Version 2.1: documentation, public API headers, and sample programs.
PiperOrigin-RevId: 403900419
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Saran Tunyasuvunakool
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// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_MJUI_H_
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#define MUJOCO_MJUI_H_
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#define mjMAXUISECT 10 // maximum number of sections
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#define mjMAXUIITEM 80 // maximum number of items per section
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#define mjMAXUITEXT 300 // maximum number of chars in edittext and other
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#define mjMAXUINAME 40 // maximum number of chars in name
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#define mjMAXUIMULTI 35 // maximum number of radio/select items in group
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#define mjMAXUIEDIT 7 // maximum number of elements in edit list
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#define mjMAXUIRECT 25 // maximum number of rectangles
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#define mjSEPCLOSED 1000 // closed state of adjustable separator
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// key codes matching GLFW (user must remap for other frameworks)
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#define mjKEY_ESCAPE 256
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#define mjKEY_ENTER 257
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#define mjKEY_TAB 258
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#define mjKEY_BACKSPACE 259
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#define mjKEY_INSERT 260
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#define mjKEY_DELETE 261
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#define mjKEY_RIGHT 262
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#define mjKEY_LEFT 263
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#define mjKEY_DOWN 264
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#define mjKEY_UP 265
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#define mjKEY_PAGE_UP 266
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#define mjKEY_PAGE_DOWN 267
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#define mjKEY_HOME 268
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#define mjKEY_END 269
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#define mjKEY_F1 290
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#define mjKEY_F2 291
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#define mjKEY_F3 292
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#define mjKEY_F4 293
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#define mjKEY_F5 294
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#define mjKEY_F6 295
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#define mjKEY_F7 296
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#define mjKEY_F8 297
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#define mjKEY_F9 298
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#define mjKEY_F10 299
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#define mjKEY_F11 300
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#define mjKEY_F12 301
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typedef enum _mjtButton // mouse button
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{
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mjBUTTON_NONE = 0, // no button
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mjBUTTON_LEFT, // left button
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mjBUTTON_RIGHT, // right button
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mjBUTTON_MIDDLE // middle button
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} mjtButton;
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typedef enum _mjtEvent // mouse and keyboard event type
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{
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mjEVENT_NONE = 0, // no event
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mjEVENT_MOVE, // mouse move
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mjEVENT_PRESS, // mouse button press
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mjEVENT_RELEASE, // mouse button release
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mjEVENT_SCROLL, // scroll
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mjEVENT_KEY, // key press
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mjEVENT_RESIZE // resize
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} mjtEvent;
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typedef enum _mjtItem // UI item type
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{
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mjITEM_END = -2, // end of definition list (not an item)
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mjITEM_SECTION = -1, // section (not an item)
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mjITEM_SEPARATOR = 0, // separator
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mjITEM_STATIC, // static text
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mjITEM_BUTTON, // button
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// the rest have data pointer
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mjITEM_CHECKINT, // check box, int value
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mjITEM_CHECKBYTE, // check box, mjtByte value
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mjITEM_RADIO, // radio group
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mjITEM_RADIOLINE, // radio group, single line
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mjITEM_SELECT, // selection box
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mjITEM_SLIDERINT, // slider, int value
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mjITEM_SLIDERNUM, // slider, mjtNum value
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mjITEM_EDITINT, // editable array, int values
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mjITEM_EDITNUM, // editable array, mjtNum values
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mjITEM_EDITTXT, // editable text
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mjNITEM // number of item types
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} mjtItem;
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// predicate function: set enable/disable based on item category
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typedef int (*mjfItemEnable)(int category, void* data);
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struct _mjuiState // mouse and keyboard state
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{
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// constants set by user
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int nrect; // number of rectangles used
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mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
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void* userdata; // pointer to user data (for callbacks)
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// event type
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int type; // (type mjtEvent)
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// mouse buttons
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int left; // is left button down
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int right; // is right button down
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int middle; // is middle button down
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int doubleclick; // is last press a double click
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int button; // which button was pressed (mjtButton)
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double buttontime; // time of last button press
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// mouse position
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double x; // x position
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double y; // y position
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double dx; // x displacement
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double dy; // y displacement
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double sx; // x scroll
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double sy; // y scroll
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// keyboard
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int control; // is control down
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int shift; // is shift down
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int alt; // is alt down
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int key; // which key was pressed
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double keytime; // time of last key press
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// rectangle ownership and dragging
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int mouserect; // which rectangle contains mouse
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int dragrect; // which rectangle is dragged with mouse
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int dragbutton; // which button started drag (mjtButton)
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};
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typedef struct _mjuiState mjuiState;
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struct _mjuiThemeSpacing // UI visualization theme spacing
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{
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int total; // total width
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int scroll; // scrollbar width
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int label; // label width
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int section; // section gap
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int itemside; // item side gap
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int itemmid; // item middle gap
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int itemver; // item vertical gap
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int texthor; // text horizontal gap
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int textver; // text vertical gap
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int linescroll; // number of pixels to scroll
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int samples; // number of multisamples
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};
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typedef struct _mjuiThemeSpacing mjuiThemeSpacing;
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struct _mjuiThemeColor // UI visualization theme color
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{
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float master[3]; // master background
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float thumb[3]; // scrollbar thumb
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float secttitle[3]; // section title
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float sectfont[3]; // section font
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float sectsymbol[3]; // section symbol
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float sectpane[3]; // section pane
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float shortcut[3]; // shortcut background
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float fontactive[3]; // font active
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float fontinactive[3]; // font inactive
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float decorinactive[3]; // decor inactive
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float decorinactive2[3]; // inactive slider color 2
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float button[3]; // button
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float check[3]; // check
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float radio[3]; // radio
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float select[3]; // select
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float select2[3]; // select pane
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float slider[3]; // slider
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float slider2[3]; // slider color 2
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float edit[3]; // edit
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float edit2[3]; // edit invalid
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float cursor[3]; // edit cursor
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};
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typedef struct _mjuiThemeColor mjuiThemeColor;
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struct _mjuiItemSingle // check and button-related
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{
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int modifier; // 0: none, 1: control, 2: shift; 4: alt
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int shortcut; // shortcut key; 0: undefined
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};
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struct _mjuiItemMulti // static, radio and select-related
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{
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int nelem; // number of elements in group
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char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
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};
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struct _mjuiItemSlider // slider-related
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{
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double range[2]; // slider range
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double divisions; // number of range divisions
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};
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struct _mjuiItemEdit // edit-related
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{
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int nelem; // number of elements in list
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double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
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};
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struct _mjuiItem // UI item
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{
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// common properties
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int type; // type (mjtItem)
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char name[mjMAXUINAME]; // name
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int state; // 0: disable, 1: enable, 2+: use predicate
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void *pdata; // data pointer (type-specific)
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int sectionid; // id of section containing item
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int itemid; // id of item within section
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// type-specific properties
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union
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{
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struct _mjuiItemSingle single; // check and button
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struct _mjuiItemMulti multi; // static, radio and select
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struct _mjuiItemSlider slider; // slider
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struct _mjuiItemEdit edit; // edit
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};
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// internal
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mjrRect rect; // rectangle occupied by item
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};
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typedef struct _mjuiItem mjuiItem;
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struct _mjuiSection // UI section
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{
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// properties
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char name[mjMAXUINAME]; // name
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int state; // 0: closed, 1: open
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int modifier; // 0: none, 1: control, 2: shift; 4: alt
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int shortcut; // shortcut key; 0: undefined
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int nitem; // number of items in use
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mjuiItem item[mjMAXUIITEM]; // preallocated array of items
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// internal
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mjrRect rtitle; // rectangle occupied by title
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mjrRect rcontent; // rectangle occupied by content
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};
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typedef struct _mjuiSection mjuiSection;
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struct _mjUI // entire UI
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{
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// constants set by user
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mjuiThemeSpacing spacing; // UI theme spacing
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mjuiThemeColor color; // UI theme color
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mjfItemEnable predicate; // callback to set item state programmatically
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void* userdata; // pointer to user data (passed to predicate)
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int rectid; // index of this ui rectangle in mjuiState
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int auxid; // aux buffer index of this ui
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int radiocol; // number of radio columns (0 defaults to 2)
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// UI sizes (framebuffer units)
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int width; // width
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int height; // current heigth
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int maxheight; // height when all sections open
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int scroll; // scroll from top of UI
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// mouse focus
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int mousesect; // 0: none, -1: scroll, otherwise 1+section
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int mouseitem; // item within section
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int mousehelp; // help button down: print shortcuts
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// keyboard focus and edit
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int editsect; // 0: none, otherwise 1+section
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int edititem; // item within section
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int editcursor; // cursor position
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int editscroll; // horizontal scroll
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char edittext[mjMAXUITEXT]; // current text
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mjuiItem* editchanged; // pointer to changed edit in last mjui_event
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// sections
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int nsect; // number of sections in use
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mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
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};
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typedef struct _mjUI mjUI;
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struct _mjuiDef // table passed to mjui_add()
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{
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int type; // type (mjtItem); -1: section
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char name[mjMAXUINAME]; // name
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int state; // state
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void* pdata; // pointer to data
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char other[mjMAXUITEXT]; // string with type-specific properties
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};
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typedef struct _mjuiDef mjuiDef;
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#endif // MUJOCO_MJUI_H_
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