Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_vis_init.h

@@ -0,0 +1,62 @@
+// Copyright 2021 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_ENGINE_ENGINE_VIS_INIT_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjvisualize.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// strings
+MJAPI extern const char* mjLABELSTRING[mjNLABEL];
+MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
+MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
+MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
+
+
+// set default scene
+MJAPI void mjv_defaultScene(mjvScene* scn);
+
+// allocate and init abstract scene
+MJAPI void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
+
+// free abstract scene
+MJAPI void mjv_freeScene(mjvScene* scn);
+
+// set default visualization options
+MJAPI void mjv_defaultOption(mjvOption* vopt);
+
+// set default camera
+MJAPI void mjv_defaultCamera(mjvCamera* cam);
+
+// set default perturbation
+MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
+
+// set default figure
+MJAPI void mjv_defaultFigure(mjvFigure* fig);
+
+// compute rbound for mjvGeom
+float mjv_rbound(const mjvGeom* geom);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_