From 25f5be82ff6a2691a315d4de6fa43df699af73e1 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Tue, 21 Oct 2025 09:35:20 -0700
Subject: [PATCH] Provide option to disable keyboard events for SDL.

PiperOrigin-RevId: 822154396
Change-Id: Ie4c8537de2c4b01437aae00ed6d6af1a8f419a73
---
 src/experimental/studio/app.cc     | 10 ++++++----
 src/experimental/toolbox/window.cc | 20 ++++++++++++++------
 src/experimental/toolbox/window.h  |  7 ++++++-
 3 files changed, 26 insertions(+), 11 deletions(-)

diff --git a/src/experimental/studio/app.cc b/src/experimental/studio/app.cc
index e97d16b5..cd702338 100644
--- a/src/experimental/studio/app.cc
+++ b/src/experimental/studio/app.cc
@@ -56,14 +56,16 @@ namespace mujoco::studio {
 // - "passive" mode
 // - async physics
 
-static constexpr toolbox::Window::Config kWindowConfig =
+static constexpr toolbox::Window::Config kWindowConfig = {
 #if defined(USE_FILAMENT_VULKAN)
-  toolbox::Window::Config::kFilamentVulkan;
+  .render_config = toolbox::Window::RenderConfig::kFilamentVulkan,
 #elif defined(USE_FILAMENT_OPENGL)
-  toolbox::Window::Config::kFilamentOpenGL;
+  .render_config = toolbox::Window::RenderConfig::kFilamentOpenGL,
 #elif defined(USE_CLASSIC_OPENGL)
-  toolbox::Window::Config::kClassicOpenGL;
+  .render_config = toolbox::Window::RenderConfig::kClassicOpenGL,
 #endif
+  .enable_keyboard = true,
+};
 
 
 static void ToggleWindow(bool& window) {
diff --git a/src/experimental/toolbox/window.cc b/src/experimental/toolbox/window.cc
index bd6d2fcf..9c239b04 100644
--- a/src/experimental/toolbox/window.cc
+++ b/src/experimental/toolbox/window.cc
@@ -83,19 +83,26 @@ Window::Window(std::string_view title, int width, int height, Config config,
 
   int window_flags = SDL_WINDOW_RESIZABLE | SDL_WINDOW_ALLOW_HIGHDPI;
 
-  if (config == kFilamentVulkan) {
+  if (!config_.enable_keyboard) {
+    SDL_EventState(SDL_TEXTINPUT, SDL_DISABLE);
+    SDL_EventState(SDL_KEYDOWN, SDL_DISABLE);
+    SDL_EventState(SDL_KEYUP, SDL_DISABLE);
+  }
+
+  RenderConfig render_config = config_.render_config;
+  if (render_config == kFilamentVulkan) {
     window_flags |= SDL_WINDOW_VULKAN;
-  } else if (config == kFilamentWebGL) {
+  } else if (render_config == kFilamentWebGL) {
     window_flags |= SDL_WINDOW_OPENGL;
     SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 3);
     SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 0);
     SDL_GL_SetAttribute(SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_ES);
-  } else if (config == kClassicOpenGL || config == kFilamentOpenGL) {
+  } else if (render_config == kClassicOpenGL || render_config == kFilamentOpenGL) {
     window_flags |= SDL_WINDOW_OPENGL;
     SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 3);
     SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 0);
   } else {
-    mju_error("Unsupported window config: %d", config);
+    mju_error("Unsupported window config: %d", render_config);
   }
 
   sdl_window_ =
@@ -107,7 +114,7 @@ Window::Window(std::string_view title, int width, int height, Config config,
 
   InitImGui(sdl_window_, load_asset_fn);
 
-  if (config == kFilamentWebGL || config == kClassicOpenGL) {
+  if (render_config == kFilamentWebGL || render_config == kClassicOpenGL) {
     SDL_GLContext gl_context = SDL_GL_CreateContext(sdl_window_);
     SDL_GL_MakeCurrent(sdl_window_, gl_context);
   }
@@ -174,7 +181,8 @@ void Window::EndFrame() {
 
 void Window::Present() {
   // Filament (with the exception of WebGL) handles the swapchain internally.
-  if (config_ != kFilamentVulkan && config_ != kFilamentOpenGL) {
+  if (config_.render_config != kFilamentVulkan
+     && config_.render_config != kFilamentOpenGL) {
     SDL_GL_SwapWindow(sdl_window_);
   }
 }
diff --git a/src/experimental/toolbox/window.h b/src/experimental/toolbox/window.h
index ec221209..adf6d2b3 100644
--- a/src/experimental/toolbox/window.h
+++ b/src/experimental/toolbox/window.h
@@ -30,13 +30,18 @@ namespace mujoco::toolbox {
 class Window {
  public:
   // Configures the window for the specified rendering backend.
-  enum Config {
+  enum RenderConfig {
     kClassicOpenGL,
     kFilamentVulkan,
     kFilamentOpenGL,
     kFilamentWebGL,
   };
 
+  struct Config {
+    RenderConfig render_config = kClassicOpenGL;
+    bool enable_keyboard = true;
+  };
+
   Window(std::string_view title, int width, int height, Config config,
          const LoadAssetFn& load_asset_fn);
   ~Window();