Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/render/render_gl2.h

@@ -0,0 +1,84 @@
+// 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 THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL2_
+#define THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL2_
+
+#include <mujoco/mjexport.h>
+#include <mujoco/mjrender.h>
+#include <mujoco/mjvisualize.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+// Make con->currentBuffer current again.
+MJAPI void mjr_restoreBuffer(const mjrContext* con);
+
+// actual draw text, do not initialize OpenGL options
+void mjr_textActual(int font, const char* txt, const mjrContext* con,
+                    float x, float y, float z, float r, float g, float b);
+
+// set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN
+//  if only one buffer is available, set that buffer and ignore framebuffer argument
+MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
+
+// read pixels from current OpenGL framebuffer to client buffer
+//  viewport is in OpenGL framebuffer; client buffer starts at (0,0)
+MJAPI void mjr_readPixels(unsigned char* rgb, float* depth,
+                          mjrRect viewport, const mjrContext* con);
+
+// draw pixels from client buffer to current OpenGL framebuffer
+//  viewport is in OpenGL framebuffer; client buffer starts at (0,0)
+MJAPI void mjr_drawPixels(const unsigned char* rgb, const float* depth,
+                          mjrRect viewport, const mjrContext* con);
+
+// blit from src viewpoint in current framebuffer to dst viewport in other framebuffer
+//  if src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR
+MJAPI void mjr_blitBuffer(mjrRect src, mjrRect dst,
+                          int flg_color, int flg_depth, const mjrContext* con);
+
+// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
+MJAPI void mjr_setAux(int index, const mjrContext* con);
+
+// Blit from Aux buffer to con->currentBuffer.
+MJAPI void mjr_blitAux(int index, mjrRect src, int left, int bottom,
+                       const mjrContext* con);
+
+// draw text at (x,y) in relative coordinates; font is mjtFont
+MJAPI void mjr_text(int font, const char* txt, const mjrContext* con,
+                    float x, float y, float r, float g, float b);
+
+// draw text overlay; font is mjtFont; gridpos is mjtGridPos
+MJAPI void mjr_overlay(int font, int gridpos, mjrRect viewport,
+                       const char* overlay, const char* overlay2, const mjrContext* con);
+
+// get maximum viewport for active buffer
+MJAPI mjrRect mjr_maxViewport(const mjrContext* con);
+
+// draw rectangle
+MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
+
+// draw rectangle with centered text
+MJAPI void mjr_label(mjrRect viewport, int font, const char* txt,
+                     float r, float g, float b, float a, float rt, float gt, float bt,
+                     const mjrContext* con);
+
+// draw 2D figure
+MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
+
+#if defined(__cplusplus)
+}
+#endif
+#endif  // THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL2_