Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419
2021-10-18 12:23:02 +01:00
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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 MUJOCO_UITOOLS_H_
+#define MUJOCO_UITOOLS_H_
+
+
+#include "mujoco.h"
+#include "glfw3.h"
+
+
+// this is a C-API
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+
+// User-supplied callback function types.
+typedef void (*uiEventFn)(mjuiState* state);
+typedef void (*uiLayoutFn)(mjuiState* state);
+
+// Container for GLFW window pointer.
+struct _uiUserPointer
+{
+    mjuiState* state;
+    uiEventFn uiEvent;
+    uiLayoutFn uiLayout;
+    double buffer2window;
+};
+typedef struct _uiUserPointer uiUserPointer;
+
+// Set internal and user-supplied UI callbacks in GLFW window.
+void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
+                   uiEventFn uiEvent, uiLayoutFn uiLayout);
+
+// Clear UI callbacks in GLFW window.
+void uiClearCallback(GLFWwindow* wnd);
+
+// Compute suitable font scale.
+int uiFontScale(GLFWwindow* wnd);
+
+// Modify UI structure.
+void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con);
+
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif  // MUJOCO_UITOOLS_H_