Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/render/render_gl3.h

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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 THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL3_
+#define THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL3_
+
+#include <mujoco/mjexport.h>
+#include <mujoco/mjrender.h>
+#include <mujoco/mjvisualize.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+// 3D rendering
+MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
+
+// call glFinish
+MJAPI void mjr_finish(void);
+
+// call glGetError and return result
+MJAPI int mjr_getError(void);
+
+#if defined(__cplusplus)
+}
+#endif
+#endif  // THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL3_