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Call GLFW functions via a dynamic dispatch table.

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This allows us to use GLFW without needing to introduce a link-time dependency on the library, which in turn enables us to get GLFW through Python.

PiperOrigin-RevId: 470100999
Change-Id: I27c84ad3310afdbebd582ab0033b6a963ba6307e
This commit is contained in:
Saran Tunyasuvunakool
2022-08-25 15:41:14 -07:00
committed by Copybara-Service
parent d26501c0f3
commit 3240596c3a
7 changed files with 294 additions and 94 deletions
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simulate/glfw_dispatch.h
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// Copyright 2022 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_SIMULATE_GLFW_DISPATCH_H_
#define MUJOCO_SIMULATE_GLFW_DISPATCH_H_
#include <GLFW/glfw3.h>
namespace mujoco {
// Dynamic dispatch table for GLFW functions required by Simulate.
// This allows us to use GLFW without introducing a link-time dependency on the
// library, which is useful e.g. when using GLFW via Python.
struct Glfw {
#define mjGLFW_DECLARE_SYMBOL(func) decltype(&func) func
// go/keep-sorted start
mjGLFW_DECLARE_SYMBOL(glfwCreateWindow);
mjGLFW_DECLARE_SYMBOL(glfwGetCursorPos);
mjGLFW_DECLARE_SYMBOL(glfwGetFramebufferSize);
mjGLFW_DECLARE_SYMBOL(glfwGetKey);
mjGLFW_DECLARE_SYMBOL(glfwGetMonitorPhysicalSize);
mjGLFW_DECLARE_SYMBOL(glfwGetMouseButton);
mjGLFW_DECLARE_SYMBOL(glfwGetPrimaryMonitor);
mjGLFW_DECLARE_SYMBOL(glfwGetTime);
mjGLFW_DECLARE_SYMBOL(glfwGetVideoMode);
mjGLFW_DECLARE_SYMBOL(glfwGetWindowMonitor);
mjGLFW_DECLARE_SYMBOL(glfwGetWindowPos);
mjGLFW_DECLARE_SYMBOL(glfwGetWindowSize);
mjGLFW_DECLARE_SYMBOL(glfwGetWindowUserPointer);
mjGLFW_DECLARE_SYMBOL(glfwInit);
mjGLFW_DECLARE_SYMBOL(glfwMakeContextCurrent);
mjGLFW_DECLARE_SYMBOL(glfwPollEvents);
mjGLFW_DECLARE_SYMBOL(glfwSetClipboardString);
mjGLFW_DECLARE_SYMBOL(glfwSetCursorPosCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetDropCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetKeyCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetMouseButtonCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetScrollCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetWindowMonitor);
mjGLFW_DECLARE_SYMBOL(glfwSetWindowRefreshCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetWindowSizeCallback);
mjGLFW_DECLARE_SYMBOL(glfwSetWindowTitle);
mjGLFW_DECLARE_SYMBOL(glfwSetWindowUserPointer);
mjGLFW_DECLARE_SYMBOL(glfwSwapBuffers);
mjGLFW_DECLARE_SYMBOL(glfwSwapInterval);
mjGLFW_DECLARE_SYMBOL(glfwTerminate);
mjGLFW_DECLARE_SYMBOL(glfwWindowHint);
mjGLFW_DECLARE_SYMBOL(glfwWindowShouldClose);
// go/keep-sorted end
#undef mjGLFW_DECLARE_SYMBOL
};
const struct Glfw& Glfw(void* dlhandle = nullptr);
} // namespace mujoco
#endif // MUJOCO_SIMULATE_GLFW_DISPATCH_H_