Version 2.1.4: Switch to GLAD, minor improvements to simulate.

PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e

include/mjrender.h

@@ -141,7 +141,7 @@ struct mjrContext_ {              // custom OpenGL context
   int charHeightBig;              // character heights: big
 
   // capabilities
-  int glewInitialized;            // is glew initialized
+  int glInitialized;              // is OpenGL initialized
   int windowAvailable;            // is default/window framebuffer available
   int windowSamples;              // number of samples for default/window framebuffer
   int windowStereo;               // is stereo available for default/window framebuffer

include/mjvisualize.h

@@ -88,6 +88,7 @@ typedef enum mjtFrame_ {          // frame visualization
   mjFRAME_SITE,                   // site frames
   mjFRAME_CAMERA,                 // camera frames
   mjFRAME_LIGHT,                  // light frames
+  mjFRAME_CONTACT,                // contact frames
   mjFRAME_WORLD,                  // world frame
 
   mjNFRAME                        // number of visualization frames

include/mujoco.h

@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 213
+#define mjVERSION_HEADER 214
 
 // needed to define size_t, fabs and log10
 #include "stdlib.h"
@@ -79,21 +79,12 @@ MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
 MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
 
 
-//---------------------------------- Activation ----------------------------------------------------
-
-// Return 1 (for backward compatibility).
-MJAPI int mj_activate(const char* filename);
-
-// Do nothing (for backward compatibility).
-MJAPI void mj_deactivate(void);
-
-
 //---------------------------------- Virtual file system -------------------------------------------
 
 // Initialize VFS to empty (no deallocation).
 MJAPI void mj_defaultVFS(mjVFS* vfs);
 
-// Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: not found on disk.
+// Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.
 MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
 
 // Make empty file in VFS, return 0: success, 1: full, 2: repeated name.
@@ -768,6 +759,15 @@ MJAPI void mj_warning(mjData* d, int warning, int info);
 MJAPI void mju_writeLog(const char* type, const char* msg);
 
 
+//---------------------------------- Activation ----------------------------------------------------
+
+// Return 1 (for backward compatibility).
+MJAPI int mj_activate(const char* filename);
+
+// Do nothing (for backward compatibility).
+MJAPI void mj_deactivate(void);
+
+
 //---------------------------------- Standard math -------------------------------------------------
 
 #define mjMAX(a,b) (((a) > (b)) ? (a) : (b))