Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/ui/CMakeLists.txt

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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
+#
+#     https://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.
+
+set(MUJOCO_UI_SRCS ui_main.c ui_main.h)
+target_sources(mujoco PRIVATE ${MUJOCO_UI_SRCS})

src/ui/ui_main.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_UI_UI_MAIN_H
+#define THIRD_PARTY_MUJOCO_SRC_UI_UI_MAIN_H
+
+#include <mujoco/mjexport.h>
+#include <mujoco/mjui.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+// Get builtin UI theme spacing (ind: 0-1).
+MJAPI mjuiThemeSpacing mjui_themeSpacing(int ind);
+
+// Get builtin UI theme color (ind: 0-3).
+MJAPI mjuiThemeColor mjui_themeColor(int ind);
+
+// Add definitions to UI.
+MJAPI void mjui_add(mjUI* ui, const mjuiDef* def);
+
+// Add definitions to UI section.
+MJAPI void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
+
+// Compute UI sizes.
+MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
+
+// Update specific section/item; -1: update all.
+MJAPI void mjui_update(int section, int item, const mjUI* ui,
+                       const mjuiState* state, const mjrContext* con);
+
+// Handle UI event, return pointer to changed item, NULL if no change.
+MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
+
+// Copy UI image to current buffer.
+MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
+
+#if defined(__cplusplus)
+}
+#endif
+#endif  // THIRD_PARTY_MUJOCO_SRC_UI_UI_MAIN_H