Abstract out GLFW calls from Simulate.
PiperOrigin-RevId: 500129478 Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
048bd43724
commit
e40775fab3
@@ -0,0 +1,223 @@
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// Copyright 2023 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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#include "glfw_adapter.h"
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#include <cstdlib>
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#include <utility>
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#include <GLFW/glfw3.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mujoco.h>
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#include "glfw_dispatch.h"
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namespace mujoco {
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namespace {
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int MaybeGlfwInit() {
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static const int is_initialized = []() {
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auto success = Glfw().glfwInit();
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if (success == GLFW_TRUE) {
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std::atexit(Glfw().glfwTerminate);
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}
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return success;
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}();
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return is_initialized;
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}
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GlfwAdapter& GlfwAdapterFromWindow(GLFWwindow* window) {
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return *static_cast<GlfwAdapter*>(Glfw().glfwGetWindowUserPointer(window));
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}
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} // namespace
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GlfwAdapter::GlfwAdapter() {
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if (MaybeGlfwInit() != GLFW_TRUE) {
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mju_error("could not initialize GLFW");
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}
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// multisampling
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Glfw().glfwWindowHint(GLFW_SAMPLES, 4);
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Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
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// get video mode and save
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vidmode_ = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
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// create window
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window_ = Glfw().glfwCreateWindow((2 * vidmode_.width) / 3,
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(2 * vidmode_.height) / 3,
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"MuJoCo", nullptr, nullptr);
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if (!window_) {
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mju_error("could not create window");
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}
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// save window position and size
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Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
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Glfw().glfwGetWindowSize(window_, &window_size_.first, &window_size_.second);
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// set callbacks
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Glfw().glfwSetWindowUserPointer(window_, this);
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Glfw().glfwSetDropCallback(
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window_, +[](GLFWwindow* window, int count, const char** paths) {
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GlfwAdapterFromWindow(window).OnFilesDrop(count, paths);
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});
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Glfw().glfwSetKeyCallback(
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window_, +[](GLFWwindow* window, int key, int scancode, int act, int mods) {
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GlfwAdapterFromWindow(window).OnKey(key, scancode, act);
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});
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Glfw().glfwSetMouseButtonCallback(
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window_, +[](GLFWwindow* window, int button, int act, int mods) {
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GlfwAdapterFromWindow(window).OnMouseButton(button, act);
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});
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Glfw().glfwSetCursorPosCallback(
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window_, +[](GLFWwindow* window, double x, double y) {
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GlfwAdapterFromWindow(window).OnMouseMove(x, y);
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});
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Glfw().glfwSetScrollCallback(
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window_, +[](GLFWwindow* window, double xoffset, double yoffset) {
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GlfwAdapterFromWindow(window).OnScroll(xoffset, yoffset);
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});
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Glfw().glfwSetWindowRefreshCallback(
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window_, +[](GLFWwindow* window) {
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GlfwAdapterFromWindow(window).OnWindowRefresh();
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});
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Glfw().glfwSetWindowSizeCallback(
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window_, +[](GLFWwindow* window, int width, int height) {
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GlfwAdapterFromWindow(window).OnWindowResize(width, height);
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});
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// make context current
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Glfw().glfwMakeContextCurrent(window_);
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}
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GlfwAdapter::~GlfwAdapter() {
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Glfw().glfwMakeContextCurrent(nullptr);
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Glfw().glfwDestroyWindow(window_);
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}
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std::pair<double, double> GlfwAdapter::GetCursorPosition() const {
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double x, y;
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Glfw().glfwGetCursorPos(window_, &x, &y);
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return {x, y};
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}
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double GlfwAdapter::GetDisplayPixelsPerInch() const {
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int width_mm, height_mm;
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Glfw().glfwGetMonitorPhysicalSize(
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Glfw().glfwGetPrimaryMonitor(), &width_mm, &height_mm);
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return 25.4 * vidmode_.width / width_mm;
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}
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std::pair<int, int> GlfwAdapter::GetFramebufferSize() const {
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int width, height;
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Glfw().glfwGetFramebufferSize(window_, &width, &height);
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return {width, height};
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}
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std::pair<int, int> GlfwAdapter::GetWindowSize() const {
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int width, height;
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Glfw().glfwGetWindowSize(window_, &width, &height);
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return {width, height};
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}
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void GlfwAdapter::PollEvents() {
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Glfw().glfwPollEvents();
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}
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void GlfwAdapter::SetClipboardString(const char* text) {
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Glfw().glfwSetClipboardString(window_, text);
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}
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void GlfwAdapter::SetVSync(bool enabled){
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Glfw().glfwSwapInterval(enabled);
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}
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void GlfwAdapter::SetWindowTitle(const char* title) {
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Glfw().glfwSetWindowTitle(window_, title);
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}
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bool GlfwAdapter::ShouldCloseWindow() const {
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return Glfw().glfwWindowShouldClose(window_);
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}
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void GlfwAdapter::SwapBuffers() {
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Glfw().glfwSwapBuffers(window_);
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}
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void GlfwAdapter::ToggleFullscreen() {
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// currently full screen: switch to windowed
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if (Glfw().glfwGetWindowMonitor(window_)) {
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// restore window from saved data
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Glfw().glfwSetWindowMonitor(window_, nullptr, window_pos_.first, window_pos_.second,
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window_size_.first, window_size_.second, 0);
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}
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// currently windowed: switch to full screen
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else {
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// save window data
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Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
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Glfw().glfwGetWindowSize(window_, &window_size_.first,
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&window_size_.second);
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// switch
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Glfw().glfwSetWindowMonitor(window_, Glfw().glfwGetPrimaryMonitor(), 0,
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0, vidmode_.width, vidmode_.height,
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vidmode_.refreshRate);
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}
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}
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bool GlfwAdapter::IsLeftMouseButtonPressed() const {
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return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS;
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}
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bool GlfwAdapter::IsMiddleMouseButtonPressed() const {
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return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_MIDDLE) == GLFW_PRESS;
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}
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bool GlfwAdapter::IsRightMouseButtonPressed() const {
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return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_RIGHT) == GLFW_PRESS;
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}
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bool GlfwAdapter::IsAltKeyPressed() const {
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return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_ALT) == GLFW_PRESS ||
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Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_ALT) == GLFW_PRESS;
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}
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bool GlfwAdapter::IsCtrlKeyPressed() const {
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return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS ||
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Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_CONTROL) == GLFW_PRESS;
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}
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bool GlfwAdapter::IsShiftKeyPressed() const {
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return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS ||
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Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS;
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}
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bool GlfwAdapter::IsMouseButtonDownEvent(int act) const {
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return act == GLFW_PRESS;
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}
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bool GlfwAdapter::IsKeyDownEvent(int act) const { return act == GLFW_PRESS; }
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int GlfwAdapter::TranslateKeyCode(int key) const { return key; }
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mjtButton GlfwAdapter::TranslateMouseButton(int button) const {
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if (button == GLFW_MOUSE_BUTTON_LEFT) {
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return mjBUTTON_LEFT;
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} else if (button == GLFW_MOUSE_BUTTON_RIGHT) {
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return mjBUTTON_RIGHT;
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} else if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
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return mjBUTTON_MIDDLE;
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}
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return mjBUTTON_NONE;
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}
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} // namespace mujoco
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