struct mjrfSceneParams_ { // parameters for creating a scene (mjrfScene)
};
typedef struct mjrfSceneParams_ mjrfSceneParams;
typedef struct mjrfSceneParams_ { // parameters for creating a scene (mjrfScene)
} mjrfSceneParams;
// Initializes the mjrfSceneParams to default values.
void mjrf_defaultSceneParams(mjrfSceneParams* params);
@@ -331,19 +323,18 @@ void mjrf_configureSceneFromModel(mjrfScene* scene, const mjModel* model);
// lights as you want. Each light source (except image based lights) may or may not cast shadows.
// Each shadow-casting light incurs a performance cost.
struct mjrfLightParams_ { // parameters for creating a light (mjrfLight)
int type; // mjrLightType; type of light (e.g. spot, point, image, etc.)
const mjrfTexture* texture; // texture; only for image lights
float color[3]; // RGB color
float intensity; // light intensity, in candela
mjtBool cast_shadows; // if true, cast shadows
float range; // effective range of light, in meters
float spot_cone_angle; // spot light cone angle, in degrees
int shadow_map_size; // size of shadow map texture, 0 to use default size
float bulb_radius; // bulb radius, used for soft shadows
float vsm_blur_width; // variance shadow map blur width
};
typedef struct mjrfLightParams_ mjrfLightParams;
typedef struct mjrfLightParams_ { // parameters for creating a light (mjrfLight)
int type; // mjrLightType; type of light (e.g. spot, point, image, etc.)
const mjrfTexture* texture; // texture; only for image lights
float color[3]; // RGB color
float intensity; // light intensity, in candela
mjtBool cast_shadows; // if true, cast shadows
float range; // effective range of light, in meters
float spot_cone_angle; // spot light cone angle, in degrees
int shadow_map_size; // size of shadow map texture, 0 to use default size
float bulb_radius; // bulb radius, used for soft shadows
float vsm_blur_width; // variance shadow map blur width
} mjrfLightParams;
// Initializes the mjrfLightParams to default values.
void mjrf_defaultLightParams(mjrfLightParams* params);
@@ -385,22 +376,22 @@ int mjrf_getLightType(const mjrfLight* light);
//
// Which lighting model is used is determined by the mjrfMaterial properties.
struct mjrfMaterial_ { // material properties for a renderable (mjrfMaterial)
float color[4]; // object color; defaults to white
int32_t segmentation_id; // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
int32_t island_id; // ID to which the renderable belongs
int sleep_state; // mjtSleepState; sleep state of the renderable
float uv_scale[3]; // scale applied to UV coordinates; defaults to (1,1,1)
float uv_offset[3]; // offset applied to UV coordinates; defaults to (0,0,0)
float scissor[4]; // if non-zero, applies scissor testing when rendering
float metallic; // metallic factory [0, 1]; disabled if < 0
float roughness; // roughness factor [0, 1]; disabled if < 0
float specular; // specular factor [0, 1]; disabled if < 0
float glossiness; // glossiness factor [0, 1]; disabled if < 0
float emissive; // emissive/glow factor [0, 1]; disabled if < 0
float reflectance; // blend factor for reflective surfaces [0, 1]; applies only to planes
mjtBool decor_ux; // for ux elements, does not apply any lighting
mjtBool selected; // for "selected" ux elements, adds additional styling
typedef struct mjrfMaterial_ { // material properties for a renderable (mjrfMaterial)
float color[4]; // object color; defaults to white
int32_t segmentation_id; // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
int32_t island_id; // ID to which the renderable belongs
int sleep_state; // mjtSleepState; sleep state of the renderable
float uv_scale[3]; // scale applied to UV coordinates; defaults to (1,1,1)
float uv_offset[3]; // offset applied to UV coordinates; defaults to (0,0,0)
float scissor[4]; // if non-zero, applies scissor testing when rendering
float metallic; // metallic factory [0, 1]; disabled if < 0
float roughness; // roughness factor [0, 1]; disabled if < 0
float specular; // specular factor [0, 1]; disabled if < 0
float glossiness; // glossiness factor [0, 1]; disabled if < 0
float emissive; // emissive/glow factor [0, 1]; disabled if < 0
float reflectance; // blend factor for reflective surfaces [0, 1]; only for planes
mjtBool decor_ux; // for ux elements, does not apply any lighting
mjtBool selected; // for "selected" ux elements, adds additional styling
const mjrfTexture* color_texture; // color/albedo texture (RGB8)
const mjrfTexture* opacity_texture; // opacity texture (A8)
const mjrfTexture* normal_texture; // normal map texture (RGB8)
@@ -410,18 +401,16 @@ struct mjrfMaterial_ { // material properties for a renderable (mjrfMater
const mjrfTexture* orm_texture; // occlusion/roughness/metallic texture (RGB8)
const mjrfTexture* emissive_texture; // emissive texture (RGB8)
const mjrfTexture* reflection_texture; // reflection texture, for internal use only
};
typedef struct mjrfMaterial_ mjrfMaterial;
} mjrfMaterial;
// Initializes the mjrfMaterial to default values.
void mjrf_defaultMaterial(mjrfMaterial* material);
struct mjrfRenderableParams_ { // parameters for creating a renderable (mjrfRenderable)
mjtBool cast_shadows; // if true, casts shadows
mjtBool receive_shadows; // if true, receives shadows
uint16_t blend_order; // controls draw order for transparent objects [0, 8]
};
typedef struct mjrfRenderableParams_ mjrfRenderableParams;
typedef struct mjrfRenderableParams_ { // parameters for creating a renderable (mjrfRenderable)
mjtBool cast_shadows; // if true, casts shadows
mjtBool receive_shadows; // if true, receives shadows
uint16_t blend_order; // controls draw order for transparent objects [0, 8]
} mjrfRenderableParams;
// Initializes the mjrfRenderableParams to default values.
void mjrf_defaultRenderableParams(mjrfRenderableParams* params);
@@ -462,13 +451,12 @@ void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]);
// A render target is a memory buffer that holds the results of a rendering operation. (This is an
// alternative to rendering directly to the screen.) See mjrf_render for more details.
struct mjrfRenderTargetConfig_ { // parameters for creating a render target (mjrfRenderTarget)
int width; // texture width
int height; // texture height
int color_format; // mjrPixelFormat; pixel format for color buffer
int depth_format; // mjrPixelFormat; pixel format for depth buffer
};
typedef struct mjrfRenderTargetConfig_ mjrfRenderTargetConfig;
typedef struct mjrfRenderTargetConfig_ { // parameters for creating a render target
int width; // texture width
int height; // texture height
int color_format; // mjrPixelFormat; pixel format for color buffer
int depth_format; // mjrPixelFormat; pixel format for depth buffer
} mjrfRenderTargetConfig;
// Initializes the RenderTargetConfig to default values.
void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config);