Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/render/render_context.h

@@ -0,0 +1,69 @@
+// 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_RENDER_RENDER_CONTEXT_H_
+#define MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjrender.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+// builtin display list addresses (relative to base)
+enum {
+  mjrSPHERE = 0,
+  mjrSPHERETOP,
+  mjrSPHEREBOTTOM,
+  mjrCYLINDER,
+  mjrCYLINDEROPEN,
+  mjrHAZE,
+  mjrBOX,
+  mjrCONE,
+  mjrNUM
+};
+
+
+// set default mjrContext
+MJAPI void mjr_defaultContext(mjrContext* con);
+
+// allocate resources in custom OpenGL context; fontscale is mjtFontScale
+MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
+
+// Change font of existing context.
+MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
+
+// Add Aux buffer with given index to context; free previous Aux buffer.
+MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
+
+// free resources in custom OpenGL context, set to default
+MJAPI void mjr_freeContext(mjrContext* con);
+
+// (re) upload texture to GPU
+MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
+
+// (re) upload mesh to GPU
+MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
+
+// (re) upload height field to GPU
+MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif  // MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_