Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// 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_VISUALIZE_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_VIS_VISUALIZE_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjvisualize.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// set (type, size, pos, mat) connector-type geom between given points
+//  assume that mjv_initGeom was already called to set all other properties
+MJAPI void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
+                             mjtNum a0, mjtNum a1, mjtNum a2,
+                             mjtNum b0, mjtNum b1, mjtNum b2);
+
+// initialize given fields when not NULL, set the rest to their default values
+MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
+                        const mjtNum* pos, const mjtNum* mat, const float* rgba);
+
+// update entire scene
+MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
+                           const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
+
+// add geoms from selected categories to existing scene
+MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
+                        const mjvPerturb* pert, int catmask, mjvScene* scn);
+
+// make list of lights only
+MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
+
+// update camera only
+MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
+
+// update skins only
+MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_VIS_VISUALIZE_H_